CN106802426A - One kind cooperation RTK localization methods and system - Google Patents
One kind cooperation RTK localization methods and system Download PDFInfo
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- CN106802426A CN106802426A CN201710046525.2A CN201710046525A CN106802426A CN 106802426 A CN106802426 A CN 106802426A CN 201710046525 A CN201710046525 A CN 201710046525A CN 106802426 A CN106802426 A CN 106802426A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Abstract
The invention discloses one kind cooperation RTK localization methods, including choose fixed reference station；Obtain its observation data and calculate pseudorange residuals and carrier phase residual error；Reference station control centre is given by fixed reference station information transmission；Rover station coarse positioning simultaneously sends reference station control centre to；Candidate reference station group that reference station control centre scheduling rover station is matched simultaneously sends rover station；Rover station receives observation data and standard coordinate position, selected reference reference station；Rover station carries out high accuracy positioning.Present invention also offers a kind of system positioned with the localization method, it includes a reference station control centre, several fixed reference stations, several rover stations and reference station control centre, the communication link of data exchange is carried out between fixed reference station and rover station.Positioning precision of the present invention is high, large-scale application when data processing pressure it is small.
Description
Technical field
Present invention relates particularly to one kind cooperation RTK localization methods and system.
Background technology
RTK (Real Time Kinematic) technology is a kind of real time kinematic survey system based on carrier phase difference part,
It is built upon on the basis of two survey station carrier phase observed quantities of real-time processing, there is provided the 3-dimensional positioning knot in specified coordinate system
Really, Real-Time Positioning can reach Centimeter Level, and have the advantages that real-time is good, speed is fast.The general principle of RTK is to join
Station is examined with rover station while receiving satellite-signal, reference station will observe data (predominantly carrier phase, pseudorange) and reference station mark
Quasi coordinates position is transferred to rover station by Data-Link (modem, radio station or communication network), and rover station is logical using software
Difference Calculation is crossed, the observation error of rover station is reduced, the relative coordinate between rover station and reference station is calculated, according to reference station
Standard coordinate, realize precision positioning, positioning precision is up to Centimeter Level.RTK technologies are widely used in outdoor high accuracy positioning and lead
The industry of correlation of navigating, for example, surveying and drawing, Driving Test, Based Intelligent Control is unmanned, unmanned plane, remote sensing etc..
The core of RTK technologies is to consider that observed data value possesses identical ionosphere mistake between reference station and rover station
The common error of difference, tropospheric error and other forms, common error is eliminated using the mode of difference, obtains reference station with flowing
The integer ambiguity of carrier phase is poor with real-time phase between standing, and then realizes high accuracy positioning.However, RTK technologies are for ginseng
Examining the distance between station and rover station has certain limitation.Typically, the distance between reference station and rover station be no more than
20km, referred to as short baseline RTK.If the distance between reference station and rover station have more than 20km, reference station and rover station
Standby ionosphere and the correlation of tropospheric error can be substantially reduced, so that Real-Time Positioning is greatly lowered.For
The RTK technologies of the distance between reference station and rover station more than more than 20km are referred to as Long baselines RTK.Long baselines are solved at present
The key technology of RTK precision positionings is technology of network RTK.The principle schematic of technology of network RTK is as shown in Figure 1.Firstly, there are
Virtual ginseng under one network RTK data center, its observation data genaration diverse location using multiple reference stations (CORS stations)
Examine station (VRS-Virtual Reference Station) and be calculated the dummy observation of virtual reference station, and then set up
The list of one virtual reference station and dummy observation, and by collecting the data of all RTK reference stations, real-time update is virtual
The virtual reference value of reference station.Secondly, rover station obtains the positioning of precision within 10 meters by coarse positioning (pseudorange One-Point Location)
As a result, network RTK data centers are given by its result, RTK data centers calculate corresponding virtual ginseng according to its positioning result
Position and the observation at station are examined, and sends the dummy observation of corresponding virtual reference station to rover station.Finally, rover station profit
Data are observed with our station and do difference, recycle conventional fast ambiguity computation to obtain with the dummy observation of virtual reference station
Take rover station poor with real-time phase with the integer ambiguity of virtual reference station, further obtain the positioning result of Centimeter Level.
