CN106342230B - A kind of dynamic accurate positioning method of GPS of applicable frigid plateau region - Google Patents
A kind of dynamic accurate positioning method of GPS of applicable frigid plateau regionInfo
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- CN106342230B CN106342230B CN201010051683.5A CN201010051683A CN106342230B CN 106342230 B CN106342230 B CN 106342230B CN 201010051683 A CN201010051683 A CN 201010051683A CN 106342230 B CN106342230 B CN 106342230B
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Abstract
The dynamic accurate positioning method of GPS that the invention provides a kind of frigid plateau region, belongs to radio direction finding technical field. The method has adopted RTK+RTG associated working pattern, make GPS receiver receive WADGPS signal (RTG) and carrier phase differential signal (RTK) in receiving gps signal by soft and hardware interface, two kinds of differential signals are revised the direct elements of a fix of GPS simultaneously; Determine the dilution of precision of RTK Kinematic Positioning and the dilution of precision of RTG Kinematic Positioning; Merge the RTG elements of a fix and the RTK elements of a fix, the method effectively overcomes the low problem of operating efficiency causing because of RTK signal or RTG signal blind zone. The dynamic accurate positioning method of GPS provided by the invention can be applicable to the aspects such as rapid navigation location, line location, route survey, topographic map fast correction, large scale topographical map survey system.
Description
Technical field
The present invention relates to a kind of dynamically accurate positioning method, particularly dynamically essence of the GPS of frigid plateau regionDetermine position.
Background technology
GPS technology
GPS (Global Positioning System) is that 20 century 70s are developed by U.S. Department of DefenseA new generation's Aerospace Satellite radio-navigation positioning system, it can provide real-time, round-the-clock and global three-dimensional positionPut, three-dimensional velocity and high-precision temporal information, gps system be established as mapping operations provide one fineNew location survey means. Gps navigation message comprises two kinds of pseudo noise codes, be respectively civilian C/A code andMilitary P (Y) code, the precision of C/A code is about 20 meters of left and right, and the precision of P (Y) code is about 2 meters of left sidesRight. Availability policy according to U.S. government to gps system and Anti-Spoofing (Anti-Spoofing) political affairsPlan, the GPS receiver using in China can only receive C/A code, for improving precision, generally adopts differenceGPS (DGPS) technology is respectively put a navigation and is connect on two points at a distance of tens kms or hundreds of kmsReceipts machine, one of them point is for known point, and another point is point to be located (can be dynamic), utilizes known pointThe difference of navigational solution and known position is as the navigational solution that corrects numerical value correction point to be located, in difference location two withUpper receiver is observed simultaneously, and the satellite of observing is identical. Send according to differential GPS base stationThe content of information can be divided three classes differential GPS location, that is: differential position, pseudo range difference, phase differencePoint. The operation principle of this 3 class differential mode is identical, is all to send correction by base station, by userStand and receive and its measurement result is corrected, to obtain accurate positioning result. Difference is that transmission changesThe particular content of positive number is different, and its difference positioning precision is also different. Current real time dynamic differential comparatively widelyGPS technology has RTK technology (Real-Time Kinematic, real time dynamic differential is measured) and RTG skillArt (Real-Time GPS-Inferred Positioning System and Orbit Analysis SimulationSoftware, in real time dynamic WADGPS).
RTK technology
RTK technology is the real-time dynamic positioning technology based on carrier phase observation data, and what he can be real-time providesThe three-dimensional localization result of survey station point in specified coordinate system, and reach Centimeter Level precision. At RTK work patternUnder, base station sends its observation to rover station by Data-Link together with survey station coordinate information. Rover station is notOnly receive the data from base station by Data-Link, also will gather GPS observation data, and in system groupBecome difference observation to process in real time, provide Centimeter Level positioning result simultaneously, precision index is: plane error≤ 1cm+1ppm, vertical error≤2cm+1ppm.
