CN105785409B - The forecasting procedure and system of RTK positioning accuracy - Google Patents
The forecasting procedure and system of RTK positioning accuracy Download PDFInfo
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- CN105785409B CN105785409B CN201510998676.9A CN201510998676A CN105785409B CN 105785409 B CN105785409 B CN 105785409B CN 201510998676 A CN201510998676 A CN 201510998676A CN 105785409 B CN105785409 B CN 105785409B
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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
-
- 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
A kind of forecasting procedure and system of RTK positioning accuracy obtain ionized layer TEC forecast information；Obtain the RTK accuracy model established according to RTK positioning accuracy information and ionized layer TEC information；The RTK positioning accuracy information includes: time, baseline and RTK positioning accuracy；The ionized layer TEC information includes: the time, the baseline and ionized layer TEC；According to the ionized layer TEC forecast information and the RTK accuracy model, RTK forecast precision is determined.By the forecasting procedure and system of above-mentioned RTK positioning accuracy, user can be predicted RTK positioning accuracy according to ionized layer TEC forecast information, obtain prediction result, that is, RTK forecast precision to be called time, so as to be for further processing according to prediction result.
Description
Technical field
The present invention relates to mapping field of locating technology more particularly to a kind of forecasting procedures and system of RTK positioning accuracy.
Background technique
RTK (Real-time kinematic, real-time kinetic-control system) be the most common mapping means of survey field it
One, it is the indispensable measuring technique of survey field.However, RTK is the technology of one " living at the mercy of the elements ", often ionized
The influence of the various extraneous factors such as layer interference, solar activity.The especially interference in ionosphere, either from theoretical calculation or reality
In the measurement of border, ionized layer TEC (Total Electron Content, ionospheric electron density total content, also known as ionosphere electronics
Concentration column content, integral content etc., be in unit area electron concentration along the integral of height) concentration to RTK positioning accuracy
It influences very close.
RTK positioning accuracy is of great significance to mapping, if positioning accuracy is unsatisfactory for requiring, will seriously affect mapping
Accuracy.Currently, the technology maturation of monitoring and forecast for ionized layer TEC, as U.S. Tian Bao company has ionization in real time
Layer TEC monitoring and forecast system；However, the forecast to RTK positioning accuracy, there is presently no corresponding method and system.
Summary of the invention
Based on this, it is necessary to which providing one kind can be to the forecasting procedure for the RTK positioning accuracy that RTK positioning accuracy is forecast
And system.
A kind of forecasting procedure of RTK positioning accuracy, comprising steps of
Obtain ionized layer TEC forecast information；
Obtain the RTK accuracy model established according to RTK positioning accuracy information and ionized layer TEC information；
The RTK positioning accuracy information includes: time, baseline and RTK positioning accuracy；The ionized layer TEC information includes:
The time, the baseline and ionized layer TEC；
According to the ionized layer TEC forecast information and the RTK accuracy model, RTK forecast precision to be called time is determined.
By the forecasting procedure of above-mentioned RTK positioning accuracy, user can be positioned RTK according to ionized layer TEC forecast information
Precision is predicted, prediction result, that is, RTK forecast precision to be called time are obtained.So as to different to predicting according to prediction result
Normal situation carries out relevant treatment, such as notifies user.Default processing can also be made to location information according to prediction result.Such as work as
RTK positioning accuracy predicted value sometime not within a preset range when, that is, do not meet the demand of certain operation, then can be pre-
The location information for not receiving the corresponding time is first set, to economize on resources；Or other way is taken to obtain to complete the operation
The location information of corresponding time.
A kind of forecast system of RTK positioning accuracy, comprising:
Forecast that TEC obtains module, for obtaining ionized layer TEC forecast information；
Accuracy model obtains module, for obtaining the RTK according to RTK positioning accuracy information and the foundation of ionized layer TEC information
Accuracy model；
The RTK positioning accuracy information includes: time, baseline and RTK positioning accuracy；The ionized layer TEC information includes:
The time, the baseline and ionized layer TEC；
RTK precision Prediction module, for according to the ionized layer TEC forecast information and the RTK accuracy model, determine to
The RTK forecast precision to call time.
