CN106680854A - Low cost and high precision positioning system and method - Google Patents
Low cost and high precision positioning system and method Download PDFInfo
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- CN106680854A CN106680854A CN201710035360.9A CN201710035360A CN106680854A CN 106680854 A CN106680854 A CN 106680854A CN 201710035360 A CN201710035360 A CN 201710035360A CN 106680854 A CN106680854 A CN 106680854A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004891 communication Methods 0.000 claims description 12
- 230000004807 localization Effects 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000012937 correction Methods 0.000 description 4
- 239000005433 ionosphere Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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 low cost and high precision positioning system and method, which is composed of a single-frequency receiver, a GPRS module and a processor control module. The single-frequency receiver is utilized as a user receiver to acquire satellite data, and the GPRS module communicates with the base station to obtain the base station data, and the processor control module decodes the data sent by the single- frequency receiver and the GPRS module to obtain a ephemeris data, an observation data of the single- frequency receiver, a coordinate data of the base station and an observation data of the base station, and then the offset is calculated based on the above data, and finally the coordinates of the user are obtained according to the offset and the coordinates of the base station. The invention adopts the single- frequency receiver to achieve RTK technology, and firstly the single- frequency receiver has low price, which only a tenth of a double- frequency receiver, and can be widely utilized in market; secondly, the single- frequency receiver with low power consumption is suitable for embedded device. The invention has the advantages of small size, light weight and portability, and can be installed on the unmanned aerial vehicle.
Description
Technical field
The present invention relates to field of locating technology, and in particular to a kind of low-cost and high-precision alignment system and method.
Background technology
With the arriving of the Internet of things era, hi-Fix equipment is increasingly paid attention to by market.Unmanned aerial vehicle remote sensing is taken the photograph
Shadow is measured, and unmanned plane express delivery delivery, driving license test, crowded degree real-time statistics are required for hi-Fix equipment.In high precision
Location equipment, relies on substantially RTK technologies.RTK (Real-time kinematic) carrier phase difference technology, is to locate in real time
The difference method of two measuring station carrier phase observed quantities of reason, by the carrier phase that base station is gathered receiver user is issued, and is entered
Row asks difference to resolve coordinate.The equipment of existing employing RTK technologies, relies on dual-frequency receiver on hardware.But dual-frequency receiver is deposited
In following problem：First, dual-frequency receiver is expensive, and domestic consumer is difficult to bear, and should not promote；Secondly, double frequency connects
Receipts machine power consumption is larger, and battery electric quantity is had high demands；Finally, dual-frequency receiver volume is larger, is unfavorable for carrying.
The content of the invention
The technical problem to be solved is that the equipment of existing employing RTK technologies needs to rely on dual-frequency receiver institute band
The problem come, there is provided a kind of low-cost and high-precision alignment system and method.
To solve the above problems, the present invention is achieved by the following technical solutions：
A kind of low-cost and high-precision localization method, comprises the steps：
Step 1, unlatching single frequency receiving, make single frequency receiving observation satellite；
Step 2, unlatching GPRS module, make GPRS module and base station communication；
Step 3, processor control module are received from single frequency receiving and the data of GPRS module simultaneously；
The decoding data that processor control module is sent to single frequency receiving, obtains almanac data and single frequency receiving
Observation Value Data；
Decoding data that processor control module is sent to GPRS module, obtains coordinate data and the base station of base station
Observation Value Data；
Step 4, processor control module carry out selecting star to grasp according to the observation Value Data of the single frequency receiving for being obtained
Make, remove satellite of the observation more than threshold value, retain qualified satellite；
Step 5, for qualified satellite, according to observation Value Data, the observation Value Data of base station, the ephemeris of single frequency receiving
The coordinate data of data and base station solves side-play amount；
Step 6, the coordinate for utilizing the side-play amount and base station for obtaining, obtain the coordinate of user.
Especially, in step 3, the data that single frequency receiving is sent in processor control module are divided into 2 classes, and a class is single
The observation of frequency receiver, including the Pseudo-range Observations and carrier observations of current time single-frequency reception；It is another kind of for Satellite
Go through.
Especially, in step 3, the data that GPRS module is sent in processor control module are divided into 2 classes, and a class is base station
Observation, including Pseudo-range Observations and carrier observations of current time base station；The another kind of coordinate for base station.
Especially, in steps of 5, using the observation of the Pseudo-range Observations in the observation Value Data of single frequency receiving and base station
Pseudo-range Observations in Value Data solve side-play amount.