However, network RTK has some limitations.Firstly, it is necessary to set up a RTK data center, data center with
The position of all RTK reference stations needs to consider.It is able to ensure that between RTK data centers and reference station and rover station logical in real time
Letter, and have certain requirement to traffic rate.And in some remote districts, temporarily without mobile communications network or when communication
When speed does not reach RTK observation data transmission rates demands, technology of network RTK cannot be used.Secondly as network RTK skills
There is the solution of problem proposition mainly for Long baselines RTK in art, therefore, technology of network RTK cannot be by short distance radio station
Mode realize, the observation of reference station can only be believed by the form of cable network, wireless cellular network or WLAN
Breath is aggregated into network RTK data centers by internet, and observation data have certain transmission delay and treatment postpones,
There is certain limitation for the high accuracy positioning under dynamic environment.Finally, RTK data centers need to maintain huge virtual ginseng
Station data are examined to update and rover station data interaction.Also, the complexity and virtual reference observation of technology of network RTK algorithm be with
The increase of the quantity of rover station and increase, and then bring greatly negative to data center server treatment and communication network transmission
Load and pressure.In recent years, the application of high accuracy NAVSTAR extends to Driving Test, intelligence from traditional survey field
Can control, unmanned, unmanned plane, the field such as remote sensing, so as to the quantity for causing high accuracy satellite navigation terminal (rover station) exists
It is continuously increased.The drawbacks of application of ever-increasing high accuracy satellite positioning navigation and positioning terminal cause technology of network RTK is more next
It is more obvious.
The content of the invention
An object of the present invention is data processing pressure small association when providing a kind of positioning precision high, large-scale application
Make RTK localization methods.
The second object of the present invention is to provide a kind of system for applying the cooperation RTK localization methods to be positioned.
This cooperation RTK localization methods that the present invention is provided, comprise the following steps：
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. step S1 chooses fixed reference station real-time monitored and the observation data needed for obtaining RTK technologies；
S3. the observation data for being obtained according to step S2 calculate the pseudorange residuals and carrier phase residual error of fixed reference station；
S4. the standard that the pseudorange residuals and carrier phase residual error and step S1 that fixed reference station obtains step S3 are set
Coordinate position sends reference station control centre to；
S5. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S6. the coarse positioning result that rover station obtains step S5 sends reference station control centre to；
S7. pseudorange residuals, carrier phase residual sum standard coordinate position of the reference station control centre according to reference station, and
The coarse positioning position result of rover station, dispatches out the candidate reference station group that rover station is matched；
The unique mark of the candidate reference station group that S8. reference station control centre is matched rover station is sent to rover station；
S9. rover station receives corresponding reference station according to the unique mark of correspondence candidate reference station group from communication link
Observation data and standard coordinate position；
S10. rover station is residual according to the standard coordinate position of the candidate reference station group for receiving, pseudorange residuals, carrier phase
Difference and the set of last moment candidate reference station group, calculate optimal reference station as reference station；
S11. rover station receives the observation data at reference station, carries out the high accuracy positioning of itself.
Described cooperation RTK localization methods also comprise the following steps：
S12. the set of candidate reference station group, i.e. reference station control centre are updated within the time of setting with reference to control centre
The observation data that rover station and reference station are reported are received, the reference station clustering conjunction to rover station is updated.
Described reference station clustering is closed and updated, and specifically includes the following two kinds pattern：
Rover station asks generation patterns：When rover station cannot all be consolidated in matched current candidate reference station group rings
Determine calculation result, then ask reference station control centre to carry out candidate reference station group and update；
Fixed time period generation patterns：The fixed renewal time in cycle is set, the renewal time in cycle arrives, then updates
Candidate reference station clustering is closed；The described renewal time in cycle is to be set according to the dynamic of environment or according to user behavior point
Analysis is configured.
Reference station described in step S7 includes fixed reference station and instant reference station.