By the forecast system of above-mentioned RTK positioning accuracy, user can be positioned RTK according to ionized layer TEC forecast information
Precision is predicted, prediction result, that is, RTK forecast precision to be called time are obtained.So as to different to predicting according to prediction result
Normal situation carries out relevant treatment, such as notifies user.Default processing can also be made to location information according to prediction result.Such as work as
RTK positioning accuracy predicted value sometime not within a preset range when, that is, do not meet the demand of certain operation, then can be pre-
The location information for not receiving the corresponding time is first set, to economize on resources；Or other way is taken to obtain to complete the operation
The location information of corresponding time.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the forecasting procedure of the RTK positioning accuracy of embodiment；
Fig. 2 is the flow chart of the forecasting procedure of the RTK positioning accuracy of another embodiment；
Fig. 3 is a kind of structure chart of the forecast system of the RTK positioning accuracy of embodiment；
Fig. 4 is the structure chart of the forecast system of the RTK positioning accuracy of another embodiment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give preferred embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more saturating
It is thorough comprehensive.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " or/and " it include one or more phases
Any and all combinations of the listed item of pass.
As shown in Figure 1, a kind of forecasting procedure of the RTK positioning accuracy of embodiment, comprising steps of
S210: ionized layer TEC forecast information is obtained.
Ionized layer TEC forecast information can be obtained using the prior art, such as monitored by the ionized layer TEC of U.S. Tian Bao company
Estimated ionized layer TEC to be called time, and it is expected that TEC are obtained with forecast system.In the present embodiment, ionized layer TEC is forecast
Information includes: wait call time and it is expected that TEC.Wait call time, for need to forecast one of RTK positioning accuracy have not occurred when
Between.RTK positioning accuracy is the precision of the position location in location information.That is, the RTK positioning accuracy wait call time as forecast corresponds to
Location information acquisition time.
S230: the RTK accuracy model established according to RTK positioning accuracy information and ionized layer TEC information is obtained.
The RTK positioning accuracy information includes: time, baseline and RTK positioning accuracy, and the RTK positioning accuracy is positioning
The precision of position location in information；The ionized layer TEC information includes: the time, the baseline and ionized layer TEC；Institute
Stating location information includes: time, baseline and the position location.Location information is sent by the monitoring station RTK.
S250: according to the ionized layer TEC forecast information and the RTK accuracy model, RTK forecast to be called time is determined
Precision.
In the present embodiment, the RTK forecast precision includes on each baseline in the location information to be called time
The precision of position location, i.e. RTK positioning accuracy.Here RTK positioning accuracy is that determined by RTK accuracy model one is pre-
Measured value.
By the forecasting procedure of above-mentioned RTK positioning accuracy, user can be positioned RTK according to ionized layer TEC forecast information
Precision is predicted, prediction result, that is, RTK forecast precision to be called time are obtained.So as to different to predicting according to prediction result
Normal situation carries out relevant treatment, such as notifies user.Default processing can also be made to location information according to prediction result.Such as work as
RTK positioning accuracy predicted value sometime not within a preset range when, that is, do not meet the demand of certain operation, then can be pre-
The location information for not receiving the corresponding time is first set, to economize on resources；Or other way is taken to obtain to complete the operation
The location information of corresponding time.
In another embodiment, the ionized layer TEC forecast information further include: baseline to be reported.The RTK forecast precision
To be described wait report the RTK positioning accuracy to be called time on baseline.Baseline to be reported is the base for needing to forecast RTK positioning accuracy
Line.In this way, can economize on resources, does not need to determine user and do not need RTK positioning accuracy on the baseline forecast.