The advantage of RTK, mainly contains following 5 aspects:
1. operating efficiency is high. Under general terrain, RTK establishes station once can survey 5～10km halfJing Ce district, has greatly reduced the required number of control points of traditional measurement and " removing station " number of times of measuring instrument, onlyNeed one man operation, under general electromagnetic wave environment, obtain a point coordinates several seconds, and operating speed is fast, and work is strongSpend lowly, saved field operation expense, improved efficiency.
2. positioning precision is high, and data security is reliable, there is no the accumulation of error. As long as meet the groundwork of RTKCondition (is generally less than 10km) within the scope of certain operating radius, the plane precision of RTK and elevation essenceDegree can reach Centimeter Level.
3. reduced operating condition requirement. RTK technology does not require that point-to-point transmission meets optics intervisibility, only requires fullFoot " electromagnetic wave intervisibility ", therefore, compares with traditional measurement, RTK technology be subject to sighting condition, visibility, weather,The impact of the factors such as season and restriction less, at traditional measurement because with a varied topography, atural object obstacle causeDifficult intervisibility area, as long as meet the basic operating conditions of RTK, it also can carry out high-precision fast like a corkDegree positioning operation.
4.RTK operation automation, integrated degree are high, survey and draw powerful. RTK can be competent at various surveysPaint inside and outside industry. Rover station utilizes built-in type software control system, just can automatically realize multiple without manual interventionMapping function, greatly reduces subsidiary work, reduces human error, has ensured homework precision.
5. easy and simple to handle, easily use, data-handling capacity is strong. As long as simply arrange in the time establishing station,Just can obtain measurement result coordinate while walking or carry out coordinate setting-out. Data input, storage, processing, conversionStrong with fan-out capability, can communicate by letter with computer, other measuring instrument quickly and easily.
The deficiency of RTK mainly contains 5 aspects:
Data-Link transmission be disturbed and restriction, operating radius than nominal range little problem. RTK dataChain transmission is vulnerable to barrier as the interference of tall and big massif, high-lager building and various high-frequency signal sources, in transmissionIn process, decay seriously, has a strong impact on homework precision and operating radius. In the larger mountain area of the hypsography discrepancy in elevation andClose block, cities and towns Data-Link signal transmission is restricted. In addition, when RTK operating radius exceedes certain distance (As be several kilometers, every kind of type is different again at different environment) time, measuring result error transfinites, soThe actual job effective radius of RTK is more much smaller than its nominal radius, and engineering practice and specializing in all provesThis point.
2. initialization ability and required time problem. In mountain area, the ground operation such as general forest zone, close block, cities and townsTime, it is more that gps satellite signal is blocked chance, easily causes losing lock, while adopting RTK operation, sometimes needsOften reinitialize. Precision and the efficiency measured are like this all influenced.
3. height anomaly problem. RTK work pattern requires the conversion of elevation accurately necessary, but China is existingHeight anomaly map is in some area, and especially mountain area, exists larger error, in some area or blank, thisJust make the work that GPS the earth elevation is converted to absolute elevation become quite difficulty, precision is also inhomogeneous.
4. the not enough problem of electric weight. RTK power consumption is larger, needs multiple high capacity cells, storage battery guaranteeWork continuously, the remote operation area lacking in supply of electric power is restricted.
5. precision and stability problem. The precision and stability that RTK measures is all not as good as total powerstation, particularly steadyQualitative aspect, this is to affect because RTK is easier to be subject to satellite situation, weather conditions, Data-Link status transmissionCause. The RTK system of different quality, its precision and stability difference is larger.
RTG technology
RTG technology is that NAVCOM company of the U.S. is at WCT (Wide-Area CorrectionTranslation) on basis, utilize JPL (Jet Propulsion Laboratory, jet power laboratory)Real-time correction algorithm and GIPSY (GPS-Inferred Positioning System and Orbit AnalysisSimulation Software) software set up global differential positioning service system, be typical GPS wide area differential GPS skillArt. The GPS differential signal of RTG is broadcasted by international maritime satellite, in its algorithm, has added satelliteThe correction data of orbit error and satellite clock correction, plane error≤15cm, vertical error≤32cm. At RTGIn work pattern, GPS receiver can receive marine satellite broadcast in gps signal receivingRTG differential correcting signal, can spend to the scope between north latitude 76 degree and obtain high accuracy at global south latitude 76Location.
