CN106814379A - A kind of cloud RTK localization methods and system - Google Patents

A kind of cloud RTK localization methods and system Download PDF

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Publication number
CN106814379A
CN106814379A CN201710037557.6A CN201710037557A CN106814379A CN 106814379 A CN106814379 A CN 106814379A CN 201710037557 A CN201710037557 A CN 201710037557A CN 106814379 A CN106814379 A CN 106814379A
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station
cloud
rover
reference station
positioning
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CN106814379B (en
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郑彬
蒋云翔
向为
彭果
易文鑫
朱增贤
刘蓉杰
张宁波
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HUNAN BEIYUN TECHNOLOGY Co Ltd
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HUNAN BEIYUN TECHNOLOGY Co Ltd
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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

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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 kind of cloud RTK localization methods, including fixed reference station is chosen, standard coordinate position is set, obtained observation Data Concurrent and send cloud positioning calculation center；Rover station obtains observation Data Concurrent and send cloud positioning calculation center；Cloud positioning calculation center obtains the coarse positioning result of rover station, chooses reference station, and positioning calculation obtains the precision positioning result of rover station and sends rover station.The invention also discloses the system positioned using the cloud localization method, including cloud positioning calculation center, several fixed reference stations, several rover stations and a cloud positioning calculation center, the link of data interaction is carried out between fixed reference station and rover station.The present invention realizes extensive positioning calculation, it is not necessary to carry out the CORS station networkings of large-scale centralization, and network robustness is strong, is very beneficial for the large-scale application of high accuracy positioning navigation.