The location information is sent out by the monitoring station RTK according to location information and base station in one of the embodiments,
The differential corrections that send and determine.Wherein, location information be GNSS (Global Navigation Satellite System,
Global Navigation Satellite System) send the satellite-signal including position location.Differential corrections are that RTK base station is sent out according to GNSS
One of the base position determination of the satellite-signal and base station including position location sent is to the position location in satellite-signal
It is modified the data to determine position location.
As shown in Fig. 2, further comprising the steps of: in one of the embodiments,
S110: real-time location information is obtained；
S130: resolving the real-time location information, determines real-time RTK positioning accuracy information；
S220: according to the real-time RTK positioning accuracy information, real-time RTK precision report, the real-time RTK essence are sent
Degree report includes: real-time time, monitoring baseline and real-time RTK positioning accuracy.
In this way, user can be in real-time time obtain real-time RTK positioning accuracy information when calling time, and by its with
The RTK forecast precision of forecast compares, to determine whether forecast is accurate.In turn, whether can also accurately do according to weather report into
The processing of one step.
Please continue to refer to Fig. 2, in another embodiment, before step S230, further comprise the steps of:
S110: real-time location information is obtained.
S130: resolving the real-time location information, determines real-time RTK positioning accuracy information.
The position location in location information is resolved according to the prior art, can be determined on a certain baseline sometime
RTK positioning accuracy.
S150: real-time ionized layer TEC information is obtained.
In real time acquisition ionized layer TEC information, i.e., acquire the ionized layer TEC on different baselines in real time, and record acquisition when
Between.
S170: according to the RTK positioning accuracy information and the ionized layer TEC information, different ionized layer TECs are established respectively
To identical baseline and different baseline to the RTK accuracy model of identical ionized layer TEC.
According to statistics, the mathematical knowledge of probability theory, by same time, the RTK positioning accuracy information of identical baseline and electricity
Absciss layer TEC information can determine mathematical model of the RTK precision about ionized layer TEC, i.e., different ionized layer TECs are to identical baseline
RTK accuracy model；It, can be true by same time, the RTK positioning accuracy information of identical ionized layer TEC and ionized layer TEC information
Determine mathematical model of the RTK precision about baseline, i.e., RTK accuracy model of the different baselines to identical ionized layer TEC.
As shown in figure 3, a kind of forecast system of the RTK positioning accuracy of embodiment, comprising:
Forecast that TEC obtains module 210, for obtaining ionized layer TEC forecast information.
Ionized layer TEC forecast information can be obtained using the prior art, such as monitored by the ionized layer TEC of U.S. Tian Bao company
Estimated ionized layer TEC to be called time, and it is expected that TEC are obtained with forecast system.In the present embodiment, ionized layer TEC is forecast
Information includes: wait call time and it is expected that TEC.Wait call time, for need to forecast one of RTK positioning accuracy have not occurred when
Between.RTK positioning accuracy is the precision of the position location in location information.That is, the RTK positioning accuracy wait call time as forecast corresponds to
Location information acquisition time.
Accuracy model obtains module 230, is established for obtaining according to RTK positioning accuracy information and ionized layer TEC information
RTK accuracy model.
The RTK positioning accuracy information includes: time, baseline and RTK positioning accuracy, and the RTK positioning accuracy is positioning
The precision of position location in information；The ionized layer TEC information includes: the time, the baseline and ionized layer TEC；Institute
Stating location information includes: time, baseline and the position location.Location information is sent by the monitoring station RTK.
RTK precision Prediction module 250 is used for according to the ionized layer TEC forecast information and the RTK accuracy model, really
Fixed RTK forecast precision to be called time.
In the present embodiment, the RTK forecast precision includes on each baseline in the location information to be called time
The precision of position location, i.e. RTK positioning accuracy.Here RTK positioning accuracy is that determined by RTK accuracy model one is pre-
Measured value.