The advantage of RTG is mainly reflected in following 4 aspects:
1. positioning precision is high. The precision of RTG is better than any other WADGPS technology. Horizontal accuracy is better than15cm, vertical precision is better than 30cm, and speed is better than 0.01m/s.
2. operating efficiency is high. RTG operation is without setting up base station, and RTG single device can be measuredOperation.
3. be not subject to operation distance limit. RTG adopts exclusive algorithm, positioning precision and customer location and base stationLocation-independent.
4. signal distributions scope is wide, is not subject to time, regional limits. RTG in the world any land,On ocean, work, and can reach same precision.
The deficiency of RTG is mainly reflected in following 4 aspects:
1. limited by satellite situation. In high mountain gorge depths and intensive forest district, the city high rise building district of gathering, GPSSatellite-signal, marine satellite RTG signal time that is blocked is longer, makes in one day can the activity duration restricted.
2. affected by terrain environment larger. RTG signal relies on 3 geostationary satellites of top, equator---Marine satellite is issued differential signal, and within the scope of China, the Due South of RTG signal receiving antenna is to openingWealthy, otherwise cannot receive RTG signal. In addition, because marine satellite number is less, RTG signal receivesAny object (as aqueduct, billboard etc.) of antenna top all can block RTG signal, causes satelliteLosing lock.
Required initialization time longer, poor stability. The initialization time of RTG is 45～60 minutes,Only that is to say the precision that just can reach nominal in satellite locking after a hour, if satellite losing lock midway, justNeed to re-start initialization.
Although the advantage of RTK technology and RTG technology is very obvious, on the western highland and severe cold of China groundDistrict, because mountain, desert blazon, mean sea level more than 4000 meters, rarefaction of air, traffic very inconvenience,Operating personnel's altitude sickness is strong, and it is more outstanding that the deficiency of RTK technology and RTG technology shows. ForRTK work pattern, the Data-Link transmission of RTK not only distance is limited but also be subject to the influence of topography larger, large on mountainThe frigid plateau region of ditch depth, the effective propagation path of RTK Data-Link only has 2 kilometers of left and right, almost littleThe RTK nominal job area that reaches 5-10 kilometer, causes operating efficiency low, has increased operating personnel at heightThe labour intensity of former extremely frigid zones. For RTG work pattern, the initialization time of RTG is longer, stabilityPoor, in the complicated frigid plateau region of terrain environment, RTG signal blind zone is many, and signal is very easy to losing lock, oneDawn RTG signal losing lock just must re-start initialization, and very difficult enforcement is worked continuously. Therefore, high in western partIt is all very low that the independent application of former extremely frigid zones a kind of technology is wherein carried out dynamically accurately its operating efficiency of location, must carry out operational method innovation, to meet the dynamic pinpoint needs in western frigid plateau region.
Summary of the invention
For the defect existing in prior art or deficiency. The object of this invention is to provide a kind of western plateau that is applicable toThe dynamic accurate positioning method of high regional GPS, effectively overcomes because RTK signal and RTG signal blind zone causingThe low problem of operating efficiency, improves operating efficiency, reduces operating personnel's labour intensity.
