CN105785409A - RTK positioning precision forecast method and system - Google Patents
RTK positioning precision forecast method and system Download PDFInfo
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- CN105785409A CN105785409A CN201510998676.9A CN201510998676A CN105785409A CN 105785409 A CN105785409 A CN 105785409A CN 201510998676 A CN201510998676 A CN 201510998676A CN 105785409 A CN105785409 A CN 105785409A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
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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]
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a RTK positioning precision forecast method and a system which are characterized by: acquiring ionosphere TEC forecast information; acquiring a RTK precision model which is established on the RTK positioning precision information and ionosphere TEC information; the RTK positioning precision information including time, baseline, and RTK positioning precision; the ionosphere TEC information including the time, the baseline and ionosphere TEC; based on the ionosphere TEC forecast information and the RTK precision model, determining RTK forecast precision. According to the invention, through the ionosphere TEC forecast information and the RTK precision model, the RTK positioning precision forecast method and system enable users to predict RTK positioning precision based on the ionosphere TEC forecast information and obtain a prediction result which is the RTK forecast precision of time to be forecasted, so that further processing can be conducted based on the prediction result.
Description
Technical field
The present invention relates to mapping field of locating technology, particularly relate to forecasting procedure and the system of a kind of RTK positioning precision.
Background technology
RTK (Real-timekinematic, Real-time and Dynamic control system) is one of the most frequently used mapping means of survey field, is the indispensable measurement technology of survey field.But, RTK is the technology of " living at the mercy of the elements ", is often subject to the impact of the various extraneous factor such as ionospheric interference, solar activity.Especially ionospheric interference, no matter it is from Theoretical Calculation or actual measurement, ionized layer TEC (TotalElectronContent, ionospheric electron density total content, also known as ionospheric electron density post content, integration content etc., be in unit are electron concentration along the integration of height) concentration the impact of RTK positioning precision is very close.
RTK positioning precision is significant to mapping, if positioning precision is unsatisfactory for requirement, then will have a strong impact on the accuracy of mapping.At present, for the technology maturation of the monitoring of ionized layer TEC and forecast, there is such as Tian Bao company of the U.S. real-time ionized layer TEC monitoring and forecast system；But, the forecast to RTK positioning precision, there is presently no corresponding method and system.
Summary of the invention
Based on this, it is necessary to provide forecasting procedure and the system of a kind of RTK positioning precision RTK positioning precision can forecast.
A kind of forecasting procedure of RTK positioning precision, including step:
Obtain ionized layer TEC forecast information；
Obtain the RTK accuracy model set up according to RTK positioning accuracy information and ionized layer TEC information；
Described RTK positioning accuracy information includes: time, baseline and RTK positioning precision；Described ionized layer TEC information includes: described time, described baseline and ionized layer TEC；
According to described ionized layer TEC forecast information and described RTK accuracy model, it is determined that RTK forecast precision to be called time.
By the forecasting procedure of above-mentioned RTK positioning precision, RTK positioning precision can be predicted by user according to ionized layer TEC forecast information, is predicted the outcome, RTK forecast precision namely to be called time.Thus relevant treatment can be carried out according to the situation to predicted anomaly that predicts the outcome, as notified user.According to predicting the outcome, location information can also be made to preset processing.As when RTK positioning precision is when predictive value sometime is not in preset range, namely do not met the demand of certain operation, then can pre-set the location information not receiving the corresponding time, to economize on resources；Or take alternate manner to obtain the location information of corresponding time for completing this operation.
A kind of forecast system of RTK positioning precision, including:
Forecast TEC acquisition module, is used for obtaining ionized layer TEC forecast information；
Accuracy model acquisition module, for obtaining the RTK accuracy model set up according to RTK positioning accuracy information and ionized layer TEC information；
Described RTK positioning accuracy information includes: time, baseline and RTK positioning precision；Described ionized layer TEC information includes: described time, described baseline and ionized layer TEC；
RTK precision Prediction module, for according to described ionized layer TEC forecast information and described RTK accuracy model, it is determined that RTK forecast precision to be called time.
