CN106814379B - A kind of cloud RTK localization method and system - Google Patents
A kind of cloud RTK localization method and system Download PDFInfo
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- CN106814379B CN106814379B CN201710037557.6A CN201710037557A CN106814379B CN 106814379 B CN106814379 B CN 106814379B CN 201710037557 A CN201710037557 A CN 201710037557A CN 106814379 B CN106814379 B CN 106814379B
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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 a kind of cloud RTK localization methods, including choose fixed reference station, and standard coordinate position is arranged, and obtain 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 of rover station as a result, choosing reference station, and positioning calculation obtains the precision positioning result of rover station and sends rover station.The invention also discloses the systems positioned using the cloud localization method, the link including carrying out data interaction between a cloud positioning calculation center, several fixed reference stations, several rover stations and cloud positioning calculation center, fixed reference station and rover station.The present invention realizes extensive positioning calculation, does not need the CORS station network construction for carrying out large-scale centralization, network robustness is strong, is very beneficial for the large-scale application of high accuracy positioning navigation.
Description
Technical field
Present invention relates particularly to a kind of cloud 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
That one of the objects of the present invention is to provide a kind of positioning accuracies is high, can be realized to put and the extensive positioning solution in face
Data processing pressure small cloud RTK localization method when calculation, large-scale application.
The second object of the present invention is to provide a kind of system positioned using the cloud RTK localization method.
This cloud 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. fixed reference station sends out the observation data that step S2 is obtained and the High-precision standard coordinate position that step S1 is obtained
Give cloud positioning calculation center；
S4. rover station is observed in real time obtains the required observation data of RTK positioning, and obtained observation data are sent to cloud
Positioning calculation center；
S5. the observation data calculation that cloud positioning calculation center is sent according to rover station obtains 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 chooses candidate reference station as base
Quasi- reference station, and sequential serial positioning solution is carried out using the observation data at the reference station chosen and the observation data of rover station
It calculates, obtains the precision positioning result of rover station and send rover station.
Candidate reference station described in step S6 includes fixed reference station and virtual instant reference station.
The cloud RTK localization method further includes following steps:
S7. the pseudorange residuals and carrier phase residual error of cloud positioning calculation center calculation rover station；
S8. pseudorange residuals and carrier phase residual error of the cloud positioning calculation center according to the obtained rover station of step S7, judgement
Whether the rover station can become virtual instant reference station: if can, cloud positioning calculation center is using the rover station as it
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 that rover station is calculated described in step S7, are specially carried out using following formula
It calculates:
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)。
Judge whether the rover station can become virtual instant reference station 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 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 virtual instant reference station；The value of the N
Bigger, then positioning accuracy is higher.
N value corresponding to the virtual instant reference station is bigger, then the higher grade of virtual reference station immediately.
The virtual instant reference station that the rover station is matched is the grade void higher than the positioning accuracy request of rover station
Intend instant reference station.
The observation data include carrier phase and pseudorange.
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；And it is described
Fixed reference station can be compatible with the CORS in existing technology of network RTK station.
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.
Candidate reference station is chosen as reference station, for using following rule in cloud positioning calculation center described in step S6
It is chosen:
The reference station h that rover station is matchedjForArgmin () is to take maximum in formula
Index where being worth, γ={ h=1 ..., 3, Δ Dj,h< SD }；WhereinThe precision positions of h-th of reference station are
Pseudorange residuals and carrier phase residual error areWithThe coarse positioning position of j-th of rover station isSD
Value it is related with the precision of short baseline RTK, the more big then RTK positioning accuracy of SD value is smaller.
The present invention also provides a kind of systems positioned using the cloud RTK localization method, 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 data interaction link；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 rover station, judges that rover station can become virtual reference station immediately and for virtual ginseng immediately
Examine station divided rank；Rover station is to need to carry out pinpoint rover station；Fixed reference station is for obtaining itself position
Exact position, the observation Data Concurrent for obtaining itself send cloud positioning calculation center, is also used to match with rover station and auxiliary
Help the position of positioning rover station；Reference station corresponding to the rover station includes fixed reference station and virtual reference immediately
It stands, the virtual reference station immediately is converted by rover station.