The dynamic accurate positioning method of GPS of applicable frigid plateau region provided by the invention, i.e. RTK+RTG locationMethod, it comprises the steps:
The first step: utilize GPS receiver to receive gps satellite signal and WADGPS RTG by reception antennaSignal, also utilizes GPS receiver to receive real time dynamic differential RTK signal, WADGPS by data radioRTG signal carries out revising and obtaining the RTG elements of a fix, RTK signal pair in real time to received gps satellite signalThe gps satellite signal receiving carries out revising and obtaining the RTK elements of a fix in real time;
Second step: determine the dilution of precision of RTK Kinematic Positioning and the dilution of precision of RTG Kinematic Positioning:
Determine the dilution of precision of RTK Kinematic Positioning according to RTK Range-based relational expression δ S=0.0285l+0.0281, itsIn: the displacement error that δ S is measurement point, l is the distance of measurement point to base station;
Dilution of precision using 1 times of Sigma value as RTG Kinematic Positioning;
The 3rd step: merge the RTG elements of a fix and the RTK elements of a fix:
In the time that RTK, RTG Data-Link are all complete, choose the RTK elements of a fix, and it is entered with the RTG elements of a fixRow checks, and whether error in judgement (plane error≤16cm+1ppm, vertical error in tolerable scope≤ 32cm+1ppm), if error transfinites, give a warning to user, user according to circumstances analytical error is formerCause, and inspection apparatus state, adjust instrument in time;
When RTK Data-Link is complete, RTG Data-Link is when imperfect, directly chooses the RTK elements of a fix, will simultaneouslyThe RTK elements of a fix, as the benchmark of RTG elements of a fix convergence, accelerate RTG elements of a fix convergence rate;
When RTK Data-Link imperfect, when RTG Data-Link is complete, first, with the precision of RTK Kinematic Positioning because ofThe dilution of precision of son and RTG Kinematic Positioning is estimated positioning precision separately, secondly, and with the conversion of difference RTK signalRTK in first 15 minutes or in 15 kilometer range, the RTG elements of a fix, adopt following formula calculating location difference to repairCorrection data differential position data, this differential data is respectively difference of latitude dB, difference of longitude dL, depth displacement dH:,
dB＝BRTK-BRTG
dL＝LRTK-LRTG
dH＝HRTK-HRTG
Wherein, BRTKFor the latitude value of RTK location, BRTGFor the latitude value of RTG location; LRTKForThe longitude of RTK location, LRTGFor the longitude of RTG location; HRTKFor the height value of RTK location,
HRTGFor the height value of RTG location.
Finally, in real time the RTG elements of a fix are revised by differential position data;
In the time that RTK, RTG Data-Link are all not complete, the elements of a fix of two kinds of locate modes are all unreliable, according to RTGThe dilution of precision of Kinematic Positioning is pointed out current accuracy situation to user;
The 4th step: the elements of a fix after output is merged.
Beneficial effect: in western frigid plateau region, although building is less, is relatively conducive to satellite and connects, still, also there are a lot of depopulated zones in continuous location, terrain environment complexity, and weather conditions are severe, and a lot of places are notBe convenient to set up RTK base station. Therefore,, if adopt RTK mode to carry out Kinematic Positioning, will exist a lotRTK signal blind zone; RTG technology is carried out difference by marine satellite and is resolved, and reach the location of nominalPrecision necessarily requires static convergence 45-60 minute under open state, and operating efficiency is low. Employing the invention providesThe dynamic accurate positioning method of GPS of applicable frigid plateau region can effectively address this problem, mainShow, when operation starts, RTK signal is good, can directly measure operation, meanwhile, and with RTKThe elements of a fix as the initial value of RTG location, can accelerate the convergence rate of the RTG elements of a fix, generalFor 15-20 minute. In the time that RTG positioning precision reaches nominal accuracy, according to RTG, RTK location achievementCalculate in real time the RTG of current region and the elements of a fix of RTK, once RTK signal is blocked, cut immediatelyChange to RTG station-keeping mode, utilize the RTG of current region and the elements of a fix of RTK fixed to RTG simultaneouslyPosition achievement is revised. Therefore, the GPS of applicable frigid plateau region provided by the invention dynamically accurately locatesMethod by the organically combining of RTG and RTK, has been given full play to separately excellent in complementary modeGesture, has not only improved operating efficiency exponentially, and increased the condition that checks in operation, has improved achievementReliability and precision.