Especially, in steps of 5, using the observation of the carrier observations in the observation Value Data of single frequency receiving and base station
Carrier observations in Value Data solve side-play amount.
Especially, in steps of 5, still further comprising the side-play amount to solving carries out the process of precision improvement,
First the covariance matrix of integer ambiguity is changed into into diagonal matrix；Diagonal matrix is recycled to become the float-solution of integer ambiguity
For integer solution；Afterwards side-play amount is corrected with integer solution, obtain high accuracy side-play amount.
Realize a kind of low-cost and high-precision alignment system of said method, including single frequency receiving, GPRS module, processor
Control module and power module；Single frequency receiving obtains satellite data as receiver user；GPRS module and base station communication,
Obtain base station data；The decoding data that processor control module is sent to single frequency receiving and GPRS module, obtains ephemeris
The observation Value Data of data, the observation Value Data, the coordinate data of base station and base station of single frequency receiving；Ask further according to these data
Solution side-play amount；Obtain the coordinate of user according to the coordinate of side-play amount and base station afterwards；Power module is single frequency receiving, GPRS module
Power with processor control module.
Especially, by antenna and satellite communication, single frequency receiving is controlled single frequency receiving by USB interface with processor
Module connects.
Especially, by antenna and base station communication, GPRS module controls mould to GPRS module by RS232 interfaces with processor
Block connects.
Compared with prior art, the present invention realizes RTK technologies using single frequency receiving；Single frequency receiving price first is low
Honest and clean, only 1/10th of dual-frequency receiver can be widely used by market；Secondly single frequency receiving is low in energy consumption, it is adaptable to embedded
Formula equipment；The present invention has small volume, lightweight with the characteristics of being convenient for carrying, and may be mounted on unmanned plane.
Description of the drawings
Fig. 1 is a kind of theory diagram of low-cost and high-precision alignment system.
Fig. 2 is a kind of flow chart of low-cost and high-precision localization method.
Specific embodiment
Below in conjunction with the accompanying drawings, the preferred embodiments of the present invention are further described, it is emphasized that, the present invention is not
It is only limitted to following examples.
A kind of low-cost and high-precision alignment system, as shown in figure 1, by single frequency receiving, GPRS module, processor control mould
Block and power module are constituted., by an antenna and satellite communication, single frequency receiving is by USB interface and processor for single frequency receiving
Control module connects.GPRS module is controlled by RS232 interfaces by another antenna and base station communication, GPRS module with processor
Module connects.
Single frequency receiving obtains satellite data as receiver user.Single frequency receiving is received from gps satellite L1 frequency ranges
Data, and accordingly calculated, can export in the gps satellite Pseudo-range Observations of L1 frequency ranges, carrier observations and GPS
Satellite almanac data.These data are sent with fixed form.
GPRS module is used for and base station communication, obtains base station data.GPRS module according to IP address, port numbers, account and
The information such as password, obtain the base station data that base station is transmitted.Coordinate comprising base station receiver in base station data, and base station is in L1
Pseudo-range Observations under frequency range, carrier observations.Base station data has fixed form, referred to as RTCM format.
Processor control module is processed satellite data and base station data, and exports positioning result.In the present embodiment
In, the core of processor control module is arm processor.
Processor control module receives the data that single frequency receiving and GPRS module are sent.First to the data solution of receiver
Code, runs decoder module, extracts corresponding value.Base station data is decoded again, runs RTCM decoder modules, be resolved to base station
Corresponding value.Star program is selected in operation, and the larger satellite data of observation error is deleted, and such as elevation angle is relatively low, and signal to noise ratio is relatively low
Satellite.By the data of remaining star, in bringing difference program into, side-play amount of the receiver user relative to base station is obtained.This is inclined
There is larger error in shifting amount, therefore, bring multiprecision arithmetic module into, lift the precision of side-play amount.Side-play amount is added into base station
Coordinate, you can obtain high-precision coordinate.
The data that single frequency receiving is transmitted, are divided into 2 classes.The first kind is referred to as observation, by current time, pseudorange value ρ and L1
Frequency range carrier valueConstitute.Pseudorange value refers to that receiver, by reading the data that satellite sends, calculates satellite to receiver
Distance, but because the data that satellite sends have that the distance value error for measuring is larger.Carrier value, refers to satellite
Data are transmitted by electromagnetic wave, due to wave frequency, it is known that then carrier wave girth determines.Receiver can calculate satellite to connecing
The carrier cycle issue of receipts machine, you can know satellite to receiver distance.Carrier observations are short due to wavelength, and periodicity is accurate, because
This precision is higher, but there are problems that integer ambiguity.Equations of The Second Kind is referred to as satellite almanac data, satellite in space real time kinematics,
Satellite does not broadcast the real-time track coordinate of satellite, but sends one group of orbit parameter, and user is according to current time, you can calculate
Satellite changing coordinates.