Described cooperation RTK localization methods also comprise the following steps：
S13. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can turn into instant reference station：If judging successfully, rover station is converted to instant reference station；
S14. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain hour
Residual error, and combine judge this instant reference station whether can continue turn into instant reference station：If judgement is unsuccessful, this reference immediately
Station converts back rover station.
Rover station described in step S13 judges whether itself can turn into instant reference station, specially using following rule
Judged：
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value for resolving every time is not more than 2 meters,
And carrier phase residual values are not more than 2 centimetres, then mobile station mode can turn into instant reference station.
Judge whether instant reference station can continue to turn into instant reference station described in step S14, if specially reference immediately
Station has that continuous N time Carrier Phase Ambiguity Resolution is unsuccessful, then instant reference station is converted to rover station.
The selection of the fixed reference station described in step S1, specially sets fixed reference in the place of known exact position
Stand, or fixed reference station is set at an arbitrary position, and the exact position of fixed reference station is obtained by location algorithm.
The described exact position that fixed reference station is obtained by location algorithm, specifically by PPP Static Precise Point Positionings
Algorithm obtains the exact position of fixed reference station for a long time.
Calculating pseudorange residuals and carrier phase residual error described in step S3, are specially calculated using following formula：
In formula
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the pseudorange on i-th every t frequency of satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data are respectively
WithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)。
The candidate reference station group that rover station described in step S7 is matched, is specially matched using following rule：
The reference station h that rover station is matchedjForMin in formulaG() represents and takes maximum HGIt is individual
Index list where value, γ={ h=1 ..., H, Δ Dj,h＜ SD }；The value of SD is relevant with the precision of short baseline RTK,
The more big then RTK positioning precisions of SD values are smaller；
Mark described in step S8 includes station channel, network ip address, modulation frequency or encryption ID.
Optimal reference station is calculated as reference station described in step S10, is specially carried out using following rule
Calculate：
A. judge the reference station of last moment whether in the candidate reference station clustering at this moment is closed：
If the reference station of last moment is in the candidate reference station clustering at this moment is closed, the reference at this moment
Station is set as the reference station of last moment；
If the reference station of last moment is selected not in the candidate reference station clustering at this moment is closed according to following strategy
Determine reference station of the reference station as this moment：
Wherein argminG() represents the index where taking maximum, and ρ={ h=1 ..., HG}；
B. by the use of the reference station of selection is calculated as reference station in step A, the observation number at the reference station is received
According to, and carry out Carrier Phase Ambiguity Resolution with rover station：
If calculation result can be fixed, high accuracy positioning success；
If calculation result cannot be fixed, the index of current base reference station is rejected, re-execute above-mentioned steps, directly
It is empty set to set ρ.
Rover station described in step S11 receives the observation data at reference station and carries out the high accuracy positioning of itself, has
Body comprises the following steps：
A. rover station receives the observation data at reference station, and carries out calculus of differences with the observation data of itself, goes forward side by side
Row Carrier Phase Ambiguity Resolution and high accuracy positioning；
If b. rover station can not be normally carried out Carrier Phase Ambiguity Resolution, current reference station is rejected, and repeated
Step 10：If all traversal all can not correctly resolve integer ambiguity one time to the reference station of all of candidate reference station group afterwards,
Then assert that rover station current time can not carry out high accuracy positioning；Rover station carries out high accuracy positioning next time and resolves flow.
Present invention also offers a kind of system for applying the cooperation RTK localization methods to be positioned, including a reference
Stand control centre, several fixed reference stations, several rover stations and reference station control centre, fixed reference station and rover station
Between carry out the communication link of data exchange；The reference station control centre is used to match the candidate reference station corresponding to rover station
Group's information, and the match information is sent into rover station by communication link；Rover station is to need to carry out pinpoint flowing
Stand；Fixed reference station is used to obtain the exact position of itself position, calculates the pseudorange residuals and carrier phase residual error of itself
And reference station control centre is sent, it is additionally operable to be matched with rover station and positioned the position of rover station；The rover station institute is right
The reference station answered includes fixed reference station and instant reference station, and the instant reference station is changed by the rover station after high accuracy positioning
.