By the forecast system of above-mentioned RTK positioning accuracy, user can be positioned RTK according to ionized layer TEC forecast information
Precision is predicted, prediction result, that is, RTK forecast precision to be called time are obtained.So as to different to predicting according to prediction result
Normal situation carries out relevant treatment, such as notifies user.Default processing can also be made to location information according to prediction result.Such as work as
RTK positioning accuracy predicted value sometime not within a preset range when, that is, do not meet the demand of certain operation, then can be pre-
The location information for not receiving the corresponding time is first set, to economize on resources；Or other way is taken to obtain to complete the operation
The location information of corresponding time.
In another embodiment, the ionized layer TEC forecast information further include: baseline to be reported.The RTK forecast precision
To be described wait report the RTK positioning accuracy to be called time on baseline.Baseline to be reported is the base for needing to forecast RTK positioning accuracy
Line.In this way, can economize on resources, does not need to determine user and do not need RTK positioning accuracy on the baseline forecast.
The location information is sent out by the monitoring station RTK according to location information and base station in one of the embodiments,
The differential corrections that send and determine.Wherein, location information be GNSS (Global Navigation Satellite System,
Global Navigation Satellite System) send the satellite-signal including position location.Differential corrections are that RTK base station is sent out according to GNSS
One of the base position determination of the satellite-signal and base station including position location sent is to the position location in satellite-signal
It is modified the data to determine position location.
As shown in figure 4, in one of the embodiments, further include:
Location information obtains module 110, for obtaining real-time location information；
Real-time accuracy determining module 130 determines that real-time RTK is fixed for resolving to the real-time location information
Position precision information；
Real-time accuracy reporting modules 220, for sending real-time RTK precision according to the real-time RTK positioning accuracy information
Report, the real-time RTK precision report includes: real-time time, monitoring baseline and real-time RTK positioning accuracy.
In this way, user can be in real-time time obtain real-time RTK positioning accuracy information when calling time, and by its with
The RTK forecast precision of forecast compares, to determine whether forecast is accurate.In turn, whether can also accurately do according to weather report into
The processing of one step.
Please continue to refer to Fig. 4, in another embodiment, comprising:
Location information obtains module 110, for obtaining real-time location information.
Real-time accuracy determining module 130 determines that real-time RTK is fixed for resolving to the real-time location information
Position precision information.
The position location in location information is resolved according to the prior art, can be determined on a certain baseline sometime
RTK positioning accuracy.
TEC obtains module 150, for obtaining real-time ionized layer TEC information.
In real time acquisition ionized layer TEC information, i.e., acquire the ionized layer TEC on different baselines in real time, and record acquisition when
Between.
Accuracy model establishes module 170, for dividing according to the RTK positioning accuracy information and the ionized layer TEC information
RTK accuracy model of the different ionized layer TECs to identical baseline and different baseline to identical ionized layer TEC is not established.
According to statistics, the mathematical knowledge of probability theory, by same time, the RTK positioning accuracy information of identical baseline and electricity
Absciss layer TEC information can determine mathematical model of the RTK precision about ionized layer TEC, i.e., different ionized layer TECs are to identical baseline
RTK accuracy model；It, can be true by same time, the RTK positioning accuracy information of identical ionized layer TEC and ionized layer TEC information
Determine mathematical model of the RTK precision about baseline, i.e., RTK accuracy model of the different baselines to identical ionized layer TEC.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, multiple modification and improvement can also be made, these belong to protection model of the invention
It encloses.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (8)
1. a kind of forecasting procedure of RTK positioning accuracy, which is characterized in that comprising steps of
Obtain ionized layer TEC forecast information；
Obtain the RTK accuracy model established according to RTK positioning accuracy information and ionized layer TEC information；The RTK positioning accuracy letter
Breath includes: time, baseline and RTK positioning accuracy；The ionized layer TEC information includes: the time, the positioning baseline and electricity
Absciss layer TEC；
According to the ionized layer TEC forecast information and the RTK accuracy model, RTK forecast precision to be called time is determined；
Before the step of RTK accuracy model obtained according to RTK positioning accuracy information and the foundation of ionized layer TEC information, also
Comprising steps of
Obtain real-time location information；
The real-time location information is resolved, determines real-time RTK positioning accuracy information；
Obtain real-time ionized layer TEC information；
According to the RTK positioning accuracy information and the ionized layer TEC information, different ionized layer TECs are established respectively to identical base
The RTK accuracy model of line and different baseline to identical ionized layer TEC.
