CN106802426B - A kind of cooperation RTK localization method and system - Google Patents

A kind of cooperation RTK localization method and system Download PDF

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Publication number
CN106802426B
CN106802426B CN201710046525.2A CN201710046525A CN106802426B CN 106802426 B CN106802426 B CN 106802426B CN 201710046525 A CN201710046525 A CN 201710046525A CN 106802426 B CN106802426 B CN 106802426B
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station
rover
carrier phase
fixed
candidate
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CN201710046525.2A
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CN106802426A (en
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彭果
蒋云翔
郑彬
向为
易文鑫
朱增贤
刘蓉杰
张宁波
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湖南北云科技有限公司
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/43Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

The invention discloses a kind of cooperation RTK localization methods, including choose fixed reference station;It is obtained to observe data and calculate pseudorange residuals and carrier phase residual error;Send fixed reference station information to reference station control centre;Rover station coarse positioning simultaneously sends reference station control centre to;The matched candidate reference station group of reference station control centre scheduling rover station institute simultaneously sends rover station;Rover station receives observation data and standard coordinate position, selected reference reference station;Rover station carries out high accuracy positioning.The present invention also provides a kind of systems positioned with the localization method comprising the communication link of data exchange is carried out between a reference station control centre, several fixed reference stations, several rover stations and reference station control centre, fixed reference station and rover station.Positioning accuracy of the present invention is high, large-scale application when data processing pressure it is small.

Description

A kind of cooperation RTK localization method and system

Technical field

Present invention relates particularly to a kind of cooperation RTK localization method and systems.

Background technique

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 processing in real time, provides 3 dimension positioning knots in specified coordinate system Fruit, Real-Time Positioning can achieve Centimeter Level, and have many advantages, such as that real-time is good, speed is fast.The basic principle of RTK is to join It examines station and rover station receives satellite-signal simultaneously, 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 accuracy is up to Centimeter Level.RTK technology is widely used in outdoor high accuracy positioning and leads It navigates relevant industry, for example, mapping, Driving Test, intelligent control is unmanned, unmanned plane, remote sensing etc..

The core of RTK technology is in view of observed data value has identical ionosphere mistake between reference station and rover station Difference, the common error of tropospheric error and other forms, eliminate common error in the way of difference, obtain reference station and flowing The integer ambiguity with real-time phase of carrier phase are poor between standing, and then realize high accuracy positioning.However, RTK technology is 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 are more than 20km, reference station and rover station tool The correlation in standby ionosphere and tropospheric error will be greatly reduced, so that Real-Time Positioning is greatly lowered.For The RTK technology of the distance between reference station and rover station more than 20km or more is referred to as Long baselines RTK.Long baselines are solved at present The key technology of RTK precision positioning is technology of network RTK.The schematic illustration of technology of network RTK is as shown in Figure 1.Firstly, there are One network RTK data center generates the virtual ginseng under different location using the observation data at multiple reference stations (station CORS) It examines station (VRS-Virtual Reference Station) and the dummy observation of virtual reference station is calculated, and then establish The list of one virtual reference station and dummy observation, and the data by collecting all RTK reference stations, real-time update are 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, giving its result to network RTK data center, RTK data center calculates 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 is sharp Difference is done with the dummy observation of virtual reference station and our station observation data, conventional fast ambiguity computation is recycled to obtain It takes the integer ambiguity of rover station and virtual reference station poor with real-time phase, further obtains the positioning result of Centimeter Level.

However, network RTK has some limitations.Firstly, it is necessary to establish a RTK data center, data center with The position of all RTK reference stations needs to consider.It can ensure between RTK data center 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 RTK observation data transmission rates demands are not achieved in rate, technology of network RTK cannot be used.Secondly as network RTK skill There are the solutions that problem proposes mainly for Long baselines RTK for art, and therefore, technology of network RTK can not pass through short distance radio station Mode realize, the observation of reference station can only be believed by way of cable network, wireless cellular network or WLAN Breath is aggregated into network RTK data center by internet, and there are certain transmission delays and processing to postpone for observation data, There is certain limitation for the high accuracy positioning under dynamic environment.Finally, RTK data center needs 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 to data center server processing and communication network transmission greatly negative Load and pressure.In recent years, the application of high-precision satellite positioning and navigation system has extended to Driving Test, intelligence from traditional survey field It can control, unmanned, unmanned plane, the fields such as remote sensing, the quantity so as to cause high-precision satellite navigation terminal (rover station) exists It is continuously increased.The drawbacks of ever-increasing high-precision satellite positioning navigation is applied and positioning terminal makes technology of network RTK is more next It is more obvious.