By the forecast system of above-mentioned RTK positioning precision, RTK positioning precision can be predicted by user according to ionized layer TEC forecast information, is predicted the outcome, RTK forecast precision namely to be called time.Thus relevant treatment can be carried out according to the situation to predicted anomaly that predicts the outcome, as notified user.According to predicting the outcome, location information can also be made to preset processing.As when RTK positioning precision is when predictive value sometime is not in preset range, namely do not met the demand of certain operation, then can pre-set the location information not receiving the corresponding time, to economize on resources；Or take alternate manner to obtain the location information of corresponding time for completing this operation.
Accompanying drawing explanation
Fig. 1 is the flow chart of the forecasting procedure of the RTK positioning precision of a kind of embodiment；
Fig. 2 is the flow chart of the forecasting procedure of the RTK positioning precision of another embodiment；
Fig. 3 is the structure chart of the forecast system of the RTK positioning precision of a kind of embodiment；
Fig. 4 is the structure chart of the forecast system of the RTK positioning precision of another embodiment.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.Accompanying drawing gives the preferred embodiment of the present invention.But, the present invention can realize in many different forms, however it is not limited to embodiment described herein.On the contrary, the purpose providing these embodiments is to make the understanding to the disclosure more thorough comprehensively.
Unless otherwise defined, all of technology used herein is identical with the implication that the those skilled in the art belonging to the present invention are generally understood that with scientific terminology.The term used in the description of the invention herein is intended merely to the purpose describing specific embodiment, it is not intended that in the restriction present invention.Term as used herein " or/and " include the arbitrary and all of combination of one or more relevant Listed Items.
As it is shown in figure 1, the forecasting procedure of the RTK positioning precision of a kind of embodiment, including step:
S210: obtain ionized layer TEC forecast information.
Adopt prior art can obtain ionized layer TEC forecast information, as obtained the ionized layer TEC of expectation to be called time by the monitoring of the ionized layer TEC of Tian Bao company of the U.S. and forecast system, and estimate TEC.In the present embodiment, ionized layer TEC forecast information includes: wait to call time and estimate TEC.Wait to call time, for needing the time having not occurred of forecast RTK positioning precision.RTK positioning precision is the precision of the position location in the information of location.That is, wait to call time the acquisition time into location information corresponding to the RTK positioning precision of forecast.
S230: obtain the RTK accuracy model set up according to RTK positioning accuracy information and ionized layer TEC information.
Described RTK positioning accuracy information includes: time, baseline and RTK positioning precision, and described RTK positioning precision is the precision of the position location in the information of location；Described ionized layer TEC information includes: described time, described baseline and ionized layer TEC；Described location information includes: time, baseline and described position location.Location information is sent by RTK monitoring station.
S250: according to described ionized layer TEC forecast information and described RTK accuracy model, it is determined that RTK forecast precision to be called time.
In the present embodiment, described RTK forecast precision includes the precision of position location, i.e. RTK positioning precision in location information to be called time described on each baseline.Here RTK positioning precision, is the predictive value determined by RTK accuracy model.
By the forecasting procedure of above-mentioned RTK positioning precision, RTK positioning precision can be predicted by user according to ionized layer TEC forecast information, is predicted the outcome, RTK forecast precision namely to be called time.Thus relevant treatment can be carried out according to the situation to predicted anomaly that predicts the outcome, as notified user.According to predicting the outcome, location information can also be made to preset processing.As when RTK positioning precision is when predictive value sometime is not in preset range, namely do not met the demand of certain operation, then can pre-set the location information not receiving the corresponding time, to economize on resources；Or take alternate manner to obtain the location information of corresponding time for completing this operation.
In another embodiment, described ionized layer TEC forecast information also includes: treat report baseline.Described RTK forecast precision treats RTK positioning precision to be called time described on report baseline described in being.Treat that report baseline is the baseline needing forecast RTK positioning precision.So, it is possible to economize on resources, it is not necessary to determine the RTK positioning precision on the baseline that user is not required to carry out forecasting.
Wherein in an embodiment, differential corrections that described location information is sent according to positional information and base station by described RTK monitoring station and determine.Wherein, positional information is GNSS (GlobalNavigationSatelliteSystem, the GLONASS) satellite-signal including position location sent.Differential corrections is the data that the position location in satellite-signal is modified determining position location that RTK base station is determined according to the reference position of the GNSS satellite-signal including position location sent and base station.