The dynamic accurate positioning method of GPS of the applicable frigid plateau region that invention provides, not only can help to doIndustry personnel from numerical value directly judgement when the precision of pre-test, and can show that visual in image ground divides by figureAnalyse and judge certainty of measurement situation of change in a period of time. The GPS of the applicable frigid plateau region that invention provides is movingState accurate positioning method makes operating personnel from being converted in the face of friendly figure in the face of a series of dullnesses, uninteresting ground numerical valueShape interface, greatly reduce Measurement results because operating personnel detects the ineffective transient error causing, reduced workIndustry personnel's working strength. Expand the function of GPS receiver. The applicable frigid plateau region that invention providesThe dynamic accurate positioning method of GPS can dynamically measure continuously in real time, realized data acquisition, flatDifference is resolved, the automation of result output.
Brief description of the drawings
Fig. 1 is the dynamic accurate positioning method workflow of GPS of the present invention schematic diagram;
Detailed description of the invention
The dynamic accurate positioning method of GPS of applicable frigid plateau region provided by the invention, by the work shown in Fig. 1Realize as schematic flow sheet. In the present embodiment, adopting GPS receiver is StarFireTM 2050G/M，
StarFireTM2050G/M receiver adopts NMEA0183 communication protocol, the NMEA statement of exportable 6 kinds of formulas.They are respectively: GGA, GSA, GSV, RMC, VTG and GLL. Here we have mainly used GGA (GlobalPositioning System Fix Data) statement. Adopt object-oriented programming language VC++6.0Realize design serial communication class and data-base recording class, Real-time Obtaining locator data.
The dynamic accurate positioning method of GPS of applicable frigid plateau region provided by the invention, comprises the steps
The first step: utilize GPS receiver to receive gps satellite signal and WADGPS RTG by reception antennaSignal, also utilizes this GPS receiver to receive real time dynamic differential RTK signal by data radio, at this GPSIn receiver, utilize WADGPS RTG signal to carry out revising and obtaining in real time to this received gps satellite signalThe RTG elements of a fix, utilize RTK signal to carry out revising in real time to received gps satellite signal and obtain RTK calmlyPosition coordinate.
Second step: the dilution of precision of determining RTK and RTG Kinematic Positioning:
Inventor is fully studying on the basis of RTK technological orientation principle, has designed multiple precision test scheme:Known point comparison method, coincide point comparison method, Dual base stations detection method and known base line linear measure longimetry method.
Known point comparison method: the senior datum mark of data is started in measurement as RTK, generally uses GPS static stateObtain, there is very high reliability. Measure each for checking coordinate transformation parameter, given data input and RTKThe correctness of kind of process, the mode that can carry out RTK observation by known point checks.
Coincide point comparison method: after initializing successfully at every turn, or should overlap 12 and survey about measurement 2-4hThe RTK point of crossing, checks the correctness that base station arranges and measures the long rear issuable position of baseline with thisCoordinate drift error.
Dual base stations detection method is set up more than two base station simultaneously in Ce district, each base station adopts differentFrequency sends and corrects data, and rover station optionally receives respectively the correction of each base station with frequency conversion switchAccording to, thereby obtain plural calculation result, relatively these results just can be checked its quality condition.
Known base line linear measure longimetry inspection. Using independent coordinate system Ce district, often lack given data,In the case, can carry out coordinate measuring to the two ends of known base line, compare with the theoretical length of side to resolve the length of side, this also checks RTK achievement to a certain extent.