Summary of the invention

One of the objects of the present invention is to provide data processing pressure small associations when a kind of positioning accuracy height, large-scale application Make RTK localization method.

The second object of the present invention is to provide a kind of system positioned using the cooperation RTK localization method.

This cooperation RTK localization method provided by the invention, includes the following steps:

S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set;

S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology;

S3. the pseudorange residuals and carrier phase residual error of fixed reference station are calculated according to the step S2 observation data obtained;

S4. the standard that the obtained pseudorange residuals of step S3 and carrier phase residual error and step S1 are arranged fixed reference station Coordinate position sends reference station control centre to;

S5. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station;

S6. rover station sends the coarse positioning result that step S5 is obtained to reference station control centre;

S7. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, and The coarse positioning position result of rover station dispatches out the matched candidate reference station group of rover station institute;

S8. reference station control centre by rover station the unique identification of matched candidate reference station group be sent to rover station;

S9. rover station receives corresponding reference station according to the unique identification of corresponding 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 received, 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.

The cooperation RTK localization method further includes following steps:

S12. the set of candidate reference station group, i.e. reference station control centre are updated within the set time with reference to control centre The observation data that rover station and reference station report are received, the reference station clustering conjunction of rover station is updated.

The reference station clustering, which closes, to be updated, and the following two kinds mode is specifically included:

Rover station requests renewal model: when rover station is all unable to get admittedly in matched current candidate reference station group rings Determine calculation result, then requests reference station control centre to carry out candidate reference station group and update;

Fixed time period renewal model: setting fixed renewal time in period, and the renewal time in period arrives, then updates Candidate reference station clustering closes;The renewal time in period is setting to be carried out 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.

The cooperation RTK localization method further includes 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 become 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 time Residual error, and combine and judge whether this instant reference station can continue to become 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 become 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 resolved every time is not more than 2 meters, And carrier phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station.

Judge whether instant reference station can continue to become instant reference station described in step S14, if specially reference immediately Station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful, then instant reference station is converted to rover station.

Specially fixed reference is arranged in the place of known exact position in the selection of fixed reference station described in step S1 It stands, or fixed reference station is set at an arbitrary position, and obtain the exact position of fixed reference station by location algorithm.

The exact position that fixed reference station is obtained by location algorithm, specifically by PPP Static Precise Point Positioning 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 ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error, the pseudorange on every t frequency point of i-th satellite is seen Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data be respectively WithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)。

The matched candidate reference station group of the institute of rover station described in step S7, is specially matched using following rule:

The reference station h that rover station is matchedjForMin in formulaG() expression takes maximum HGIt is a Index list where being worth, γ={ h=1 ..., H, Δ Dj,h< SD };The value of SD is related with the precision of short baseline RTK, The more big then RTK positioning accuracy of SD value is smaller;

Mark described in step S8 includes station channel, network ip address, modulation frequency or encryption ID.

Optimal reference station is calculated described in step S10 as reference station, is specially carried out using following rule It calculates:

A. judge the reference station of last moment whether in the candidate reference station clustering conjunction at this moment:

During if candidate reference station clustering of the reference station of last moment at this moment closes, 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 closes according to following strategy Determine reference station of the reference station as this moment:

Wherein argminG() indicates the index where being maximized, and ρ={ h=1 ..., HG};

B. using the reference station for calculating selection in step A as reference station, the observation number at the reference station is received According to, and Carrier Phase Ambiguity Resolution is carried out with rover station:

If can obtain it is fixed resolve as a result, if high accuracy positioning success;

If be unable to get it is fixed resolve as a result, if reject the index of current base reference station, 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, tool Body includes 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 cannot proceed normally Carrier Phase Ambiguity Resolution, current reference station is rejected, and is repeated Step 10: if the reference station of all candidate reference station groups all cannot correctly resolve integer ambiguity later traversal one time, Then assert that rover station current time not can be carried out high accuracy positioning;Rover station carries out high accuracy positioning next time and resolves process.