Description

A kind of cloud RTK localization methods and system
Technical field
Present invention relates particularly to a kind of cloud 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 be provide that a kind of positioning precision is high, can realize with put and face extensive positioning solution Data processing pressure small cloud RTK localization methods when calculation, large-scale application.
The second object of the present invention is to provide a kind of system for applying the cloud RTK localization methods to be positioned.
This cloud 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 High-precision standard coordinate position hair that the observation data and step S1 that fixed reference station obtains step S2 are obtained Give cloud positioning calculation center；
S4. the observation data needed for rover station real-time monitored obtains RTK positioning, and the observation data is activation that will be obtained is to cloud Positioning calculation center；
S5. the observation data calculation that cloud positioning calculation center sends according to rover station obtains the coarse positioning result of rover station；
S6. the rover station coarse positioning result that cloud positioning calculation center obtains according to step S5 chooses candidate reference station as base Quasi- reference station, and carry out sequential serial positioning solution using the observation data at reference station and the observation data of rover station chosen Calculate, obtain the precision positioning result of rover station and send rover station.
Candidate reference station described in step S6 includes fixed reference station and virtual reference station immediately.
Described cloud RTK localization methods also comprise the following steps：
S7. pseudorange residuals and carrier phase residual error of cloud positioning calculation center calculation rover station；
S8. the pseudorange residuals of the rover station that cloud positioning calculation center obtains according to step S7 and carrier phase residual error, judge Whether the rover station can turn into virtual reference station immediately：If can, cloud positioning calculation center using the rover station as its The candidate reference station of his rover station.
S9. when cloud positioning calculation center continuous N is time unsuccessful to the Carrier Phase Ambiguity Resolution of rover station, then cloud positioning calculation Cancel the virtual instant reference station function of the rover station in center.
The pseudorange residuals and carrier phase residual error of the calculating rover station described in step S7, are specially carried out using following formula Calculate：
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)。
Judge whether the rover station can turn into virtual reference station immediately described in step S8, specially using following rule Then 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 virtual reference station immediately；The value of described N Bigger, then positioning precision is higher.
N values corresponding to described virtual instant reference station are bigger, then the grade of virtual reference station immediately is higher.
The virtual instant reference station that described rover station is matched is the grade void higher than the positioning accuracy request of rover station Intend instant reference station.
Described observation data include carrier phase and pseudorange.
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；And it is described Fixed reference station can be in compatible existing technology of network RTK CORS stations.
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.
Candidate reference station is chosen as reference station in cloud positioning calculation center described in step S6, is using following rule Chosen：
The reference station h that rover station is matchedjForArgmin () is to take maximum place in formula Index, γ={ h=1 ..., 3, Δ Dj,h＜ SD }；Wherein The precision positions of h-th reference station arePseudorange residuals and carrier phase residual error areWithJth The coarse positioning position of individual rover station isThe value of SD is relevant with the precision of short baseline RTK, and SD values are got over It is big then RTK positioning precisions are smaller.
Present invention also offers a kind of system for applying the cloud RTK localization methods to be positioned, including a cloud positioning Resolving center, several fixed reference stations, several rover stations and cloud positioning calculation center, fixed reference station and rover station it Between carry out the link of data interaction；The cloud positioning calculation center is used to carry out the coarse positioning of rover station, chooses the base of rover station Quasi- reference station is simultaneously accurately positioned to rover station, is judged that rover station can be simultaneously virtual instant ginseng as virtual reference station immediately Examine station divided rank；Rover station is to need to carry out pinpoint rover station；Fixed reference station is used to obtain itself position Exact position, obtain the observation Data Concurrent of itself and send cloud positioning calculation center, be additionally operable to carry out matching and auxiliary with rover station Help the position of positioning rover station；Reference station corresponding to the rover station includes fixed reference station and virtual reference immediately Stand, the virtual reference station immediately is converted by rover station.
Cloud RTK localization methods and system that the present invention is provided, all rover stations will observe data is activation to high in the clouds, and high in the clouds leads to Cross the present invention offer sequential serial positioning calculation method for each rover station realize high precision position position, and by positioning Positional information returns to rover station.A kind of virtual reference station technology immediately of present invention design, by rover station multiple bearing solution Calculate result and adjudicate whether the rover station can turn into virtual reference station immediately, and data are observed for other rover stations do difference using it Positioning calculation is serviced so that using sequential serial positioning calculation method, realize with put and face extensive positioning calculation ability.This Invention provides a kind of based on cloud RTK technologies, it is not necessary to the CORS station networkings of large-scale centralization are carried out, using this The terminal that invention provides cloud RTK technologies is more, and the robustness of network is stronger, efficiently solves the pass of technology of network RTK presence Key problem, is very beneficial for the large-scale application of high accuracy positioning navigation.
Brief description of the drawings
Fig. 1 is the principle schematic of existing technology of network RTK.
Fig. 2 is the operating diagram of cloud RTK alignment systems of the invention.
Fig. 3 is localization method flow chart of the invention.
Specific embodiment