Cloud RTK localization method provided by the invention and system, all rover stations will observe data and are sent to cloud, and cloud is logical
It crosses sequential serial positioning calculation method provided by the invention and is that each rover station realizes high precision position positioning, and by positioning
Location information returns to rover station.The present invention designs a kind of virtual reference station technology immediately, by rover station multiple bearing solution
It calculates result and adjudicates whether the rover station can become virtual instant reference station, and observing data using it is that other rover stations do difference
Positioning calculation service is realized to put and the extensive positioning calculation ability in face thus using sequential serial positioning calculation method.This
Invention provides one kind based on cloud RTK technology, does not need the CORS station network construction for carrying out large-scale centralization, uses originally
The terminal that invention provides cloud RTK technology is more, and the robustness of network is stronger, efficiently solves the existing pass of technology of network RTK
Key problem is very beneficial for the large-scale application of high accuracy positioning navigation.
Detailed description of the invention
Fig. 1 is the schematic illustration of existing technology of network RTK.
Fig. 2 is the operation schematic diagram of cloud RTK positioning system of the invention.
Fig. 3 is localization method flow chart of the invention.
Specific embodiment
It is illustrated in figure 2 the operation schematic diagram of cloud RTK positioning system of the invention: described in this application provided by the invention
The positioning system that cloud RTK localization method is positioned, including it is a cloud positioning calculation center, several fixed reference stations, several
The link of data interaction is carried out between a rover station and cloud positioning calculation center, fixed reference station and rover station；The cloud is fixed
Position resolving center is used to carry out the coarse positioning of rover station, chooses the reference station of rover station and accurately determine to rover station
Position judges that rover station can become virtual reference station immediately and for virtual reference station divided rank immediately；Rover station be 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 also used to match with rover station and the position of auxiliary positioning rover station；The flowing
Reference station corresponding to standing includes fixed reference station and virtual instant reference station, and the virtual reference station immediately is by rover station
It converts.
It is illustrated in figure 3 localization method flow chart of the invention: this cloud RTK localization method provided by the invention, including
Following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；Specially known
Fixed reference station is arranged in the place of exact position, or fixed reference station is arranged at an arbitrary position, and fixed by PPP accurate one-point
Position algorithm obtains the exact position of fixed reference station for a long time；And the fixed reference station can be compatible with existing network RTK
The station CORS in technology；
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology (predominantly carry
Wave phase and pseudorange)；
S3. fixed reference station obtains the observation data (predominantly carrier phase and pseudorange) and step S1 that step S2 is obtained
High-precision standard coordinate position be sent to cloud positioning calculation center；
S4. rover station is observed in real time obtains the required observation data (predominantly carrier phase and pseudorange) of RTK positioning, and will
Obtained observation data are sent to cloud positioning calculation center；
S5. the observation data (predominantly carrier phase and pseudorange) that cloud positioning calculation center is sent according to rover station resolve
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 instant reference station) it is used as reference station, specially chosen using following rule:
The reference station h that rover station is matchedjForArgmin () is to take maximum in formula
Index where being worth, γ={ h=1 ..., 3, Δ Dj,h< SD }；WhereinThe precision positions of h-th of reference station are
Pseudorange residuals and carrier phase residual error areWithThe coarse positioning position of j-th of rover station isSD
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；A kind of optional mode is to set 5km for SD first, if discovery has reference station, is matched
It is right, if not finding the reference station that can be matched, then SD is increased into 5km, until discovery has the reference station of pairing, wherein SD
At most it is added to 20km；
After choosing reference station, using the reference station of selection observation data and rover station observation data into
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 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)；
S8. pseudorange residuals and carrier phase residual error of the cloud positioning calculation center according to the obtained rover station of step S7, judgement
Whether the rover station can become virtual instant reference station: if can, cloud positioning calculation center is using the rover station as it
The candidate reference station of his rover station, that is, time of the high accuracy positioning result and observation data of the rover station as other rover stations
The input data of reference station is selected to handle；Described judges whether rover station can become virtual instant reference station, specially uses
Following rule is 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 virtual instant reference station；N can use arbitrary 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, so that changing instant reference station institute
The rover station of pairing all generates positioning mistake, causes the sprawling formula of mistake to spread on entire RTK network.N value is excessive, is easy to make
Virtual instant reference station can be become at only a few rover station, so that the virtual instant reference station that can be used in cloud RTK network
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 value it is bigger, then the higher grade of virtual reference station immediately, positions more accurate；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 virtual reference station immediately.In the case where surveying and drawing environment, centimeter-level positioning precision is needed, N's
Value can be for 1000-3000 or so, it is assumed that 1 second renewal frequency, then rover station become virtual reference station immediately need by
20-60 minutes or so time decisions；
Meanwhile in order to guarantee the high accuracy positioning service under varying environment, different grades of virtual instant reference station is designed,
Its specific rules is the difference of the value of N to set, and the value of N is bigger, and higher grade, and the value of N is lower, and 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
Standing cannot be the rover station service of high-grade demand；
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 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 observation data that step S2 is obtained and the High-precision standard coordinate position that step S1 is obtained are sent to by fixed reference station
Cloud positioning calculation center；
S4. rover station is observed in real time obtains the required observation data of RTK positioning, and obtained observation data are sent to cloud positioning
Resolving center；
S5. the observation data calculation that cloud positioning calculation center is sent according to rover station obtains the coarse positioning result of rover station；
S6. cloud positioning calculation center is chosen candidate reference station as benchmark according to the rover station coarse positioning result that step S5 is obtained and is joined
Station is examined, and carries out sequential serial positioning calculation using the observation data at the reference station chosen and the observation data of rover station,
It obtains the precision positioning result of rover station and sends rover station.