The present invention also provides a kind of systems positioned using the cooperation RTK localization method, including a reference It stands control centre, several fixed reference stations, several rover stations and reference station control centre, fixed reference station and rover station Between carry out data exchange communication link;The reference station control centre is for matching 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 It stands;Fixed reference station is used to obtain the exact position of itself position, calculates itself pseudorange residuals and carrier phase residual error And reference station control centre is sent, it is also used to be matched and positioned with rover station 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 converted by the rover station after high accuracy positioning ?.

This cooperation RTK localization method provided by the invention 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, to realize the high accuracy positioning of rover station.The present invention needs one Reference station control centre, however this control centre only needs to execute reference station dispatching algorithm according to the coarse positioning result of rover station, Realize reference station-rover station pairing.After pairing is completed, reference station sends observation number to all rover stations of pairing According to so that rover station realizes high accuracy positioning.Secondly, rover station after receiving the observation data of multiple reference stations, utilizes The observation data of multiple reference stations cooperate, the final precision positioning for realizing 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 of reference station caused by mobile The process for failing and re-search for and establish with causing pairing reference station realizes the seamless high accuracy positioning of whole process of rover station.Most Afterwards, each rover station is after completing high accuracy positioning, by certain decision rule, can become candidate reference station for Other rover stations make reference.The technology of the present invention does not need to carry out the CORS station network construction of large-scale centralization, is not required to yet Powerful and complicated RTK data center is wanted, the terminal using high-precision locating method provided by the invention is more, the robust of network Property it is stronger, efficiently solve critical issue existing for technology of network RTK, be very beneficial for high accuracy positioning navigation it is extensive Using.

Detailed description of the invention

Fig. 1 is the positioning principle schematic diagram of existing technology of network RTK.

Fig. 2 is positioning system operation schematic diagram of the invention.

Fig. 3 is flow chart of the method for the present invention.

Specific embodiment

It is illustrated in figure 2 positioning system operation schematic diagram of the invention: this realization cooperation RTK provided by the invention The positioning system of localization method, including a reference station control centre, several fixed reference stations, several rover stations and ginseng The communication link of data exchange is carried out between the control centre Kao Zhan, fixed reference station and rover station;The reference station control centre For matching the group's information of candidate reference station corresponding to rover station, and the match information is sent by communication link and is flowed It stands;Rover station is to need to carry out pinpoint rover station;Fixed reference station is used to obtain the exact position of itself position, Calculate the pseudorange residuals of itself and carrier phase residual error and send reference station control centre, be also used to match with rover station and Position the position of rover station;Reference station corresponding to the rover station includes fixed reference station and instant reference station, it is described immediately 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 method cooperation RTK provided by the invention Localization method includes the following steps:

S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set;The fixed ginseng It examines 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 passes through PPP Static Precise Point Positioning algorithm obtains the exact position of fixed reference station for a long time;

S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology;

S3. the pseudorange residuals and carrier phase residual error of fixed reference station are calculated according to the step S2 observation data obtained;Institute The calculating pseudorange residuals and carrier phase residual error stated specially are calculated using following formula:

In formula

Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error, the pseudorange on every t frequency point of i-th satellite is seen Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data be respectively WithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi);

S4. the standard that the obtained pseudorange residuals of step S3 and carrier phase residual error and step S1 are arranged fixed reference station Coordinate position sends reference station control centre to;

S5. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station;

S6. rover station sends the coarse positioning result that step S5 is obtained to reference station control centre;

S7. reference station control centre according to the pseudorange residuals of reference station (including fixed reference station and instant reference station), carry The coarse positioning position result of wave phase residual sum standard coordinate position and rover station dispatches out the matched candidate of rover station institute Reference station group;

The matched candidate reference station group of the rover station institute, is specially matched using following rule:

The reference station h that rover station is matchedjForMin in formulaG() expression takes maximum HGIt is a Index list where being worth, γ={ h=1 ..., H, Δ Dj,h< SD };The value of SD determines the precision of short baseline RTK, SD Value crosses conference and makes the decline of RTK positioning accuracy or even cannot get calculation result.SD value is too small will lead to may there is no with The reference station of now thereof station pairing;In the specific implementation, a kind of optional mode are as follows: 5km is set by SD first, if discovery 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 Until standing, wherein SD is at most added to 20km.HGFor the maximum set number of a candidate reference station group, purpose is mainly stream Dynamic station provides multiple reference stations, so that rover station in moving process, can not be resolved normally under current base reference station environment When, it 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 by rover station matched candidate reference station group unique identification (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 identification of corresponding 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 received, 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 conjunction at this moment:

During if candidate reference station clustering of the reference station of last moment at this moment closes, 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 closes according to following strategy Determine reference station of the reference station as this moment:

Wherein argminG() indicates the index where being maximized, and ρ={ h=1 ..., HG};

B. using the reference station for calculating selection in step A as reference station, the observation number at the reference station is received According to, and Carrier Phase Ambiguity Resolution is carried out with rover station:

If can obtain it is fixed resolve as a result, if high accuracy positioning success;

If be unable to get it is fixed resolve as a result, if reject the index of current base reference station, 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 cannot proceed normally Carrier Phase Ambiguity Resolution, current reference station is rejected, and is repeated Step 10: if the reference station of all candidate reference station groups all cannot correctly resolve integer ambiguity later traversal one time, Then assert that rover station current time not can be carried out high accuracy positioning;Rover station carries out high accuracy positioning next time and resolves process;

S12. the set of candidate reference station group, i.e. reference station control centre are updated within the set time with reference to control centre The observation data that rover station and reference station report are received, the reference station clustering conjunction of rover station is updated;Update specifically includes The following two kinds mode:

Rover station requests renewal model: when rover station is all unable to get admittedly in matched current candidate reference station group rings Determine calculation result, then requests reference station control centre to carry out candidate reference station group and update;

Fixed time period renewal model: setting fixed renewal time in period, and the renewal time in period arrives, then updates Candidate reference station clustering closes;The renewal time in period is setting to be carried out 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 become instant reference station: if judging successfully, rover station is converted to instant reference station;

The process of the judgement are as follows: if the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange resolved 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 become instant reference station;Its In, N can use any integer value;N value is too small, be easy to cause the false-alarm of instant reference station to judge by accident, and then lead to error accumulation, makes The rover station that instant reference station is matched must be changed and all generate positioning mistake, cause the sprawling formula of mistake to spread on entire RTK network; N value is excessive, be easy to cause only a few rover station that can become reference station, so that the instant reference station that can be used in RTK network 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, Need under sub_meter position precision environment, N value can be for 100-200 or so, it is assumed that 1 second renewal frequency, then rover station at The time decision by 2-3 minutes is needed for instant reference station.In the case where surveying and drawing environment, centimeter-level positioning precision, the value of N are needed It can be 1000-3000 or so, it is assumed that 1 second renewal frequency, then rover station becomes instant reference station and needs by 20-60 minutes 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 time Residual error, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this reference immediately Station converts back rover station.

The process of the judgement are as follows: if reference station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful immediately, refer to immediately Station is converted to rover station, specifically, the value of M is more appropriate at 10-20 times or so.

Claims (10)

