CN104749595A - Positioning service method and system based on high-precision base reinforcing system - Google Patents
Positioning service method and system based on high-precision base reinforcing system Download PDFInfo
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- CN104749595A CN104749595A CN201510121780.XA CN201510121780A CN104749595A CN 104749595 A CN104749595 A CN 104749595A CN 201510121780 A CN201510121780 A CN 201510121780A CN 104749595 A CN104749595 A CN 104749595A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The invention provides a positioning service method and system based on a high-precision base reinforcing system. The method is that a protocol format supported by a common precision receiver can be converted after obtaining high-precision positioning differential data, the obtain positioning differential data recognized by the common precision receiver is sent to the common precision receiver, and therefore, the common precision receiver can obtain the high precision positioning differential data from the positioning differential data to be recognized; the high precision positioning differential data are utilized to position, so as to improve the positioning precision of the common precision receiver; the applicable scope and degree of the high precision positioning service can be expanded, and as a result, the application scope and degree of a Beidou satellite navigation system can be further expanded.
Description
Technical field
The present invention relates to GLONASS (Global Navigation Satellite System) high precision ground and strengthen systems technology field, more particularly, relate to a kind of positioning service method and the system that strengthen system based on high precision ground.
Background technology
As one of the high-tech area of world today's most development prospect, GLONASS (Global Navigation Satellite System) (GNSS, Global Navigation Satellite System) is important symbol and the concentrated reflection of national overall national strength, core competitiveness and a sci-tech innovation ability.The Big Dipper (Compass or the BeiDou) satellite navigation system of China and the GPS (GPS of the U.S., Global Positioning System), Galileo (Galileo) system in the GLONASS (GLONASS) of Russia and Europe together, be called the whole world four large GNSS, the basic fixed position principle of this four large GNSS is identical, explains GNSS satellite pseudo-range measurements and GNSS pseudorange positioning principle at this for the Beidou satellite navigation system of China.
In Beidou satellite navigation system, each big-dipper satellite broadcasts B1I navigation signal on same carrier frequency B1 simultaneously earthward, different satellite is broadcast on signal at it and is modulated different pseudo-random code (PRN, Pseudo Random Noise Code is called for short pseudo-code).Pseudo-code is except realizing band spectrum modulation, another function of pseudo-code is range finding, namely receiver is allowed to measure the pseudo-code phase of the Big Dipper satellite signal received, in conjunction with the temporal information be modulated on navigation signal and receiver local time value, and then pseudo-code phase is assembled into the distance (pseudorange) from satellite to receiver.Receiver u is to the pseudorange of satellite i
observation equation be:
Wherein,
the geometric distance of receiver u to satellite i,
with
be respectively ionosphere time delay and troposphere time delay, δ t
uwith δ t
(i)the receiver clock-offsets relative to the Beidou satellite navigation system time and satellite clock correction respectively,
for measuring error.Asynchronous with satellite clock just because of receiver clock, thus receiver is multiplied by light velocity income value again by the difference of trying to achieve signal reception time and signal transmission time and equals the pseudo-range measurements of receiver to satellite
at geometric distance
calculating in, coordinate of the satellite position (x
(i), y
(i), z
(i)) can calculate according to satellite ephemeris, and solve unknown receiver location coordinate (x
u, y
u, z
u) positioning function of receiver just.Satellite clock correction δ t
(i)also can calculate according to satellite ephemeris, ionosphere time delay
with troposphere time delay
the certain mathematical model of usual utilization estimates, measuring error
unknown (it need not solve).Like this, at pseudorange
observation equation equal sign the right and left all parameters in, receiver location coordinate (x
u, y
u, z
u) and receiver clock-offsets δ t
ufor the unknown quantity that generation is asked.
Suppose that on a certain earth surface at a time, receiver u receives the navigation signal of N satellite simultaneously, that is, receiver produces N number of pseudo-range measurements
wherein i=1,2 ..., N.Such by arranged together for corresponding N number of pseudorange observation equation, the equation of its computation of pseudoranges composed as follows:
Visible, in above-mentioned system of equations, a total N number of equation, contains (x
u, y
u, z
u) and δ t
uthese 4 unknown numbers.When N>=4, (x can be solved from system of equations
u, y
u, z
u) and δ t
uthe unknown number that four generations are asked, realizes location and timing, pseudorange location (and timing) principle that Here it is.
Measuring error
(wherein i=1,2 ..., N) size, decide the error size of pseudorange location dramatically: measuring error is larger, then pseudorange positioning error is also just correspondingly larger.Measuring error
comprise the estimation error etc. of receiver noise, receiver algorithm error, multipath error, satellite ephemeris error and ionosphere time delay and troposphere time delay.
Except pseudorange location, GNSS can also realize measuring error level or even millimetre-sized hi-Fix in rice, its pseudo range measurement amount of error correction produced in real time by GNSS reference receiver R being positioned near high-precision receiver, position coordinate value is known
or carrier-phase measurement, broadcasts to high-precision receiver by communication, make high-precision receiver can based on the pseudo range measurement error received
correcting value offsets corresponding pseudo-range measurements
measuring error, or based on receive carrier-phase measurement composition error counteracting after differential measurement values amount, thus improve positioning precision.Wherein high-precision receiver is the receiver in the registration of hi-Fix service registration, and it can be can carry out Differential positioning or carry out single-frequency that in real time dynamically (RTK, Real-time Kinematic) locate or multi-frequency multi-mode receiver.
GNSS basis derives GNSS ground and strengthens system (GBAS, Ground-BasedAugmentation Systems), it is that high precision ground strengthens system, facility based on the reference station of a series of high precision ground enhancing receiver base station composition, the hi-Fix service centre that GNSS ground strengthens system provides hi-Fix service to the high-precision receiver in its coverage.CORS (CORS, the Continuous Operational Reference System) network of such as China and U.S.A.