It is illustrated in figure 2 the operating diagram of cloud RTK alignment systems of the invention：Described in this application that the present invention is provided The alignment system that cloud RTK localization methods are positioned, including it is cloud positioning calculation center, several fixed reference stations, some Individual rover station and cloud positioning calculation center, the link that data interaction is carried out between fixed reference station and rover station；The cloud is determined Position resolving center is used to carry out the coarse positioning of rover station, chooses the reference station of rover station and rover station is carried out accurately to determine Position, judge that rover station can turn into virtual reference station immediately and be virtual instant reference station divided rank；Rover station for need into The pinpoint rover station of row；Fixed reference station is used to obtain the exact position of itself position, obtains the observation number of itself According to and send cloud positioning calculation center, be additionally operable to rover station match and auxiliary positioning rover station position；The flowing Reference station corresponding to standing includes fixed reference station and virtual reference station immediately, and the virtually instant reference station is by rover station Convert.
It is illustrated in figure 3 localization method flow chart of the invention：This cloud RTK localization methods that the present invention is provided, including Following steps：
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；Specially known The place of exact position sets fixed reference station, or sets fixed reference station at an arbitrary position, and fixed by PPP accurate one-points Position algorithm obtains the exact position of fixed reference station for a long time；And described fixed reference station being capable of compatible existing network RTK CORS stations in technology；
S2. the fixed reference station real-time monitored and the observation data needed for obtaining RTK technologies that step S1 chooses (are predominantly carried Wave phase and pseudorange)；
S3. the observation data (predominantly carrier phase and pseudorange) and step S1 that fixed reference station obtains step S2 are obtained High-precision standard coordinate position be sent to cloud positioning calculation center；
S4. the observation data (predominantly carrier phase and pseudorange) needed for rover station real-time monitored obtains RTK positioning, and will The observation data is activation for obtaining gives cloud positioning calculation center；
S5. the observation data (predominantly carrier phase and pseudorange) that cloud positioning calculation center sends according to rover station are resolved To the coarse positioning result of rover station；
S6. the rover station coarse positioning result that cloud positioning calculation center is obtained according to step S5 choose candidate reference station (including Fixed reference station and virtual reference station immediately) as reference station, specially chosen using following rule：
The reference station h that rover station is matchedjForArgmin () is to take maximum institute in formula Index, γ={ h=1 ..., 3, Δ Dj,h＜ SD }；Wherein The precision positions of h-th reference station arePseudorange residuals and carrier phase residual error areWithJth The coarse positioning position of individual rover station isSD values cross conference so that RTK positioning precisions decline or even cannot Calculation result；SD values are too small to cause may not exist the reference station matched with now thereof station；A kind of optional mode is, SD is set to 5km first, if discovery has reference station, is matched, if not finding the reference station that can be matched, then SD increased 5km, untill the reference station that discovery has pairing, wherein SD is at most added to 20km；
After reference station is chosen, entered using the observation data at reference station and the observation data of rover station chosen Row sequential serial positioning calculation, obtains the precision positioning result of rover station and sends rover station；
S7. the pseudorange residuals and carrier phase residual error of cloud positioning calculation center calculation rover station, are specially calculated using following Formula is calculated：
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)；
S8. the pseudorange residuals of the rover station that cloud positioning calculation center obtains according to step S7 and carrier phase residual error, judge Whether the rover station can turn into virtual reference station immediately：If can, cloud positioning calculation center using the rover station as its The candidate reference station of his rover station, i.e. the high accuracy positioning result of the rover station and observation data as other rover stations time The input data of reference station is selected to process；Described judges whether rover station can turn into virtual reference station immediately, specially uses Following rule is 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 virtual reference station immediately；N can use arbitrary integer Value.N values are too small, easily cause the false-alarm erroneous judgement of instant reference station, and then cause error accumulation so that change instant reference station institute The rover station of pairing all produces Wrong localization, causes the formula that spreads of mistake to spread to whole RTK networks.N values are excessive, easily make Virtual reference station immediately can be turned into only a few rover station so that the virtual instant reference station that can be used in cloud RTK networks It is very few.Therefore, the value of N has different selection modes according to different scenes, in general, corresponding to virtual reference station immediately N values it is bigger, then the grade of virtual reference station immediately is higher, positions more accurate；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 The time decision by 2-3 minutes is needed for virtual reference station immediately.In the case where environment is surveyed and drawn, it is necessary to centimeter-level positioning precision, N's Value can be for 1000-3000 or so, it is assumed that the renewal frequency of 1 second, then rover station turn into virtual reference station immediately need by The time decision of 20-60 minutes or so；
Meanwhile, in order to ensure the high accuracy positioning service under varying environment, different grades of virtual reference station immediately is designed, Its specific rules sets for the difference of the value of N, and the value of N is bigger, and its grade higher, and the value of N is lower, and its grade is got over It is low；High-grade virtual instant reference station can be the rover station service of inferior grade demand, and the virtual instant reference of inferior grade It can not be the rover station service of high-grade demand to stand；
S9. when cloud positioning calculation center continuous N is time unsuccessful to the Carrier Phase Ambiguity Resolution of rover station, then cloud positioning calculation Cancel the virtual instant reference station function of the rover station in center.