1. a kind of cooperation RTK localization method, includes the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set;
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology;
S3. the pseudorange residuals and carrier phase residual error of fixed reference station are calculated according to the step S2 observation data obtained;
S4. the standard coordinate that the obtained pseudorange residuals of step S3 and carrier phase residual error and step S1 are arranged fixed reference station Position sends reference station control centre to;
S5. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station;
S6. rover station sends the coarse positioning result that step S5 is obtained to reference station control centre;
S7. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, and flowing The coarse positioning position result stood dispatches out the matched candidate reference station group of rover station institute;Specially using following rule progress Match:
The reference station h that rover station is matchedjForMin in formulaG() expression takes maximum HGA value institute Index list, γ={ h=1 ..., H, Δ Dj,h< SD };The value of SD is related with the precision of short baseline RTK, and SD takes It is smaller to be worth more big then RTK positioning accuracy;
S8. reference station control centre by rover station the unique identification of matched candidate reference station group be sent to rover station;
S9. rover station receives the sight of corresponding reference station according to the unique identification of corresponding candidate reference station group from communication link Measured 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 method according to claim 1, it is characterised in that further include following steps:
S12. the set of candidate reference station group is updated within the set time with reference to control centre, i.e. reference station control centre receives The observation data that rover station and reference station report are updated the reference station clustering conjunction of rover station.
The RTK localization method 3. cooperation RTK localization method according to claim 2 cooperates, it is characterised in that the reference Station clustering, which closes, to be updated, and the following two kinds mode is specifically included:
Rover station requests renewal model: when rover station is all unable to get fixed resolving in matched current candidate reference station group It is updated as a result, reference station control centre is then requested to carry out candidate reference station group;
Fixed time period renewal model: setting fixed renewal time in period, and the renewal time in period arrives, then updates candidate It is closed with reference to station clustering;The renewal time in period be according to the dynamic of environment carry out setting or according to user behavior analysis into Row setting.
4. cooperation RTK localization method according to claim 1, it is characterised in that reference station described in step S7 includes fixing Reference station and instant reference station.
5. cooperation RTK localization method according to claim 4, it is characterised in that the cooperation RTK localization method also wraps 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 become 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 time, pseudorange residuals and carrier phase are residual Difference, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this instant reference station Convert back rover station.
6. cooperation RTK localization method according to claim 5, it is characterised in that the judgement of rover station described in step S13 is certainly Whether body can become instant reference station, specially be judged using following rule: if the continuous n times integer ambiguity of rover station The pseudorange residuals value for resolving successfully, and resolving every time is not more than 2 meters, and carrier phase residual values are not more than 2 centimetres, then flow The mode of station can become instant reference station;And judge whether instant reference station can continue to become reference immediately described in step S14 It stands, if specially reference station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful immediately, instant reference station is converted to rover station.
7. cooperation RTK localization method described according to claim 1~one of 6, it is characterised in that calculating described in step S3 is pseudo- Away from residual sum carrier phase residual error, specially calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfPseudo-range Observations for carrier phase residual error, on every t frequency point of i-th satellite It is respectively with single-point coarse positioning result corresponding to carrier phase observation data and precision positioning resultWithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)。
8. cooperation RTK localization method described according to claim 1~one of 6, it is characterised in that calculated described in step S10 Optimal reference station is specially calculated using following rule as reference station:
A. judge the reference station of last moment whether in the candidate reference station clustering conjunction at this moment:
If the reference station at this moment is set during candidate reference station clustering of the reference station of last moment at this moment closes 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 closes, according to the selected ginseng of following strategy Examine the reference station stood as this moment:
Wherein argminG() indicates the index where being maximized, and ρ={ h=1 ..., HG};
B. using the reference station for calculating selection in step A as reference station, the observation data at the reference station are received, and Carrier Phase Ambiguity Resolution is carried out with rover station:
If can obtain it is fixed resolve as a result, if high accuracy positioning success;
If be unable to get it is fixed resolve as a result, if reject the index of current base reference station, re-execute above-mentioned steps, Zhi Daoji Conjunction ρ is empty set.
9. cooperation RTK localization method described according to claim 1~one of 6, it is characterised in that rover station described in step 11 It receives the observation data at reference station and carries out the high accuracy positioning of itself, specifically comprise 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, and carry out whole All ambiguity resolutions and high accuracy positioning;
If b. rover station cannot proceed normally Carrier Phase Ambiguity Resolution, current reference station is rejected, and repeats step 10: if the reference station of all candidate reference station groups all cannot correctly resolve integer ambiguity later traversal one time, recognizing Determining rover station current time not can be carried out high accuracy positioning;Rover station carries out high accuracy positioning next time and resolves process.
10. a kind of using the system that cooperation RTK localization method is positioned described in one of claim 1~9, it is characterised in that Including a reference station control centre, several fixed reference stations, several rover stations and reference station control centre, fixed ginseng Examine the communication link that data exchange is carried out between station and rover station;The reference station control centre is for matching 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 to need to carry out essence Determine the rover station of position;Fixed reference station is used to obtain the exact position of itself position, calculate itself pseudorange residuals and Carrier phase residual error simultaneously sends reference station control centre, is also used to be matched and positioned with rover station the position of rover station;Institute Stating 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 convert.
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