2. the forecasting procedure of RTK positioning accuracy according to claim 1, which is characterized in that the ionized layer TEC is notified in advance
Breath include: it is described wait call time, baseline to be reported and it is expected that TEC；The RTK forecast precision is described described wait report on baseline wait report
The RTK expected accuracy of time.
3. the forecasting procedure of RTK positioning accuracy according to claim 1, which is characterized in that further comprise the steps of:
Obtain real-time location information；
The real-time location information is resolved, determines real-time RTK positioning accuracy information；
According to the real-time RTK positioning accuracy information, real-time RTK precision report, the real-time RTK precision report packet are sent
It includes: real-time time, monitoring baseline and real-time RTK positioning accuracy.
4. the forecasting procedure of RTK positioning accuracy according to claim 1, which is characterized in that the location information is by described
The monitoring station RTK is determined according to the differential corrections that location information and base station are sent.
5. a kind of forecast system of RTK positioning accuracy characterized by comprising
Forecast that TEC obtains module, for obtaining ionized layer TEC forecast information；
Accuracy model obtains module, for obtaining the RTK precision according to RTK positioning accuracy information and the foundation of ionized layer TEC information
Model；
The RTK positioning accuracy information includes: time, baseline and RTK positioning accuracy；The ionized layer TEC information includes: described
Time, the baseline and ionized layer TEC；
RTK precision Prediction module, for determining wait give the correct time according to the ionized layer TEC forecast information and the RTK accuracy model
Between RTK forecast precision；
Location information obtains module, for obtaining real-time location information；Real-time accuracy determining module, for described real-time
Location information is resolved, and determines real-time RTK positioning accuracy information；
TEC obtains module, for obtaining real-time ionized layer TEC information；
Accuracy model establishes module, for being established respectively according to the RTK positioning accuracy information and the ionized layer TEC information
Different ionized layer TECs are to identical baseline and different baseline to the RTK accuracy model of identical ionized layer TEC.
6. the forecast system of RTK positioning accuracy according to claim 5, which is characterized in that the ionized layer TEC is notified in advance
Breath include: it is described wait call time, baseline to be reported and it is expected that TEC；The RTK forecast precision is described described wait report on baseline wait report
The RTK expected accuracy of time.
7. the forecast system of RTK positioning accuracy according to claim 5, which is characterized in that further include:
Location information obtains module, for obtaining real-time location information；
Real-time accuracy determining module determines real-time RTK positioning accuracy letter for resolving to the real-time location information
Breath；
Real-time accuracy reporting modules, for sending real-time RTK precision report, institute according to the real-time RTK positioning accuracy information
Stating real-time RTK precision report includes: real-time time, monitoring baseline and real-time RTK positioning accuracy.
8. the forecast system of RTK positioning accuracy according to claim 5, which is characterized in that the location information is by described
The monitoring station RTK is determined according to the differential corrections that location information and base station are sent.
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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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| CN108490459B (en) * | 2018-02-12 | 2022-08-05 | 千寻位置网络有限公司 | Method and system for applying precision and risk balance to GNSS position service |
| 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 |
| CN109752745B (en) * | 2019-01-28 | 2021-10-26 | Oppo广东移动通信有限公司 | Split type equipment positioning method and device, split type equipment and storage medium |
| CN111045046B (en) * | 2019-12-03 | 2021-10-19 | 东南大学 | Short-term ionosphere forecasting method and device based on NARX |
| CN111756455B (en) * | 2019-12-26 | 2022-09-13 | 广州极飞科技股份有限公司 | Method and related device for early warning connection state of electronic equipment and reference station |
| CN112630810A (en) * | 2020-12-24 | 2021-04-09 | 东北农业大学 | Test device and method for testing CORS positioning accuracy |
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