The data that base station is transmitted, are also classified into 2 classes.The first kind is observation, is current time, and base station receiver to GPS is defended
The Pseudo-range Observations and carrier observations of star.Equations of The Second Kind is the coordinate of base station, and the coordinate is accurate coordinate, and precision is high.
Power module is powered for single frequency receiving, GPRS module and processor control module.In the present embodiment, power supply mould
Block connects DC source, and the DC source of input is filtered, stabilized supply voltage, 3 module for power supply to more than.
A kind of low-cost and high-precision localization method, as shown in Fig. 2 comprising the steps：
The first step, processor control module first opens single frequency receiving, makes single frequency receiving observation satellite, and transmits number
According to.To receiver decoding data, almanac data is stored in the arm processor of processor control module.
Second step, processor control module is then turned on GPRS module, starts GPRS module and base station communication, receive from
The RTCM format data of base station, and to RTCM decoding datas.By the coordinate data storage of base station to processor control module
Arm processor in.
3rd step, processor control module is received from single frequency receiving and the data of GPRS module simultaneously, obtains them
Observation Value Data.Observation Value Data is substituted into and is selected in star module, remove the larger satellite observation of error, by qualified satellite
Observation is substituted into and solves the elevation angle that per qualified satellite is calculated in side-play amount module.
4th step, processor control module solves side-play amount.In the present invention, solving side-play amount has 2 kinds of methods, Yi Zhongshi
Side-play amount is solved using Pseudo-range Observations, the precision of the method is general.Another kind is to solve side-play amount using carrier observations, should
The precision of method is higher.
1st, Pseudo-range Observations seek side-play amount
Due in measurement, there is receiver clock-offsets error, satellite clock clock correction error, ionospheric error, tropospheric error
And random observation noise.Therefore, apart from observation there is error in receiver output.
It is single poor between 1.1 stations
In certain moment t, base station receiver r is observed to satellite j, and base station coordinates are (xr, yr, zr), now satellite j sits
It is designated as (xj(t),yj(t),zj(t)), co-ordinates of satellite is obtained by the almanac data that receiver is transmitted.Therefore they in moment t it
Between distance be Rj r(t), as shown in formula (1-1)
Due to there are various errors, base station receiver r reality outputs, to satellite j apart from observation be ρj r(t),
Base station r to satellite j is apart from observation such as formula (1-2) Suo Shi：
In formula (1-2), ρj rT () is made up of following components：First, the actual distance R of base station u to satellite rj r
(t)；Second, t, base station receiver clock correction δ tr(t) and satellite j clock correction δ tjT (), c is the light velocity；3rd Δ Ij r(t)
For t, the ionosphere delay of satellite j；4th Δ Tj r(t) be t, the atmosphere delay error of satellite j, the 5th is
Random noise εr。
In synchronization t, single frequency receiving u is also observed to satellite j, copies formula (1-2), sets up formula (1-3)
In formula (1-3), Rj uT () is satellite j to the actual distance to single frequency receiving u.Receiver clock-offsets δ tu(t) and defend
Star j clock correction δ tjT (), c is the light velocity.3rd Δ Ij u(t) be t, the ionosphere delay of satellite j；4th Δ Tj uT () is t
Moment, the atmosphere delay error of satellite j, the 5th is random noise εu。
Due to Rj uT (), for satellite j to the actual distance to single frequency receiving u, now, the receiver coordinate of u is (xu,yu,
zu), but the coordinate is unknown.Therefore, it can add coordinate offset amount (Δ x, Δ y, Δ z) tables with the distance of base station r to satellite j
Show.
Wherein, make
。
Claims (9)
1. a kind of low-cost and high-precision localization method, is characterized in that, comprise the steps：
Step 1, unlatching single frequency receiving, make single frequency receiving observation satellite；
Step 2, unlatching GPRS module, make GPRS module and base station communication；
Step 3, processor control module are received from single frequency receiving and the data of GPRS module simultaneously；
The decoding data that processor control module is sent to single frequency receiving, obtains the sight of almanac data and single frequency receiving
Measured value data；
The decoding data that processor control module is sent to GPRS module, obtains the coordinate data of base station and the observation of base station
Value Data；
Step 4, processor control module carry out selecting star to operate according to the observation Value Data of the single frequency receiving for being obtained, and go
Fall satellite of the observation more than threshold value, retain qualified satellite；
Step 5, for qualified satellite, according to observation Value Data, the observation Value Data of base station, the almanac data of single frequency receiving
Side-play amount is solved with the coordinate data of base station；
Step 6, the coordinate for utilizing the side-play amount and base station for obtaining, obtain the coordinate of user.