After data processing in high precision ground enhancing system and location service center server receive the measured value and navigation message data sent from each base station of this CORS network, through data analysis and process, calculate pseudo range difference correction and rate of change thereof, carrier phase difference correction, the high precision poor location divided data such as ionosphere amount of delay and troposphere amount of delay, and according to the different locator meams requests of user's high-precision receiver, correcting value is divided to be supplied to high-precision receiver the high precision poor location such as pseudo range difference correction and rate of change thereof, or the original measurement values such as carrier phase are supplied to high-precision receiver, with the hi-Fix of the pseudo range difference or RTK form that realize high-precision receiver.But the hi-Fix service based on CORS network is current only to high-precision receiver service, which has limited range of application and the degree of CORS network and hi-Fix service or even Beidou satellite navigation system.
Summary of the invention
In view of this, of the present inventionly provide a kind of and strengthen the positioning service method of system and device based on high precision ground, for expanding the range of application and degree of serving based on the hi-Fix that base strengthens system accurately, be expanded with the range of application and degree that make Beidou satellite navigation system further.
To achieve these goals, the invention provides following technical scheme:
The invention provides a kind of positioning service method strengthening system based on high precision ground, be applied to the data processing in described high precision ground enhancing system and location service center server, described positioning service method comprises:
In acquisition high precision ground enhancing system, each base station is to the measured value of GLONASS (Global Navigation Satellite System) constellation satellite;
Carry out treatment and analysis to described measured value, obtain hi-Fix differential data, described hi-Fix differential data is used for carrying out hi-Fix;
Described hi-Fix differential data is changed with the protocol format of general precision receiver support, obtain the poor location divided data of described general precision receiver identification, described general precision receiver is the receiver without the need to registering in hi-Fix service registration, and the positioning precision of described general precision receiver is less than the positioning precision of high-precision receiver;
Send the poor location divided data of described general precision receiver identification to described general precision receiver.
Preferably, the poor location divided data of described transmission described general precision receiver identification is to described general precision receiver, comprise: after the locator data request receiving the transmission of general precision receiver, send the poor location divided data of described general precision receiver identification to the general precision receiver sending described locator data request.
Preferably, described treatment and analysis is carried out to described measured value, obtain hi-Fix differential data, comprise: Inversion Calculation is carried out to described measured value, poor location divided data in the service area range obtaining each base station in described high precision ground enhancing system in grid points, wherein said poor location divided data is used for receiving the machine transplanting of rice by the described general precision being arranged in described service area range and goes out hi-Fix differential data for self;
The poor location divided data of described transmission described general precision receiver identification, to described general precision receiver, comprising: send the poor location divided data of described general precision receiver identification with the forms of broadcasting to described general precision receiver.
Preferably, described positioning service method also comprises: obtain each base station demodulation in described high precision ground enhancing system and the navigation message data sent, by described navigation message data composition assisted global navigational satellite system data after described navigation message data verification is passed through, send described assisted global navigational satellite system data to described general precision and high-precision receiver, directly to provide the service of assisted global navigational satellite system towards general precision and high-precision receiver;
Or
Described positioning service method also comprises: obtain each base station demodulation in described high precision ground enhancing system and the navigation message data sent, after the described navigation message data of checking are effective, send described navigation message data to assisted global navigational satellite system service server, to provide the service of assisted global navigational satellite system indirectly to described general precision and high-precision receiver;
Or
Described positioning service method also comprises: send navigation message data to assisted global Navigation Satellite Service server, to provide the service of assisted global navigational satellite system indirectly to described general precision and high-precision receiver by each base station demodulation in described high precision ground enhancing system.
Preferably, described positioning service method also comprises: collect satellite ephemeris, to provide required satellite ephemeris in the past to prediction ephemeris arithmetic server, wherein, predict ephemeris arithmetic server be used for extrapolating from current time according to satellite ephemeris in the past after the satellite orbit ruuning situation of preset number of days.
The present invention also provides a kind of and strengthens the positioning service system of system based on high precision ground, and comprise base station and high-precision receiver, described positioning service system also comprises: data processing and location service center server and general precision receiver; Wherein said data processing and location service center server comprise: the first acquisition module, processing module, modular converter and sending module;
Described first acquisition module, for obtaining in high precision ground enhancing system each base station to the measured value of GLONASS (Global Navigation Satellite System) constellation satellite;
Described processing module, for carrying out treatment and analysis to described measured value, obtains hi-Fix differential data, and described hi-Fix differential data is used for carrying out hi-Fix;
Described modular converter, for changing described hi-Fix differential data with the protocol format of general precision receiver support, obtain the poor location divided data of described general precision receiver identification, described general precision receiver is the receiver without the need to registering in hi-Fix service registration, and the positioning precision of described general precision receiver is less than the positioning precision of high-precision receiver;
Described sending module, for sending the poor location divided data of described general precision receiver identification to described general precision receiver.
Preferably, described sending module specifically for: receive general precision receiver send locator data request after, send the poor location divided data of described general precision receiver identification to the general precision receiver sending described locator data request.
Preferably, described processing module specifically for: Inversion Calculation is carried out to described measured value, poor location divided data in the service area range obtaining each base station in described high precision ground enhancing system in grid points, wherein said poor location divided data is used for receiving the machine transplanting of rice by the described general precision being arranged in described service area range and goes out hi-Fix differential data for self;
Described sending module specifically for: the poor location divided data sending the identification of described general precision receiver with the forms of broadcasting is to described general precision receiver.