The present invention provide this cooperation RTK localization methods and system, based on rover station/reference station can switching at runtime mould
Formula, position and observation data using large-scale rover station/reference station, and specific reference station dispatching algorithm, are each
Rover station provides multiple specific reference stations and is matched, so as to realize the high accuracy positioning of rover station.The present invention needs one
Reference station control centre, but this control centre only needs to perform reference station dispatching algorithm according to the coarse positioning result of rover station,
Realize reference station-rover station pairing.After completion is matched, reference station sends observation number to all rover stations for matching
According to so that rover station realizes high accuracy positioning.Secondly, rover station is utilized after the observation data for receiving multiple reference stations
The observation data of multiple reference stations are cooperated, and finally realize the precision positioning of rover station.One rover station has multiple reference stations
Pairing, referred to as candidate reference station group.Candidate reference station group energy is enough effectively prevented from rover station because the mobile reference station for causing
Re-search for and set up the process of pairing reference station with failing and cause, realize the whole seamless high accuracy positioning of rover station.Most
Afterwards, each rover station complete high accuracy positioning after, by certain decision rule, can turn into candidate reference station for
Other rover stations make reference.The technology of the present invention need not carry out the CORS station networkings of large-scale centralization, also be not required to
Powerful and complicated RTK data centers are wanted, the terminal of the high-precision locating method provided using the present invention is more, the robust of network
Property it is stronger, efficiently solve technology of network RTK presence key issue, be very beneficial for high accuracy positioning navigation it is extensive
Using.
Brief description of the drawings
Fig. 1 is the positioning principle schematic diagram of existing technology of network RTK.
Fig. 2 is alignment system operating diagram of the invention.
Fig. 3 is flow chart of the method for the present invention.
Specific embodiment
It is illustrated in figure 2 alignment system operating diagram of the invention：This of present invention offer realizes the cooperation RTK
The alignment system of localization method, including reference station control centre, several fixed reference stations, several rover stations and a ginseng
Kao Zhan control centres, the communication link that data exchange is carried out between fixed reference station and rover station；The reference station control centre
Flowed for matching the candidate reference station group's information corresponding to rover station, and the match information being sent by communication link
Stand；Rover station is to need to carry out pinpoint rover station；Fixed reference station is used to obtain the exact position of itself position,
The pseudorange residuals and carrier phase residual error for calculating itself simultaneously send reference station control centre, be additionally operable to rover station match and
Position the position of rover station；Reference station corresponding to the rover station includes fixed reference station and instant reference station, described instant
Reference station is converted by the rover station after high accuracy positioning.
It is illustrated in figure 3 flow chart of the method for the present invention：This cooperation RTK localization methods cooperation RTK that the present invention is provided
Localization method, comprises the following steps：
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；Described fixed ginseng
Examine station and fixed reference station is set in the place of known exact position, or fixed reference station is set at an arbitrary position, and by PPP
Static Precise Point Positioning algorithm obtains the exact position of fixed reference station for a long time；
S2. step S1 chooses fixed reference station real-time monitored and the observation data needed for obtaining RTK technologies；
S3. the observation data for being obtained according to step S2 calculate the pseudorange residuals and carrier phase residual error of fixed reference station；Institute
The calculating pseudorange residuals and carrier phase residual error stated, are specially calculated using following formula：
In formula
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the pseudorange on i-th every t frequency of satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data are respectively
WithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)；
S4. the standard that the pseudorange residuals and carrier phase residual error and step S1 that fixed reference station obtains step S3 are set
Coordinate position sends reference station control centre to；
S5. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S6. the coarse positioning result that rover station obtains step S5 sends reference station control centre to；
S7. reference station control centre according to the pseudorange residuals of reference station (including fixed reference station and instant reference station), carry
Wave phase residual sum standard coordinate position, and rover station coarse positioning position result, dispatch out the candidate that rover station is matched
Reference station group；
The candidate reference station group that described rover station is matched, is specially matched using following rule：
The reference station h that rover station is matchedjForMin in formulaG() represents and takes maximum HGIt is individual
Index list where value, γ={ h=1 ..., H, Δ Dj,h＜ SD }；The value of SD determines the precision of short baseline RTK, SD
Value crosses conference so that RTK positioning precisions decline or even cannot get calculation result.SD values are too small can cause not exist with
The reference station of now thereof station pairing；In the specific implementation, a kind of optional mode is：SD is set to 5km first, if finding