By to test data analyzer, inventor thinks, many-sided while affecting the factor of RTK precision, butIn actual job, can be used for mainly containing aspect two of precision control: the one, the precision of base station, RTK stationPoint precision is 1cm+1ppm with respect to the precision of base station; The 2nd, apart from base station distance, according to homework precisionThe dependency relation formula of requirement and RTK website and base station distance is determined the sphere of action of RTK signal. Due to baseAccurate station is general to be obtained with GPS is static, has very high reliability, and its precision control has corresponding standard, IThink that the precision of base station meets required precision, do not repeat them here, mainly consider apart from base station distanceThis factor. Taking great number tested data as basis, use the method for Mathematical Fitting, set up apart from base station distance andPoint displacement relation figure, has determined Range-based relational expression:
δ S=0.0285l+0.0281, wherein: the displacement error that δ S is measurement point, l is that measurement point arrives base stationDistance.
Dilution of precision using Range-based relational expression as RTK Kinematic Positioning.
The technical data providing according to NAVCOM, 1 times of Sigma value is RTG dynamic implementation differential correctionsThe precision index of algorithm, in the time of 1 times of Sigma value≤0.05, positioning precision can reach the positioning precision (water of nominalSquare to≤15cm, vertical direction≤30cm). For this precision index, we use under static conditionsUnder RTG precision test and dynamic condition, these two kinds of methods of RTG precision test are verified. Therefore, weAdopt the dilution of precision of 1 times of Sigma value value as RTG Kinematic Positioning.
The 3rd step: merge the RTG elements of a fix and the RTK elements of a fix
In the time that RTK, RTG Data-Link are all complete, choose the RTK elements of a fix, and it is entered with the RTG elements of a fixRow checks, error in judgement whether in tolerable scope, this scope be plane error≤16cm+1ppm andVertical error≤32cm+1ppm, if error transfinites, gives a warning to user, and user can according to circumstances analyzeSource of error, and inspection apparatus state, adjust instrument in time;
When RTK Data-Link is complete, RTG Data-Link is when imperfect, directly chooses the RTK elements of a fix, will simultaneouslyThe RTK elements of a fix, as the benchmark of RTG elements of a fix convergence, accelerate RTG elements of a fix convergence rate;
Imperfect when RTK Data-Link, when RTG Data-Link is complete, use dilution of precision and the RTG of RTK Kinematic PositioningThe dilution of precision of Kinematic Positioning is estimated positioning precision separately, convert in first 15 minutes with RTK differential signal orRTK in 15 kilometer range, the RTG elements of a fix, calculating location differential corrections data, locate RTG in real timeCoordinate is revised. Adopt following formula calculating location differential corrections Data Position differential data, this differential data respectivelyFor difference of latitude dB, difference of longitude dL, depth displacement dH:
dB＝BRTK-BRTG
dL＝LRTK-LRTG
dH＝HRTK-HRTG
Wherein, BRTKFor the latitude of RTK location, BRTGFor the latitude of RTG location; LRTKFor RTKThe longitude of location, LRTGFor the longitude of RTG location; HRTKFor the elevation of RTK location, HRTGForThe elevation of RTG location.
In the time that RTK, RTG Data-Link are all not complete, choose RTG coordinate, and according to RTG dilution of precision to userPoint out current accuracy situation.
The 4th step: the elements of a fix after output is merged. Deposit the elements of a fix after merging in Access database.Real-time locator data is carried out in WGS84 system to the conversion of 3 Du Dai Gauss Kru&4&ger projections, be converted to planeCoordinate, positions the visual of data, shows that in real time the floor map of location achievement is (real for operating personnelTime test point position sea level changes situation) and vertical section schematic diagram (for the elevation of the real-time test point of operating personnel positionSituation of change).