Preferably, described positioning service system also comprises: the second acquisition module, for obtaining each base station demodulation in described high precision ground enhancing system and the navigation message data sent;
Described processing module also for, by described navigation message data composition assisted global navigational satellite system data after described navigation message data verification is passed through, and trigger described sending module and send described assisted global navigational satellite system data to described general precision and high-precision receiver, directly to provide the service of assisted global navigational satellite system towards general precision and high-precision receiver;
Or
Described positioning service system also comprises: the 3rd acquisition module, for obtaining each base station demodulation in described high precision ground enhancing system and the navigation message data sent;
Described processing module also for, after the described navigation message data of checking are effective, trigger described sending module and send described navigation message data to assisted global navigational satellite system service server, to provide the service of assisted global navigational satellite system indirectly to described general precision and high-precision receiver;
Or
Base station in described positioning service system also sends navigation message data to assisted global Navigation Satellite Service server, to provide the service of assisted global navigational satellite system indirectly to described general precision and high-precision receiver for demodulation.
Preferably, described positioning service system also comprises: search module, for collecting satellite ephemeris, to provide required satellite ephemeris in the past to prediction ephemeris arithmetic server, wherein, predict ephemeris arithmetic server be used for extrapolating from current time according to satellite ephemeris in the past after the satellite orbit ruuning situation of preset number of days.
Compared with prior art, advantage of the present invention is as follows:
The positioning service method strengthening system based on high precision ground provided by the invention, after obtaining hi-Fix differential data, can change it with the protocol format of general precision receiver support, the poor location divided data obtaining the identification of general precision receiver is sent to general precision receiver, hi-Fix differential data is obtained the poor location divided data that such general precision receiver can be able to identify from it, and position based on hi-Fix differential data, thus improve the positioning precision of general precision receiver, expand range of application and the degree of hi-Fix service thus, be expanded with the range of application and degree that make Beidou satellite navigation system further.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
The first process flow diagram strengthening the positioning service method of system based on high precision ground that Fig. 1 provides for the embodiment of the present invention;
A kind of schematic diagram strengthening the communication mode of the positioning service method employing of system based on high precision ground that Fig. 2 provides for the embodiment of the present invention;
The another kind of schematic diagram strengthening the communication mode of the positioning service method employing of system based on high precision ground that Fig. 3 provides for the embodiment of the present invention;
The second process flow diagram strengthening the positioning service method of system based on high precision ground that Fig. 4 provides for the embodiment of the present invention;
What Fig. 5 provided for the embodiment of the present invention strengthens based on high precision ground a kind of schematic diagram providing A-GNSS to serve in the positioning service method of system;
What Fig. 6 provided for the embodiment of the present invention strengthens based on high precision ground the another kind of schematic diagram providing A-GNSS to serve in the positioning service method of system;
What Fig. 7 provided for the embodiment of the present invention strengthens based on high precision ground another schematic diagram providing A-GNSS to serve in the positioning service method of system;
A kind of structural representation strengthening the positioning service system of system based on high precision ground that Fig. 8 provides for the embodiment of the present invention;
The another kind of structural representation strengthening the positioning service system of system based on high precision ground that Fig. 9 provides for the embodiment of the present invention;
Another structural representation strengthening the positioning service system of system based on high precision ground that Figure 10 provides for the embodiment of the present invention.
Embodiment
The hi-Fix service that current high precision ground strengthens system to be provided is only applicable to high-precision receiver, in order to break its limitation, the range of application of expansion hi-Fix service and degree, be expanded with the range of application and degree that make Beidou satellite navigation system further, the invention provides a kind of positioning service method strengthening system based on high precision ground, think that general precision receiver provides hi-Fix service.
The present invention is understood better in order to make those skilled in the art, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, it illustrates the first process flow diagram strengthening the positioning service method of system based on high precision ground that the embodiment of the present invention provides, wherein strengthen the positioning service method of system based on high precision ground and be applied to data processing in high precision ground enhancing system and location service center server, can comprise the following steps:
101: in acquisition high precision ground enhancing system, each base station is to the measured value of GNSS constellation satellite.Wherein measured value comprises pseudo-range measurements and carrier-phase measurement etc., and be sent to data processing and location service center server by each base station in high precision ground enhancing system, and each base station can be the base station based on CORS network, it can pass through the connection data process of the network service such as dedicated data line or Internet facility and location service center server, is sent to by measured value in data processing and location service center server.
102: carry out treatment and analysis to measured value, obtain hi-Fix differential data, hi-Fix differential data is used for carrying out hi-Fix.
In embodiments of the present invention, data processing is substantially identical with prior art with the treatment and analysis process of location service center server to measured value, this embodiment of the present invention is no longer set forth, wherein hi-Fix differential data is as the data of carrying out hi-Fix, can comprise: the data such as pseudo range difference correction and rate of change, carrier phase difference correction, ionosphere amount of delay and troposphere amount of delay, these data can be loaded in the follow-up equation for carrying out pseudorange location Calculation, and the positioning precision obtained is improved.
103: the protocol format conversion hi-Fix differential data supported with general precision receiver, obtain the poor location divided data of general precision receiver identification, general precision receiver is the receiver without the need to registering in hi-Fix service registration, and the positioning precision of general precision receiver is less than the positioning precision of high-precision receiver.
In the prior art, data processing and location service center server to obtain hi-Fix differential data be all write based on the protocol format of high-precision receiver support, and such hi-Fix differential data is only sent to again the high-precision receiver identification after registration.Therefore in order to make the general precision receiver without the need to registration of enormous amount also can accept the service of hi-Fix differential data, data processing and location service center server are after parsing hi-Fix differential data, can change according to the protocol format of general precision receiver support, the more important thing is and these poor location divided data are broadcasted away, make extensive general precision receive function and have an opportunity to obtain the poor location divided data that can identify.