There is reference station, then match, if not finding the reference station that can be matched, then SD is increased into 5km, until the reference for finding to have pairing
Untill standing, wherein SD is at most added to 20km.HGIt is the maximum set number of candidate reference station group, it is stream that its purpose is mainly
Dynamic station provides multiple reference stations so that rover station cannot be resolved normally in moving process under current base reference station environment
When, can be directly switch under the environment of alternative reference station and resolve, and eliminate the mistake reconnected with reference station control centre
Journey, therefore, HGValue is proper between 3 to 5；
S8. reference station control centre is matched rover station candidate reference station group unique mark (including station channel,
Network ip address, modulation frequency or encryption ID etc.) it is sent to rover station；
S9. rover station receives corresponding reference station according to the unique mark of correspondence candidate reference station group from communication link
Observation data and standard coordinate position；
S10. rover station is residual according to the standard coordinate position of the candidate reference station group for receiving, pseudorange residuals, carrier phase
Difference and the set of last moment candidate reference station group, calculate optimal reference station as reference station, specially use
Following rule is calculated：
A. judge the reference station of last moment whether in the candidate reference station clustering at this moment is closed：
If the reference station of last moment is in the candidate reference station clustering at this moment is closed, the reference at this moment
Station is set as the reference station of last moment；
If the reference station of last moment is selected not in the candidate reference station clustering at this moment is closed according to following strategy
Determine reference station of the reference station as this moment：
Wherein argminG() represents the index where taking maximum, and ρ={ h=1 ..., HG}；
B. by the use of the reference station of selection is calculated as reference station in step A, the observation number at the reference station is received
According to, and carry out Carrier Phase Ambiguity Resolution with rover station：
If calculation result can be fixed, high accuracy positioning success；
If calculation result cannot be fixed, the index of current base reference station is rejected, re-execute above-mentioned steps, directly
It is empty set to set ρ；
S11. rover station receives the observation data at reference station, carries out the high accuracy positioning of itself, specifically includes as follows
Step：
A. rover station receives the observation data at reference station, and carries out calculus of differences with the observation data of itself, goes forward side by side
Row Carrier Phase Ambiguity Resolution and high accuracy positioning；
If b. rover station can not be normally carried out Carrier Phase Ambiguity Resolution, current reference station is rejected, and repeated
Step 10：If all traversal all can not correctly resolve integer ambiguity one time to the reference station of all of candidate reference station group afterwards,
Then assert that rover station current time can not carry out high accuracy positioning；Rover station carries out high accuracy positioning next time and resolves flow；
S12. the set of candidate reference station group, i.e. reference station control centre are updated within the time of setting with reference to control centre
The observation data that rover station and reference station are reported are received, the reference station clustering conjunction to rover station is updated；Renewal is specifically included
The following two kinds pattern：
Rover station asks generation patterns：When rover station cannot all be consolidated in matched current candidate reference station group rings
Determine calculation result, then ask reference station control centre to carry out candidate reference station group and update；
Fixed time period generation patterns：The fixed renewal time in cycle is set, the renewal time in cycle arrives, then updates
Candidate reference station clustering is closed；The described renewal time in cycle is to be set according to the dynamic of environment or according to user behavior point
Analysis is configured；
S13. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can turn into instant reference station：If judging successfully, rover station is converted to instant reference station；
The process of the judgement is：If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange for resolving every time
Residual values are not more than 2 meters, and carrier phase residual values are not more than 2 centimetres, then mobile station mode can turn into instant reference station；Its
In, N can use any integer value；N values are too small, easily cause the false-alarm erroneous judgement of instant reference station, and then cause error accumulation, make
The rover station that instant reference station matched must be changed and all produce Wrong localization, cause the formula that spreads of mistake to spread to whole RTK networks；
N values are excessive, and easily causing only a few rover station can turn into reference station so that the instant reference station that can be used in RTK networks
It is very few；Therefore, the value of N has different selection modes according to different scenes：For example, in unmanned plane, under unmanned environment,
Under needing sub_meter position precision environment, N values can be 100-200 or so, it is assumed that the renewal frequency of 1 second, then rover station into
For instant reference station needs the time decision by 2-3 minutes.In the case where environment is surveyed and drawn, it is necessary to centimeter-level positioning precision, the value of N
Can be 1000-3000 or so, it is assumed that the renewal frequency of 1 second, then rover station is needed by 20-60 minutes as instant reference station
The time decision of left and right；
S14. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain hour
Residual error, and combine judge this instant reference station whether can continue turn into instant reference station：If judgement is unsuccessful, this reference immediately
Station converts back rover station.