As in figure 2 it is shown, wherein in an embodiment, further comprise the steps of:
S110: obtain real-time location information；
S130: described real-time location information is resolved, it is determined that real-time RTK positioning accuracy information；
S220: according to described real-time RTK positioning accuracy information, sends the report of real-time RTK precision, and the report of described real-time RTK precision includes: real-time time, monitoring baseline and real-time RTK positioning precision.
Whether so, user can be obtain real-time RTK positioning accuracy information in time calling time at real-time time, and it is contrasted with the RTK forecast precision of forecast, accurate to determine forecast.And then, it is also possible to whether accurately it is further processed according to weather report.
Please continue to refer to Fig. 2, in another embodiment, before step S230, further comprise the steps of:
S110: obtain real-time location information.
S130: described real-time location information is resolved, it is determined that real-time RTK positioning accuracy information.
According to prior art, the position location in the information of location is resolved, it may be determined that RTK positioning precision sometime on a certain baseline.
S150: obtain real-time ionized layer TEC information.
Real-time Collection ionized layer TEC information, i.e. ionized layer TEC on Real-time Collection difference baseline, and record the time of collection.
S170: according to described RTK positioning accuracy information and described ionized layer TEC information, sets up different ionized layer TEC respectively to identical baseline and the different baseline RTK accuracy model to identical ionized layer TEC.
Mathematical knowledge according to statistics, theory of probability, by identical time, the RTK positioning accuracy information of identical baseline and ionized layer TEC information, it may be determined that RTK precision about the mathematical model of ionized layer TEC, i.e. the different ionized layer TEC RTK accuracy models to identical baseline；By identical time, the RTK positioning accuracy information of identical ionized layer TEC and ionized layer TEC information, it may be determined that RTK precision about the mathematical model of baseline, i.e. the different baseline RTK accuracy models to identical ionized layer TEC.
As it is shown on figure 3, the forecast system of the RTK positioning precision of a kind of embodiment, including:
Forecast TEC acquisition module 210, is used for obtaining ionized layer TEC forecast information.
Adopt prior art can obtain ionized layer TEC forecast information, as obtained the ionized layer TEC of expectation to be called time by the monitoring of the ionized layer TEC of Tian Bao company of the U.S. and forecast system, and estimate TEC.In the present embodiment, ionized layer TEC forecast information includes: wait to call time and estimate TEC.Wait to call time, for needing the time having not occurred of forecast RTK positioning precision.RTK positioning precision is the precision of the position location in the information of location.That is, wait to call time the acquisition time into location information corresponding to the RTK positioning precision of forecast.
Accuracy model acquisition module 230, for obtaining the RTK accuracy model set up according to RTK positioning accuracy information and ionized layer TEC information.
Described RTK positioning accuracy information includes: time, baseline and RTK positioning precision, and described RTK positioning precision is the precision of the position location in the information of location；Described ionized layer TEC information includes: described time, described baseline and ionized layer TEC；Described location information includes: time, baseline and described position location.Location information is sent by RTK monitoring station.
RTK precision Prediction module 250, for according to described ionized layer TEC forecast information and described RTK accuracy model, it is determined that RTK forecast precision to be called time.
In the present embodiment, described RTK forecast precision includes the precision of position location, i.e. RTK positioning precision in location information to be called time described on each baseline.Here RTK positioning precision, is the predictive value determined by RTK accuracy model.
By the forecast system of above-mentioned RTK positioning precision, RTK positioning precision can be predicted by user according to ionized layer TEC forecast information, is predicted the outcome, RTK forecast precision namely to be called time.Thus relevant treatment can be carried out according to the situation to predicted anomaly that predicts the outcome, as notified user.According to predicting the outcome, location information can also be made to preset processing.As when RTK positioning precision is when predictive value sometime is not in preset range, namely do not met the demand of certain operation, then can pre-set the location information not receiving the corresponding time, to economize on resources；Or take alternate manner to obtain the location information of corresponding time for completing this operation.