2. cloud RTK localization method according to claim 1, it is characterised in that candidate reference station described in step S6 includes solid
Determine reference station and virtual instant reference station.
3. cloud RTK localization method according to claim 2, it is characterised in that the cloud RTK localization method further include as
Lower step:
S7. the pseudorange residuals and carrier phase residual error of cloud positioning calculation center calculation rover station；
S8. cloud positioning calculation center is according to the pseudorange residuals and carrier phase residual error of the obtained rover station of step S7, described in judgement
Whether rover station can become virtual instant reference station: if can, cloud positioning calculation center is using the rover station as other streams
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 method according to claim 3, it is characterised in that calculate the pseudorange of rover station described in step S7
Residual sum carrier phase residual error is 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)。
5. cloud RTK localization method according to claim 3, it is characterised in that the rover station of judgement described in step S8 is
It is no to become virtual instant reference station, specially judged using following rule:
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 carries
Wave phase residual values are not more than 2 centimetres, then mobile station mode can become virtual instant reference station；The value of the N is bigger,
Then positioning accuracy is higher.
6. cloud RTK localization method according to claim 5, it is characterised in that corresponding to the virtual instant reference station
N value is bigger, then the higher grade of virtual reference station immediately.
7. cloud RTK localization method according to claim 6, it is characterised in that the rover station is matched virtual instant
Reference station is the grade virtual instant reference station higher than the positioning accuracy request of rover station.
8. cloud RTK localization method described according to claim 1~one of 7, it is characterised in that the observation data include carrying
Wave phase and pseudorange.
9. cloud RTK localization method described according to claim 1~one of 7, it is characterised in that cloud positioning solution described in step S6
Candidate reference station is chosen as reference station, to be chosen using following rule in calculation center:
The reference station h that rover station is matchedjForArgmin () is is maximized in formula
Index, γ={ h=1 ..., 3, Δ Dj,h< SD }；WhereinThe precision positions of h-th of reference station are
Pseudorange residuals and carrier phase residual error areWithThe coarse positioning position of j-th of rover station isSD
Value it is related with the precision of short baseline RTK, the more big then RTK positioning accuracy of SD value is smaller.
10. a kind of using the system that cloud RTK localization method is positioned described in one of claim 1~9, it is characterised in that packet
Include a cloud positioning calculation center, several fixed reference stations, several rover stations and cloud positioning calculation center, fixed reference
It stands and carries out the link of data interaction between rover station；Cloud positioning calculation center is used to carry out the coarse positioning of rover station, choosing
It takes the reference station of rover station and rover station is accurately positioned, judges that rover station can become virtual reference station immediately simultaneously
For virtual reference station divided rank immediately；Rover station is to need to carry out pinpoint rover station；Fixed reference station is for obtaining
The exact position of itself position, the observation Data Concurrent for obtaining itself send cloud positioning calculation center, are also used to and rover station
Carry out the position of matching and auxiliary positioning rover station；Reference station corresponding to the rover station includes fixed reference station and void
Intend instant reference station, the virtual reference station immediately is converted by rover station.
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