The process of the judgement is：If instant reference station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful, reference immediately
Station is converted to rover station, specifically, the value of M is more suitable at 10-20 times or so.
Claims (11)
1. a kind of cooperation RTK localization methods, comprise the following steps：
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. step S1 chooses fixed reference station real-time monitored and the observation data needed for obtaining RTK technologies；
S3. the observation data for being obtained according to step S2 calculate the pseudorange residuals and carrier phase residual error of fixed reference station；
S4. the standard coordinate that the pseudorange residuals and carrier phase residual error and step S1 that fixed reference station obtains step S3 are set
Position sends reference station control centre to；
S5. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S6. the coarse positioning result that rover station obtains step S5 sends reference station control centre to；
S7. pseudorange residuals, carrier phase residual sum standard coordinate position of the reference station control centre according to reference station, and flowing
The coarse positioning position result stood, dispatches out the candidate reference station group that rover station is matched；
The unique mark of the candidate reference station group that S8. reference station control centre is matched rover station is sent to rover station；
S9. rover station receives the sight of corresponding reference station according to the unique mark of correspondence candidate reference station group from communication link
Survey data and standard coordinate position；
S10. rover station according to receive candidate reference station group standard coordinate position, pseudorange residuals, carrier phase residual error with
And the set of last moment candidate reference station group, optimal reference station is calculated as reference station；
S11. rover station receives the observation data at reference station, carries out the high accuracy positioning of itself.
2. cooperation RTK localization methods according to claim 1, it is characterised in that also comprise the following steps：
S12. the set of candidate reference station group, i.e. reference station control centre are updated within the time of setting with reference to control centre to receive
The observation data that rover station and reference station are reported, the reference station clustering conjunction to rover station is updated.
3. cooperation RTK localization methods according to claim 2 cooperation RTK localization methods, it is characterised in that described reference
Station clustering is closed and updated, and specifically includes the following two kinds pattern：
Rover station asks generation patterns：When rover station cannot all be fixed solution in matched current candidate reference station group rings
Result is calculated, is then asked reference station control centre to carry out candidate reference station group and is updated；
Fixed time period generation patterns：The fixed renewal time in cycle is set, the renewal time in cycle arrives, then update candidate
Closed with reference to station clustering；The described renewal time in cycle is to be set according to the dynamic of environment or entered according to user behavior analysis
Row is set.
4. cooperation RTK localization methods according to claim 1, it is characterised in that the reference station described in step S7 includes fixing
Reference station and instant reference station.
5. cooperation RTK localization methods according to claim 4, it is characterised in that described cooperation RTK localization methods are also wrapped
Include following steps：
S13. rover station obtains result, pseudorange residuals and the carrier phase residual error of the Carrier Phase Ambiguity Resolution in setting time, and
Joint judges whether itself can turn into instant reference station：If judging successfully, rover station is converted to instant reference station；
S14. the result of the Carrier Phase Ambiguity Resolution in instant reference station acquisition certain hour, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether this instant reference station can continue as instant reference station：If judgement is unsuccessful, this instant reference station
Convert back rover station.