In another embodiment, described ionized layer TEC forecast information also includes: treat report baseline.Described RTK forecast precision treats RTK positioning precision to be called time described on report baseline described in being.Treat that report baseline is the baseline needing forecast RTK positioning precision.So, it is possible to economize on resources, it is not necessary to determine the RTK positioning precision on the baseline that user is not required to carry out forecasting.
Wherein in an embodiment, differential corrections that described location information is sent according to positional information and base station by described RTK monitoring station and determine.Wherein, positional information is GNSS (GlobalNavigationSatelliteSystem, the GLONASS) satellite-signal including position location sent.Differential corrections is the data that the position location in satellite-signal is modified determining position location that RTK base station is determined according to the reference position of the GNSS satellite-signal including position location sent and base station.
As shown in Figure 4, wherein in an embodiment, also include:
Location data obtaining module 110, for obtaining real-time location information；
Real-time accuracy determines module 130, for described real-time location information is resolved, it is determined that real-time RTK positioning accuracy information；
Real-time accuracy reporting modules 220, for according to described real-time RTK positioning accuracy information, sending the report of real-time RTK precision, the report of described real-time RTK precision includes: real-time time, monitoring baseline and real-time RTK positioning precision.
Whether so, user can be obtain real-time RTK positioning accuracy information in time calling time at real-time time, and it is contrasted with the RTK forecast precision of forecast, accurate to determine forecast.And then, it is also possible to whether accurately it is further processed according to weather report.
Please continue to refer to Fig. 4, in another embodiment, including:
Location data obtaining module 110, for obtaining real-time location information.
Real-time accuracy determines module 130, for described real-time location information is resolved, it is determined that real-time RTK positioning accuracy information.
According to prior art, the position location in the information of location is resolved, it may be determined that RTK positioning precision sometime on a certain baseline.
TEC acquisition module 150, for obtaining real-time ionized layer TEC information.
Real-time Collection ionized layer TEC information, i.e. ionized layer TEC on Real-time Collection difference baseline, and record the time of collection.
Accuracy model sets up module 170, for according to described RTK positioning accuracy information and described ionized layer TEC information, setting up different ionized layer TEC respectively to identical baseline and the different baseline RTK accuracy model to identical ionized layer TEC.
Mathematical knowledge according to statistics, theory of probability, by identical time, the RTK positioning accuracy information of identical baseline and ionized layer TEC information, it may be determined that RTK precision about the mathematical model of ionized layer TEC, i.e. the different ionized layer TEC RTK accuracy models to identical baseline；By identical time, the RTK positioning accuracy information of identical ionized layer TEC and ionized layer TEC information, it may be determined that RTK precision about the mathematical model of baseline, i.e. the different baseline RTK accuracy models to identical ionized layer TEC.
Above example only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making multiple deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. the forecasting procedure of a RTK positioning precision, it is characterised in that include step:
Obtain ionized layer TEC forecast information；
Obtain the RTK accuracy model set up according to RTK positioning accuracy information and ionized layer TEC information；Described RTK positioning accuracy information includes: time, baseline and RTK positioning precision；Described ionized layer TEC information includes: described time, described location baseline and ionized layer TEC；
According to described ionized layer TEC forecast information and described RTK accuracy model, it is determined that RTK forecast precision to be called time.
2. the forecasting procedure of RTK positioning precision according to claim 1, it is characterised in that described ionized layer TEC forecast information includes: described in wait to call time, treat report baseline and estimate TEC；Described RTK forecast precision treats RTK expected accuracy to be called time described on report baseline described in being.
3. the forecasting procedure of RTK positioning precision according to claim 1, it is characterised in that further comprise the steps of:
Obtain real-time location information；
Described real-time location information is resolved, it is determined that real-time RTK positioning accuracy information；
According to described real-time RTK positioning accuracy information, sending the report of real-time RTK precision, the report of described real-time RTK precision includes: real-time time, monitoring baseline and real-time RTK positioning precision.
4. the forecasting procedure of the RTK positioning precision according to claim 1-2 any one, it is characterised in that before the step of the RTK accuracy model that described acquisition is set up according to RTK positioning accuracy information and ionized layer TEC information, further comprise the steps of:
Obtain real-time location information；
Described real-time location information is resolved, it is determined that real-time RTK positioning accuracy information；
Obtain real-time ionized layer TEC information；
According to described RTK positioning accuracy information and described ionized layer TEC information, set up different ionized layer TEC respectively to identical baseline and the different baseline RTK accuracy model to identical ionized layer TEC.