In embodiments of the present invention, the protocol format of general precision receiver support can be such as RTCMSC 104 (Radio Technical Commission for Maritime Special Committee 104) agreement, RTCM SC104 be by special commission of RTCM (RTCM) the 104th (SC-104) formulate about differential global navigation satellite system (DGNSS, Differential Global NavigationSatellite System) telegraph text data format protocol.
104: send the poor location divided data of general precision receiver identification to general precision receiver.
General precision receiver is after the poor location divided data receiving the identification of general precision receiver, hi-Fix differential data is obtained the poor location divided data that can be able to identify from it, and position based on hi-Fix differential data, thus improve the positioning precision of general precision receiver, expand range of application and the degree of hi-Fix service thus, be expanded with the range of application and degree that make Beidou satellite navigation system further.
In embodiments of the present invention, the mode that in high precision ground enhancing system, data processing and location service center server send the poor location divided data of general precision receiver identification to general precision receiver can be the multitude of different ways such as broadcast type and response formula.
Such as, in order to support the poor location divided data sending the identification of general precision receiver to extensive general precision receiver, data processing and location service center server can send with the forms of broadcasting, general precision receiver with realizing from one-to-many to the enormous amount being positioned at the same area sends poor location divided data, the data content of the poor location divided data that it sends is identical for different general precision receiver, the zones of different of wide apart whether is positioned at regardless of different general precision receiver, then different general precision receivers interpolation can go out the differential data value for self-position from the poor location divided data (data such as grid points) received.The hi-Fix differential data that corresponding data processing and location service center server obtain is that it sends with the forms of broadcasting data that in regional extent corresponding to data, general precision receiver uses, and its process obtaining hi-Fix differential data can be:
Inversion Calculation is carried out to measured value, poor location divided data in the service area range obtaining each base station in high precision ground enhancing system in grid points, and be broadcast to the general precision receiver being positioned at service area range, go out hi-Fix differential data for self-position by general precision receiver from received poor location divided data interpolation.
Send with the forms of broadcasting general precision receiver that data can support limitless number amount in theory, this is a large advantage of broadcast type, is the core methed that invention profit realizes high-precision difference data, services large-scale application.
The forms of broadcasting that the embodiment of the present invention provides can realize, than radio broadcasting as shown in Figure 2 and satellite broadcasting etc. via different communication modes.Further, high precision ground strengthen system based on the coverage of CORS network different, along with the development of GNSS, between the CORS network that the script on internal and international is separate, have trans-regional, an inter-trade integrated optimization, make CORS network become large, grow.If the coverage of a CORS network is very large or in order to more effectively send data to general precision receiver, the enhancing of the high precision ground based on a CORS network system can be made to broadcast the data content for this region in zones of different, the data volume broadcast needed for high precision ground enhancing system is reduced relatively, data broadcast periodicity to be increased, or identical broadcast data volume condition under, improve mesh-density and data precision.
Such data processing and location service center server are after obtaining measured value from the CORS Fiducial station of the network of distribution various places, Inversion Calculation goes out the poor location divided data in its service area range in grid points, transfer to the satellite of the radio broadcasting stations in one's respective area or responsible one's respective area to broadcast a part of data wherein for a certain region, make any general precision receiver in this region can obtain the hi-Fix differential data that can identify.
When data processing and location service center server can broadcast poor location divided data content to general precision receiver, its mode can with satellite-based augmentation system (SBAS, Satellite Based AugmentationSystems) and Beidou satellite navigation system in geostationary orbit (GEO, Geostationary Orbit) etc. the vertical ionospheric time delay in satellite broadcasting grid points similar, the vertical ionospheric time delay of such as broadcasting with the latter in grid points covering the whole world is such, broadcasting hi-Fix service can sets itself, cover the ionosphere time delay in the grid points of whole service area range or certain specific region scope, troposphere time delay, the poor location divided data such as pseudo range difference correcting value.
For the ionosphere graticule mesh that Beidou satellite navigation system adopts, it is the square grid that a longitude and latitude interval are 5 °, the certain north and south covering earth surface is interval, this under the line near be equivalent to the square graticule mesh that the length of side is 88.5 kms (km).Comparatively speaking, the base station that ground based on CORS network strengthens system is densely distributed, distance between adjacent reference station is usually much short than 88.5km, mean distance is about about 30 ~ 40km, short even reaches 10km, and majority be distributed in GNSS application demand the most extensively, the most populous, developed area.Therefore, the ground based on CORS network strengthens system can calculate ionosphere amount of delay more accurately in its service area range, more effectively serves a large amount of general precision receiver.In addition, base station in high precision ground enhancing system runs continuously, and the data processing in high precision ground enhancing system and location service center server can provide real time service by communication to general precision receiver, therefore strengthening system by high precision ground can send to general precision receiver quickly or in real time by ionosphere Delay computation parameter more accurately.Ionosphere time delay more accurately and troposphere delay value can be excavated from base station data based on this data processing and location service center server, such general precision receiver receives after these broadcast data, the ionosphere time delay near it on surrounding lattice point and troposphere time delay is utilized to broadcast value, interpolation goes out the high precision poor location divided data such as time delay troposphere, the ionosphere delay value on each position location satellite direction needed for general precision receiver location, thus improves positioning precision.
For another example, along with the development of hi-Fix service application and the network communications technology, data processing and location service center server can according to RTCM SC-104 agreements, broadcast each satellite and strengthen the poor location divided data such as pseudo-range measurements correcting value within the scope of system service and pseudo-range corrections quantitative change rate at this high precision ground.Data are broadcast according to these, general precision receiver and can simulate general precision receiver and carries out the high precision poor location divided data such as the pseudo-range measurements correcting value needed for pseudo range difference GNSS location at certain area within certain period, improves positioning precision further.