Claims (10)

1. a kind of cloud 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 High-precision standard coordinate position that the observation data and step S1 that fixed reference station obtains step S2 are obtained is sent to Cloud positioning calculation center；
S4. the observation data needed for rover station real-time monitored obtains RTK positioning, and the observation data is activation that will be obtained gives cloud positioning Resolving center；
S5. the observation data calculation that cloud positioning calculation center sends according to rover station obtains the coarse positioning result of rover station；
S6. the rover station coarse positioning result that cloud positioning calculation center obtains according to step S5 is chosen candidate reference station and is joined as benchmark Station is examined, and sequential serial positioning calculation is carried out using the observation data at reference station and the observation data of rover station chosen, Obtain the precision positioning result of rover station and send rover station.
2. cloud RTK localization methods according to claim 1, it is characterised in that the candidate reference station described in step S6 includes solid Determine reference station and virtual reference station immediately.
3. cloud RTK localization methods according to claim 2, it is characterised in that described cloud RTK localization methods are also included such as Lower step：
S7. pseudorange residuals and carrier phase residual error of cloud positioning calculation center calculation rover station；
S8. the pseudorange residuals of the rover station that cloud positioning calculation center obtains according to step S7 and carrier phase residual error, judge described Whether rover station can turn into virtual reference station immediately：If can, cloud positioning calculation center is flowed the rover station as other The candidate reference station at dynamic station.
S9. when cloud positioning calculation center continuous N is time unsuccessful to the Carrier Phase Ambiguity Resolution of rover station, then cloud positioning calculation center Cancel the virtual instant reference station function of the rover station.
4. cloud RTK localization methods according to claim 3, it is characterised in that the pseudorange of the calculating rover station described in step S7 Residual sum carrier phase residual error, is specially calculated using following formula：
Δρ c = 1 I T Σ i = 1 I Σ t = 1 T ( Δρ i , t c ) 2
Δρ f = 1 I T Σ i = 1 I Σ t = 1 T ( Δρ i , t f ) 2
In formula
Δρ i , t c = ( X i , t c - X i ) 2 + ( Y i , t c - Y i ) 2 + ( Z i , t c - Z i ) 2 - ( X f - X i ) 2 + ( Y f - Y i ) 2 + ( Z f - Z i ) 2
Δρ i , t f = ( X i , t f - X i ) 2 + ( Y i , t f - Y i ) 2 + ( Z i , t f - Z i ) 2 - ( X f - X i ) 2 + ( Y f - Y i ) 2 + ( Z f - Z i ) 2
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)。
5. cloud RTK localization methods according to claim 3, it is characterised in that the judgement rover station described in step S8 is It is no to turn into virtual reference station immediately, specially judged using following rule：
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 carry Wave phase residual values are not more than 2 centimetres, then mobile station mode can turn into virtual reference station immediately；The value of described N is bigger, Then positioning precision is higher.
6. cloud RTK localization methods according to claim 5, it is characterised in that corresponding to described virtual instant reference station N values are bigger, then the grade of virtual reference station immediately is higher.
7. cloud RTK localization methods according to claim 6, it is characterised in that described rover station matched it is virtual immediately Reference station is the grade virtual instant reference station higher than the positioning accuracy request of rover station.
8. according to the cloud RTK localization methods that one of claim 1~7 is described, it is characterised in that described observation data include carrying Wave phase and pseudorange.
9. according to the cloud RTK localization methods that one of claim 1~7 is described, it is characterised in that the cloud positioning solution described in step S6 Candidate reference station is chosen as reference station in calculation center, is to be chosen using following rule：
The reference station h that rover station is matchedjForArgmin () is where taking maximum in formula Index, γ={ h=1 ..., 3, Δ Dj,h＜ SD }；Wherein The precision positions of h-th reference station arePseudorange residuals and carrier phase residual error areWithJth The coarse positioning position of individual rover station isThe value of SD is relevant with the precision of short baseline RTK, and SD values are got over It is big then RTK positioning precisions are smaller.
10. the system that cloud RTK localization methods described in a kind of application claim 1~9 are positioned, it is characterised in that including Cloud positioning calculation center, several fixed reference stations, several rover stations and cloud positioning calculation center, fixed reference station and stream The link of data interaction is carried out between dynamic station；The cloud positioning calculation center is used to carry out the coarse positioning of rover station, chooses flowing The reference station stood simultaneously is accurately positioned to rover station, is judged that rover station can turn into virtual reference station immediately and be virtual Instant reference station divided rank；Rover station is to need to carry out pinpoint rover station；Fixed reference station is used to obtain itself institute In the exact position of position, obtain the observation Data Concurrent of itself and send cloud positioning calculation center, be additionally operable to be carried out with rover station With the position with auxiliary positioning rover station；Reference station corresponding to the rover station includes that fixed reference station is instant with virtual Reference station, the virtual reference station immediately is converted by rover station.
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