5. the forecasting procedure of RTK positioning precision according to claim 1, it is characterised in that differential corrections that described location information is sent according to positional information and base station by described RTK monitoring station and determine.
6. the forecast system of a RTK positioning precision, it is characterised in that including:
Forecast TEC acquisition module, is used for obtaining ionized layer TEC forecast information；
Accuracy model acquisition module, for obtaining the RTK accuracy model set up according to RTK positioning accuracy information and ionized layer TEC information；
Described RTK positioning accuracy information includes: time, baseline and RTK positioning precision；Described ionized layer TEC information includes: described time, described baseline and ionized layer TEC；
RTK precision Prediction module, for according to described ionized layer TEC forecast information and described RTK accuracy model, it is determined that RTK forecast precision to be called time.
7. the forecast system of RTK positioning precision according to claim 6, it is characterised in that described ionized layer TEC forecast information includes: described in wait to call time, treat report baseline and estimate TEC；Described RTK forecast precision treats RTK expected accuracy to be called time described on report baseline described in being.
8. the forecast system of RTK positioning precision according to claim 6, it is characterised in that also include:
Location data obtaining module, for obtaining real-time location information；
Real-time accuracy determines module, for described real-time location information is resolved, it is determined that real-time RTK positioning accuracy information；
Real-time accuracy reporting modules, for according to described real-time RTK positioning accuracy information, sending the report of real-time RTK precision, the report of described real-time RTK precision includes: real-time time, monitoring baseline and real-time RTK positioning precision.
9. the forecast system of the RTK positioning precision according to claim 6-7 any one, it is characterised in that also include:
Location data obtaining module, for obtaining real-time location information；Real-time accuracy determines module, for described real-time location information is resolved, it is determined that real-time RTK positioning accuracy information；
TEC acquisition module, for obtaining real-time ionized layer TEC information；
Accuracy model sets up module, for according to described RTK positioning accuracy information and described ionized layer TEC information, setting up different ionized layer TEC respectively to identical baseline and the different baseline RTK accuracy model to identical ionized layer TEC.
10. the forecast system of RTK positioning precision according to claim 6, it is characterised in that differential corrections that described location information is sent according to positional information and base station by described RTK monitoring station and determine.
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| CN201510998676.9A CN105785409B (en) | 2015-12-24 | 2015-12-24 | The forecasting procedure and system of RTK positioning accuracy |
| PCT/CN2016/085534 WO2017107402A1 (en) | 2015-12-24 | 2016-06-13 | Rtk positioning precision prediction method and system |
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| CN108490459A (en) * | 2018-02-12 | 2018-09-04 | 千寻位置网络有限公司 | Precision is applied to the method and system of GNSS location service with risk balance |
| CN110488332A (en) * | 2018-05-14 | 2019-11-22 | 广州市中海达测绘仪器有限公司 | Method and device based on technology of network RTK |
| CN110488332B (en) * | 2018-05-14 | 2021-09-10 | 广州市中海达测绘仪器有限公司 | Positioning information processing method and device based on network RTK technology |
| WO2020113399A1 (en) * | 2018-12-04 | 2020-06-11 | 深圳市大疆创新科技有限公司 | State prompting method, system and apparatus for fixed rtk base station, mobile rtk station and mobile device |
| CN109752745A (en) * | 2019-01-28 | 2019-05-14 | Oppo广东移动通信有限公司 | Split type equipment localization method, device, split type equipment and storage medium |
| CN111045046A (en) * | 2019-12-03 | 2020-04-21 | 东南大学 | Short-term ionosphere forecasting method and device based on NARX |
| CN111045046B (en) * | 2019-12-03 | 2021-10-19 | 东南大学 | Short-term ionosphere forecasting method and device based on NARX |
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| Publication number | Publication date |
|---|---|
| CN105785409B (en) | 2019-05-21 |
| WO2017107402A1 (en) | 2017-06-29 |
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