If be necessary further, data processing and location service center server can compress the data broadcast and/or encrypt.System is strengthened for the high precision ground that had by government, non-profit organization, can not to encrypt and free towards general precision receiver, to encourage the large-scale application supporting CORS network and GNSS.System is strengthened for commercial off-the-shelf high precision ground, a kind of means of charging to its general precision receiver to broadcasting that data are encrypted, and only have could obtain the key of data deciphering after high precision ground strengthens system operator's payment, registration, and key can regular update.In addition, be also system application is strengthened to high precision ground and general precision receiver carries out a kind of measure of security protection to broadcasting data encryption.
In embodiments of the present invention, in high precision ground enhancing system, data processing and location service center server also can adopt response formula to send poor location divided data to general precision receiver, when adopting response formula to send, data processing and location service center server can pass through CDMA (CDMA, CodeDivision Multiple Access), global system for mobile communications (GSM, Global System for Mobilecommunications) and general packet radio service technology (GPRS, General Packet RadioService) etc. communication mode communicate with general precision receiver, as shown in Figure 3.
After the locator data request receiving the transmission of general precision receiver, send the poor location divided data of general precision receiver identification to the general precision receiver sending this locator data request.The more important thing is, when there is locator data request, general precision receiver also incidentally should send the estimated value of its current location, such data processing and location service center can send the stronger poor location divided data of specific aim for the general precision receiver being positioned at diverse location, to provide hi-Fix differential data more accurately to general precision receiver, greatly reduce again the required data volume received of general precision receiver.But the large shortcoming adopting response formula to send is the service ability being limited to data processing and location service center server in high precision ground enhancing system, can only serve the general precision receiver of finite number amount.
As can be seen from technique scheme, after obtaining hi-Fix differential data, can change it with the protocol format of general precision receiver support, the poor location divided data obtaining the identification of general precision receiver is sent to general precision receiver, hi-Fix differential data is obtained the poor location divided data that such general precision receiver can be able to identify from it, and position based on hi-Fix differential data, thus improve the positioning precision of general precision receiver, expand range of application and the degree of hi-Fix service thus, be expanded with the range of application and degree that make Beidou satellite navigation system further.
Further, after obtaining hi-Fix differential data, data processing and location service center such as to be broadcasted etc. by some avenues of communication and these data are supplied to general precision receiver, as long as and general precision receiver receives and demodulates these hi-Fix differential datas according to corresponding broadcast data format protocol, so general precision receiver just can carry out based on these hi-Fix differential datas the location that precision is improved, expand range of application and the degree of hi-Fix service thus, be expanded with the range of application and degree that make Beidou satellite navigation system further.
Except the range of application of above-mentioned expansion hi-Fix service and degree, what the embodiment of the present invention provided can also provide other more to serve based on the facility of ground enhancing net and the method for servicing of hi-Fix service system, as shown in Figure 4, it illustrates the second process flow diagram strengthening the service of system based on high precision ground that the embodiment of the present invention provides, on Fig. 1 basis, further comprising the steps of:
Can also obtain high precision ground in a step 101 and strengthen each base station demodulation in net and the navigation message data sent, wherein navigation message data comprise satellite ephemeris, almanac, ionosphere Delay computation parameter etc.
By navigation message data composition assisted GNSS (A-GNSS after navigation message data verification is passed through, Assisted Global Navigation Satellite Service) data, send A-GNSS data to general precision and high-precision receiver, directly to provide A-GNSS to serve towards general precision and high-precision receiver.Or navigation message data verification by rear directly by navigation message data retransmission to A-GNSS server.
At the system of equations Satellite position coordinates (x of above-mentioned its computation of pseudoranges
(i), y
(i), z
(i)) and satellite clock correction δ t
(i)all can according to the ephemeris computation of satellite i out, and these ephemeris parameters as a navigation message data part are modulated on the navigation signal that satellite i broadcasts.Like this, in order to calculate coordinate of the satellite position and satellite clock correction and in order to realize last location, general precision and high-precision receiver need while tracking satellite signal, demodulate the navigation message data such as the ephemeris parameter be modulated on satellite-signal.General precision and this functional requirement demodulating the navigation message data such as ephemeris parameter from real-time satellite-signal of high-precision receiver, limit the positioning performance of general precision and high-precision receiver, such as extend receiver and locate required time (TTFF first, Time To First Fix), its reason is that the ephemeris parameter that general precision and high-precision receiver demodulate certain data volume needs the regular hour on the one hand, on the other hand because navigation signal is faint and the reason such as the intermittent stop of navigation signal makes general precision and high-precision receiver not to demodulate ephemeris parameter.
In order to solve the difficulty of general precision and high-precision receiver data demodulates, assisted GNSS technology is arisen at the historic moment, the navigation message data such as ephemeris parameter are sent to general precision and high-precision receiver by mobile communications network, Internet etc. by it, thus avoid general precision and high-precision receiver to locate and ephemeris parameter of having to demodulate from real-time satellite signal to realize, to shorten TTFF.In order to obtain the navigation message data such as ephemeris parameter that A-GNSS server forwards, A-GNSS arranges multiple special GNSS satellite tracking reference stations usually in all parts of the world, the navigation message data such as the ephemeris parameter of broadcasting with all satellites of real-time collecting, used in order to A-GNSS server forwards, wherein A-GNSS server is the server adopting A-GNSS technology, and it can provide A-GNSS to serve.A-GNSS service is by certain data communication mode, provides ephemeris, almanac, ionosphere Delay computation model parameter, navigation message original data bits and other some auxiliary data informations such as position, time of catching for signal search to general precision and high-precision receiver.