6. cooperation RTK localization methods according to claim 5, it is characterised in that the rover station described in step S13 judge from
Whether body can turn into instant reference station, specially be judged using following rule：If the continuous n times integer ambiguity of rover station
Resolve successfully, and the pseudorange residuals value for resolving every time is not more than 2 meters, and carrier phase residual values are not more than 2 centimetres, then flow
The pattern of station can turn into instant reference station；And judge whether instant reference station can continue to turn into reference immediately described in step S14
Stand, if specially instant reference station has, and continuous N time Carrier Phase Ambiguity Resolution is unsuccessful, instant reference station is converted to rover station.
7. according to the cooperation RTK localization methods that one of claim 1~6 is described, it is characterised in that the calculating described in step S3 is pseudo-
Away from residual sum carrier phase residual error, specially calculated using following formula：
In formula
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the Pseudo-range Observations on i-th every t frequency of satellite
It is respectively with the single-point coarse positioning result and precision positioning result corresponding to carrier phase observation dataWithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)。
8. according to the cooperation RTK localization methods that one of claim 1~6 is described, it is characterised in that the rover station described in step S7
The candidate reference station group for being matched, is specially matched using following rule：
The reference station h that rover station is matchedjForMin in formulaG() represents and takes maximum HGIndividual value institute
Index list, γ={ h=1 ..., H, Δ Dj,h＜ SD }；The value of SD is relevant with the precision of short baseline RTK, and SD takes
The more big then RTK positioning precisions of value are smaller.
9. according to the cooperation RTK localization methods that one of claim 1~6 is described, it is characterised in that calculating described in step S10
Optimal reference station is specially calculated as reference station using following rule：
A. judge the reference station of last moment whether in the candidate reference station clustering at this moment is closed：
If in the candidate reference station clustering at this moment is closed, the reference station at this moment sets at the reference station of last moment
It is set to the reference station of last moment；
If the reference station of last moment is not in the candidate reference station clustering at this moment is closed, according to the selected ginseng of following strategy
Examine reference station of the station as this moment：
Wherein argminG() represents the index where taking maximum, and ρ={ h=1 ..., HG}；
B. by the use of the reference station of selection is calculated as reference station in step A, the observation data at the reference station are received, and
Carrier Phase Ambiguity Resolution is carried out with rover station：
If calculation result can be fixed, high accuracy positioning success；
If calculation result cannot be fixed, the index of current base reference station is rejected, re-execute above-mentioned steps, Zhi Daoji
Conjunction ρ is empty set.
10. according to the cooperation RTK localization methods that one of claim 1~6 is described, it is characterised in that the rover station described in step 11
Receive the observation data at reference station and carry out the high accuracy positioning of itself, specifically include following steps：
A. rover station receives the observation data at reference station, and carries out calculus of differences with the observation data of itself, and carries out whole
All ambiguity resolutions and high accuracy positioning；
If b. rover station can not be normally carried out Carrier Phase Ambiguity Resolution, current reference station is rejected, and repeat step
10：If all traversal all can not correctly resolve integer ambiguity one time to the reference station of all of candidate reference station group afterwards, recognize
Determining rover station current time can not carry out high accuracy positioning；Rover station carries out high accuracy positioning next time and resolves flow.
The system that cooperation RTK localization methods described in a kind of 11. use claims 1~10 are positioned, it is characterised in that bag
Include a reference station control centre, several fixed reference stations, several rover stations and reference station control centre, fixed reference
Stand carries out the communication link of data exchange and rover station between；The reference station control centre is used to match corresponding to rover station
Candidate reference station group's information, and the match information is sent into rover station by communication link；Rover station is carried out accurately for needs
The rover station of positioning；Fixed reference station is used to obtain the exact position of itself position, calculates the pseudorange residuals and load of itself
Wave phase residual error simultaneously sends reference station control centre, is additionally operable to be matched with rover station and positioned the position of rover station；It is described
Reference station corresponding to rover station includes fixed reference station and instant reference station, after the instant reference station is by high accuracy positioning
Rover station is converted.
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