2. a kind of low-cost and high-precision localization method according to claim 1, is characterized in that, in step 3, single-frequency is received
The data that machine is sent in processor control module are divided into 2 classes, a class for single frequency receiving observation, including current time single-frequency
The Pseudo-range Observations and carrier observations of reception；It is another kind of for satellite ephemeris.
3. a kind of low-cost and high-precision localization method according to claim 1, is characterized in that,
In step 3, the data that GPRS module is sent in processor control module are divided into 2 classes, and a class is the observation of base station, wraps
Include the Pseudo-range Observations and carrier observations of current time base station；The another kind of coordinate for base station.
4. a kind of low-cost and high-precision localization method according to claim 1, is characterized in that, in steps of 5, using single-frequency
Pseudo-range Observations in the observation Value Data of receiver and the Pseudo-range Observations in the observation Value Data of base station solve side-play amount.
5. a kind of low-cost and high-precision localization method according to claim 1, is characterized in that, in steps of 5, using single-frequency
Carrier observations in the observation Value Data of receiver and the carrier observations in the observation Value Data of base station solve side-play amount.
6. a kind of low-cost and high-precision localization method according to claim 1, is characterized in that, in steps of 5, also further
The process of precision improvement is carried out including the side-play amount to solving, i.e., first the covariance matrix of integer ambiguity is changed into into right
Angular moment battle array；Recycle diagonal matrix that the float-solution of integer ambiguity is changed into into integer solution；Afterwards side-play amount is corrected with integer solution, obtained
To high accuracy side-play amount.
7. a kind of low-cost and high-precision alignment system of claim 1 methods described is realized, be it is characterized in that, including single-frequency is received
Machine, GPRS module, processor control module and power module；
Single frequency receiving obtains satellite data as receiver user；
GPRS module and base station communication, obtain base station data；
The decoding data that processor control module is sent to single frequency receiving and GPRS module, obtains almanac data, single-frequency
The observation Value Data of the observation Value Data, the coordinate data of base station and base station of receiver；Side-play amount is solved further according to these data；
Obtain the coordinate of user according to the coordinate of side-play amount and base station afterwards；
Power module is powered for single frequency receiving, GPRS module and processor control module.
8. a kind of low-cost and high-precision alignment system according to claim 7, is characterized in that, single frequency receiving passes through one day
Line and satellite communication, single frequency receiving is connected by USB interface with processor control module.
9. a kind of low-cost and high-precision alignment system according to claim 7, is characterized in that, GPRS module passes through another day
Line and base station communication, GPRS module is connected by RS232 interfaces with processor control module.
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| CN108513710A (en) * | 2017-12-19 | 2018-09-07 | 深圳市大疆创新科技有限公司 | The correlating method of image and location information, device and moveable platform |
| CN108521835A (en) * | 2017-12-18 | 2018-09-11 | 深圳市大疆创新科技有限公司 | The circular polarized antenna component of unmanned plane and unmanned plane |
| CN109767000A (en) * | 2019-01-16 | 2019-05-17 | 厦门美图之家科技有限公司 | Neural network convolution method and device based on Winograd algorithm |
| CN110456397A (en) * | 2019-07-29 | 2019-11-15 | 桂林电子科技大学 | A kind of multiple antennas ultra-short baseline positioning and monitoring method, device and storage medium |
| CN111024121A (en) * | 2019-12-13 | 2020-04-17 | 中国科学院光电技术研究所 | System and method for autonomous accuracy identification of photoelectric equipment |
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| CN112924997A (en) * | 2021-01-22 | 2021-06-08 | 腾讯科技（深圳）有限公司 | Target terminal positioning method and device, storage medium and electronic equipment |
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| CN111024121A (en) * | 2019-12-13 | 2020-04-17 | 中国科学院光电技术研究所 | System and method for autonomous accuracy identification of photoelectric equipment |
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| CN112924997A (en) * | 2021-01-22 | 2021-06-08 | 腾讯科技（深圳）有限公司 | Target terminal positioning method and device, storage medium and electronic equipment |
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