As mentioned above, in order to obtain the navigation message data such as ephemeris parameter, it is arrange special GNSS satellite tracking reference stations in all parts of the world that A-GNSS serves a kind of way, another kind of way arranges GNSS satellite tracking reference stations receiver by mobile communication base station facility, to reduce infrastructure construction expense, the raising utilization of resources is efficient.
General precision and high-precision receiver can according to certain mathematical model to ionosphere time delays
estimate.Except ephemeris parameter, in the navigation signal that satellite is broadcast, also comprise the model parameter for ionosphere Delay computation, and A-GNSS service also forwards ionosphere Delay computation parameter to general precision and high-precision receiver usually.At present, high precision ground strengthen system based on network and A-GNSS server based on network do things in his own way, do not occur simultaneously, and the high precision ground of different geographical, different industries strengthen system institute based on network to spread all over the country and even global, if so the base station in these high precision ground enhancing systems is used as again A-GNSS base station, so just can avoid the duplicate construction of A-GNSS receiver base station, avoid the wasting of resources.As shown in Figure 5, in a high precision ground enhancing system, each base station receives, tracking satellite navigation signal, and the navigation message data demodulated are sent to data processing and location service center server, data processing and location service center server are verified the navigation message data such as ephemeris parameter that comprise from multiple base station, after being verified, navigation message data are formed auxiliary data and these A-GNSS data messages are sent to general precision and high-precision receiver.Be equivalent to like this set up AGNSS server in data processing and location service center server, such as can locate (SUPL according to secure user plane, Secure User Plane Location) agreement provides A-GNSS to serve directly to general precision and high-precision receiver, and this is the first feasible program that high precision ground strengthens system help and provides A-GNSS to serve.
In embodiments of the present invention, the second feasible pattern that help provides A-GNSS to serve is: data processing and location service center obtain the satellite navigation message data such as the ephemeris parameter sent from each base station in high precision ground enhancing system, simple authentication by satellite navigation message data such as these ephemeris parameters rear correct effectively after, be transmitted to A-GNSS server.In corresponding high precision ground enhancing system, data flow as shown in Figure 6, each base station in high precision ground enhancing system can regard individual indirectly A-GNSS base station as, its normal function comprises demodulate the satellite navigation message data such as ephemeris parameter from satellite-signal, and all base stations and high precision ground strengthen the data processing of system and location service center server and remain and write to each other, and their are not directly and A-GNSS server contact.
Because strengthen the distribution of system base station at the high precision ground of the same area to compare comparatively dense, multiple different base station can follow the tracks of same satellite, so after all base stations send the satellite navigation message data such as the ephemeris parameter collected separately to data processing and location service center server, satellite navigation message data in data processing and location service center server can seem repetition and redundancy, but this tests to satellite navigation message data such as these ephemeris parameters for data processing and location service center server and creates condition, and also there is very much this necessary.Data processing and location service center server checking from base station the satellite navigation message data such as ephemeris effectively after, be transmitted to A-GNSS server, that is, high precision ground strengthen system only by data processing and location service center by satellite navigation message data retransmissions such as ephemeris parameters to A-GNSS server, but directly do not provide A-GNSS to serve towards general precision and high-precision receiver.
In embodiments of the present invention, help provide A-GNSS to serve the third feasible pattern be: by each base station in high precision ground enhancing system not only as usual serve hi-Fix, and directly can be treated as A-GNSS base station, direct connection also forwards the A-GNSS server of the satellite navigation message data such as ephemeris near certain, as shown in Figure 7.Here it should be noted is that: only for general precision receiver in Fig. 5 to Fig. 7, do not provide high-precision receiver in the drawings.
In addition because each base station in high precision ground enhancing system runs continuously, and it is widely distributed, thus wider for service range high precision ground enhancing system, each satellite is inevitable tracked in the time of the overwhelming majority, in other words, high precision ground enhancing system can collect all satellite ephemeris that each satellite is broadcast substantially, to provide required satellite ephemeris in the past to prediction ephemeris arithmetic server, wherein, prediction ephemeris arithmetic server be used for extrapolating from current time according to satellite ephemeris in the past after the satellite orbit ruuning situation of preset number of days.The algorithm of prediction ephemeris arithmetic server prediction ephemeris can be briefly described as follows:
According to satellite ephemeris in the past, by certain satellite orbit run extrapolate from current time outside differential equation after the satellite orbit ruuning situation of preset number of days (being usually no more than for 2 weeks at present), i.e. satellite ephemeris in the future.In brief, as shown in Figure 4, high precision ground strengthens system and can join together with prediction ephemeris arithmetic server, for prediction ephemeris algorithm provides the satellite ephemeris in necessary past.
So far, the positioning service method strengthening system based on high precision ground except can expand hi-Fix service range of application and degree, provide A-GNSS to serve, predict except ephemeris service, positioning service method in embodiments of the present invention based on high precision ground enhancing system can also broadcast Static Precise Point Positioning (PPP) data etc. as shown in Figure 4, and wherein PPP information can be generated by data processing in high precision ground enhancing system and location service center server or be provided by ambient systems.
For aforesaid each embodiment of the method, in order to simple description, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the present invention is not by the restriction of described sequence of movement, because according to the present invention, some step can adopt other orders or carry out simultaneously.Secondly, those skilled in the art also should know, the embodiment described in instructions all belongs to preferred embodiment, and involved action and module might not be that the present invention is necessary.
Corresponding with said method embodiment, the embodiment of the present invention also provides a kind of positioning service system strengthening system based on high precision ground, its structural representation can as shown in Figure 8, can comprise: base station 11, high-precision receiver 12, data processing and location service center server 13 and general precision receiver 14.Wherein data processing and location service center server 13 comprise: the first acquisition module 131, processing module 132, modular converter 133 and sending module 134.