Claims (2)
1. the dynamic accurate positioning method of the GPS of applicable frigid plateau region, it comprises the steps:
The first step: utilize GPS receiver to receive gps satellite signal and WADGPS RTG letter by reception antennaNumber, also utilize GPS receiver to receive real time dynamic differential RTK signal, WADGPS RTG by data radioSignal carries out in real time revising and obtaining the RTG elements of a fix to received gps satellite signal, RTK signal to connectThe gps satellite signal of receiving carries out revising and obtaining the RTK elements of a fix in real time;
Second step: determine the dilution of precision of RTK Kinematic Positioning and the dilution of precision of RTG Kinematic Positioning:
Determine the dilution of precision of RTK Kinematic Positioning according to RTK Range-based relational expression δ S=0.0285l+0.0281,Wherein: the displacement error that δ S is measurement point, l is the distance of measurement point to base station;
Dilution of precision using 1 times of Sigma value as RTG Kinematic Positioning;
The 3rd step: merge the RTG elements of a fix and the RTK elements of a fix:
In the time that RTK, RTG Data-Link are all complete, choose the RTK elements of a fix, and with the RTG elements of a fix to RTKThe elements of a fix check, error in judgement whether in tolerable scope, this scope be plane error≤16cm+1ppm and vertical error≤32cm+1ppm, if error transfinites, give a warning to user, user Ke GenAccording to situation analysis source of error, and inspection apparatus state, adjust in time instrument;
When RTK Data-Link is complete, RTG Data-Link is when imperfect, directly chooses the RTK elements of a fix, will simultaneouslyThe RTK elements of a fix, as the benchmark of RTG elements of a fix convergence, accelerate RTG elements of a fix convergence rate;
When RTK Data-Link imperfect, when RTG Data-Link is complete, first, with the precision of RTK Kinematic Positioning because ofThe dilution of precision of son and RTG Kinematic Positioning is estimated positioning precision separately, secondly, and with the conversion of difference RTK signalRTK in first 15 minutes or in 15 kilometer range, the RTG elements of a fix, calculating location differential data, last,In real time the RTG elements of a fix are revised by differential position data;
In the time that RTK, RTG Data-Link are all imperfect, the elements of a fix of two kinds of locate modes are all unreliable, according toThe dilution of precision of RTG Kinematic Positioning is pointed out current accuracy situation to user;
The 4th step: the elements of a fix after output is merged.
2. the dynamic accurate positioning method of the GPS of applicable frigid plateau region according to claim 1, its spyLevy and be: adopt following formula calculating location differential data, this differential data is respectively difference of latitude dB, difference of longitudeDL, depth displacement dH:
dB＝BRTK-BRTG
dL＝LRTK-LRTG
dH＝HRTK-HRTG
Wherein, BRTKFor the latitude value of RTK location, BRTGFor the latitude value of RTG location; LRTKFor RTK locationLongitude, LRTGFor the longitude of RTG location; HRTKFor the height value of RTK location, HRTGFor the height of RTG locationJourney value.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107064958A (en) * | 2017-04-26 | 2017-08-18 | 成都国星通信有限公司 | A kind of Dual base stations multichannel satellite signal receiving processing system |
| CN108885465A (en) * | 2017-07-27 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Control method, equipment and the moveable platform of moveable platform |
| CN109932736A (en) * | 2019-04-08 | 2019-06-25 | 上海布灵信息科技有限公司 | A kind of round-the-clock centimeter-level positioning system and method for outdoor whole scene |
| CN112824937A (en) * | 2019-11-20 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
-
2010
- 2010-12-01 CN CN201010051683.5A patent/CN106342230B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107064958A (en) * | 2017-04-26 | 2017-08-18 | 成都国星通信有限公司 | A kind of Dual base stations multichannel satellite signal receiving processing system |
| CN108885465A (en) * | 2017-07-27 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Control method, equipment and the moveable platform of moveable platform |
| CN109932736A (en) * | 2019-04-08 | 2019-06-25 | 上海布灵信息科技有限公司 | A kind of round-the-clock centimeter-level positioning system and method for outdoor whole scene |
| CN109932736B (en) * | 2019-04-08 | 2022-05-10 | 上海致灵信息科技有限公司 | Outdoor full-scene all-weather centimeter-level positioning system and method |
| CN112824937A (en) * | 2019-11-20 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
| CN112824937B (en) * | 2019-11-20 | 2024-05-28 | 苏州宝时得电动工具有限公司 | Route generation method and device and mower |
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