First acquisition module 131, for obtaining the measured value of each base station 11 pairs of GLONASS (Global Navigation Satellite System) constellation satellites in high precision ground enhancing system.Wherein measured value comprises pseudo-range measurements and carrier-phase measurement etc., and be sent to data processing and location service center server 13 by each base station 11 in high precision ground enhancing system, and each base station 11 can be the base station based on CORS network, it can pass through the connection data process of the network service such as dedicated data line or Internet facility and location service center server 13, is sent to by measured value in data processing and location service center server 13.
Processing module 132, for carrying out treatment and analysis to measured value, obtains hi-Fix differential data, and hi-Fix differential data is used for carrying out hi-Fix.In embodiments of the present invention, the treatment and analysis process of processing module 12 pairs of measured values is substantially identical with prior art, this embodiment of the present invention is no longer set forth, wherein hi-Fix differential data is as the data of carrying out hi-Fix, can comprise: the data such as pseudo range difference correction and rate of change, carrier phase difference correction, ionosphere amount of delay and troposphere amount of delay, these data can be loaded in the follow-up equation for carrying out pseudorange location Calculation, and the positioning precision obtained is improved.
Modular converter 133, for the protocol format conversion hi-Fix differential data supported with general precision receiver, obtain the poor location divided data of general precision receiver identification, general precision receiver is the receiver without the need to registering in hi-Fix service registration, and the positioning precision of general precision receiver is less than the positioning precision of high-precision receiver.
In the prior art, data processing and location service center server to obtain hi-Fix differential data be all write based on the protocol format of high-precision receiver support, and such hi-Fix differential data is only sent to again the high-precision receiver identification after registration.Therefore in order to make the general precision receiver without the need to registration of enormous amount also can accept the service of hi-Fix differential data, after parsing hi-Fix differential data, modular converter 13 can be changed according to the protocol format of general precision receiver support, the more important thing is and these poor location divided data are broadcasted away, make extensive general precision receive function and have an opportunity to obtain the poor location divided data that can identify.
In embodiments of the present invention, the protocol format of general precision receiver support can be such as RTCMSC 104 (agreement, RTCM SC104 be by special commission of RTCM (RTCM) the 104th (SC-104) formulate about differential global navigation satellite system telegraph text data format protocol.
Sending module 134, for sending the poor location divided data of general precision receiver identification to general precision receiver 14.General precision receiver is after the poor location divided data receiving the identification of general precision receiver, hi-Fix differential data is obtained the poor location divided data that can be able to identify from it, and position based on hi-Fix differential data, thus improve the positioning precision of general precision receiver, expand range of application and the degree of hi-Fix service thus, be expanded with the range of application and degree that make Beidou satellite navigation system further.
In embodiments of the present invention, sending module 134 sends the mode of the poor location divided data of general precision receiver identification can be the multitude of different ways such as broadcast type and response formula.Such as sending module 134 is after the locator data request receiving the transmission of general precision receiver, send the poor location divided data of general precision receiver identification to the general precision receiver 14 sending locator data request, realize the poor location divided data sending the identification of general precision receiver with response mode, realize man-to-man transmission, as shown in Figure 3.
Certain sending module 134 can also send the poor location divided data of general precision receiver identification to general precision receiver with the forms of broadcasting, as shown in Figure 2.When sending with the forms of broadcasting, processing module 133 needs to carry out Inversion Calculation to measured value, poor location divided data in the service area range obtaining each base station in high precision ground enhancing system in grid points, wherein poor location divided data is for being gone out the hi-Fix differential data for self by the general precision reception machine transplanting of rice being arranged in service area range, and its detailed process refers to the related description in embodiment of the method.
Refer to Fig. 9, it illustrates the another kind of structural representation strengthening the positioning service system of system based on high precision ground that the embodiment of the present invention provides, Fig. 8 basis can also comprise: the second acquisition module 15, for obtaining each base station demodulation in high precision ground enhancing system and the navigation message data sent.
Corresponding processing module 133 also for, by navigation message data composition assisted global navigational satellite system data after navigation message data verification is passed through, and trigger sending module 134 and send assisted global navigational satellite system data to general precision and high-precision receiver, directly to provide the service of assisted global navigational satellite system towards general precision and high-precision receiver.
Or
The positioning service system based on high precision ground enhancing system that the embodiment of the present invention provides can also comprise: the 3rd acquisition module 16, as shown in Figure 10.3rd acquisition module 16, for obtaining each base station demodulation in high precision ground enhancing system and the navigation message data sent.Corresponding processing module 133 is also for after checking navigation message data are effective, trigger sending module 134 and send navigation message data to assisted global navigational satellite system service server, to provide the service of assisted global navigational satellite system indirectly to general precision and high-precision receiver.
Or
The base station strengthened in the positioning service system of system based on high precision ground that the embodiment of the present invention provides also sends navigation message data to assisted global Navigation Satellite Service server, to provide the service of assisted global navigational satellite system indirectly to general precision and high-precision receiver for demodulation.
In addition, the positioning service system based on high precision ground enhancing system that the embodiment of the present invention provides also comprises: search module, for collecting satellite ephemeris, to provide required satellite ephemeris in the past to prediction ephemeris arithmetic server, wherein, predict ephemeris arithmetic server be used for extrapolating from current time according to satellite ephemeris in the past after the satellite orbit ruuning situation of preset number of days.
It should be noted that, each embodiment in this instructions all adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar part mutually see.For system class embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
To the above-mentioned explanation of the disclosed embodiments, those skilled in the art are realized or uses the present invention.To be apparent for a person skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. strengthen a positioning service method for system based on high precision ground, be applied to the data processing in described high precision ground enhancing system and location service center server, it is characterized in that, described positioning service method comprises:
In acquisition high precision ground enhancing system, each base station is to the measured value of GLONASS (Global Navigation Satellite System) constellation satellite;
Carry out treatment and analysis to described measured value, obtain hi-Fix differential data, described hi-Fix differential data is used for carrying out hi-Fix;
Described hi-Fix differential data is changed with the protocol format of general precision receiver support, obtain the poor location divided data of described general precision receiver identification, described general precision receiver is the receiver without the need to registering in hi-Fix service registration, and the positioning precision of described general precision receiver is less than the positioning precision of high-precision receiver;
Send the poor location divided data of described general precision receiver identification to described general precision receiver.
2. positioning service method according to claim 1, it is characterized in that, the poor location divided data of described transmission described general precision receiver identification is to described general precision receiver, comprise: after the locator data request receiving the transmission of general precision receiver, send the poor location divided data of described general precision receiver identification to the general precision receiver sending described locator data request.
3. positioning service method according to claim 1, it is characterized in that, described treatment and analysis is carried out to described measured value, obtain hi-Fix differential data, comprise: Inversion Calculation is carried out to described measured value, poor location divided data in the service area range obtaining each base station in described high precision ground enhancing system in grid points, wherein said poor location divided data is used for receiving the machine transplanting of rice by the described general precision being arranged in described service area range and goes out hi-Fix differential data for self;
The poor location divided data of described transmission described general precision receiver identification, to described general precision receiver, comprising: send the poor location divided data of described general precision receiver identification with the forms of broadcasting to described general precision receiver.
4. positioning service method according to claim 1, it is characterized in that, described positioning service method also comprises: obtain each base station demodulation in described high precision ground enhancing system and the navigation message data sent, by described navigation message data composition assisted global navigational satellite system data after described navigation message data verification is passed through, send described assisted global navigational satellite system data to described general precision and high-precision receiver, directly to provide the service of assisted global navigational satellite system towards general precision and high-precision receiver;
Or
Described positioning service method also comprises: obtain each base station demodulation in described high precision ground enhancing system and the navigation message data sent, after the described navigation message data of checking are effective, send described navigation message data to assisted global navigational satellite system service server, to provide the service of assisted global navigational satellite system indirectly to described general precision and high-precision receiver;
Or
Described positioning service method also comprises: send navigation message data to assisted global Navigation Satellite Service server, to provide the service of assisted global navigational satellite system indirectly to described general precision and high-precision receiver by each base station demodulation in described high precision ground enhancing system.
5. positioning service method according to claim 4, it is characterized in that, described positioning service method also comprises: collect satellite ephemeris, to provide required satellite ephemeris in the past to prediction ephemeris arithmetic server, wherein, predict ephemeris arithmetic server be used for extrapolating from current time according to satellite ephemeris in the past after the satellite orbit ruuning situation of preset number of days.
6. strengthen the positioning service system of system based on high precision ground, comprise base station and high-precision receiver, it is characterized in that, described positioning service system also comprises: data processing and location service center server and general precision receiver; Wherein said data processing and location service center server comprise: the first acquisition module, processing module, modular converter and sending module;
Described first acquisition module, for obtaining in high precision ground enhancing system each base station to the measured value of GLONASS (Global Navigation Satellite System) constellation satellite;
Described processing module, for carrying out treatment and analysis to described measured value, obtains hi-Fix differential data, and described hi-Fix differential data is used for carrying out hi-Fix;
Described modular converter, for changing described hi-Fix differential data with the protocol format of general precision receiver support, obtain the poor location divided data of described general precision receiver identification, described general precision receiver is the receiver without the need to registering in hi-Fix service registration, and the positioning precision of described general precision receiver is less than the positioning precision of high-precision receiver;
Described sending module, for sending the poor location divided data of described general precision receiver identification to described general precision receiver.
7. positioning service system according to claim 6, it is characterized in that, described sending module specifically for: receive general precision receiver send locator data request after, send the poor location divided data of described general precision receiver identification to the general precision receiver sending described locator data request.
8. positioning service system according to claim 6, it is characterized in that, described processing module specifically for: Inversion Calculation is carried out to described measured value, poor location divided data in the service area range obtaining each base station in described high precision ground enhancing system in grid points, wherein said poor location divided data is used for receiving the machine transplanting of rice by the described general precision being arranged in described service area range and goes out hi-Fix differential data for self;
Described sending module specifically for: the poor location divided data sending the identification of described general precision receiver with the forms of broadcasting is to described general precision receiver.
9. positioning service system according to claim 6, is characterized in that, described positioning service system also comprises: the second acquisition module, for obtaining each base station demodulation in described high precision ground enhancing system and the navigation message data sent;
Described processing module also for, by described navigation message data composition assisted global navigational satellite system data after described navigation message data verification is passed through, and trigger described sending module and send described assisted global navigational satellite system data to described general precision and high-precision receiver, directly to provide the service of assisted global navigational satellite system towards general precision and high-precision receiver;
Or
Described positioning service system also comprises: the 3rd acquisition module, for obtaining each base station demodulation in described high precision ground enhancing system and the navigation message data sent;
Described processing module also for, after the described navigation message data of checking are effective, trigger described sending module and send described navigation message data to assisted global navigational satellite system service server, to provide the service of assisted global navigational satellite system indirectly to described general precision and high-precision receiver;
Or
Base station in described positioning service system also sends navigation message data to assisted global Navigation Satellite Service server, to provide the service of assisted global navigational satellite system indirectly to described general precision and high-precision receiver for demodulation.
10. positioning service system according to claim 9, it is characterized in that, described positioning service system also comprises: search module, for collecting satellite ephemeris, to provide required satellite ephemeris in the past to prediction ephemeris arithmetic server, wherein, predict ephemeris arithmetic server be used for extrapolating from current time according to satellite ephemeris in the past after the satellite orbit ruuning situation of preset number of days.
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