CN106851606A - A kind of cellular network RTK positions charging method and system - Google Patents
A kind of cellular network RTK positions charging method and system Download PDFInfo
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- CN106851606A CN106851606A CN201710037560.8A CN201710037560A CN106851606A CN 106851606 A CN106851606 A CN 106851606A CN 201710037560 A CN201710037560 A CN 201710037560A CN 106851606 A CN106851606 A CN 106851606A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/24—Accounting or billing
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a kind of cellular network RTK positioning charging methods, including fixed reference station is chosen, standard coordinate is set, obtained observation Data Concurrent and send centralized-control center；Centralized-control center assigned references station control centre；Fixed reference station calculates location data and sends reference station control centre；Rover station coarse positioning simultaneously sends centralized-control center；Centralized-control center assigned references station control centre；Reference station control centre matches reference station；Rover station is simultaneously positioned；Centralized-control center updates unpaired message；Rover station and instant reference station are mutually changed；Reference station control centre is to reference to station authenticated grading, calculating reference station receipts and expenditures and reporting centralized-control center；Centralized-control center integrated management.The invention also discloses the system that the application localization method positions charging.Locating speed of the present invention is fast, high precision, low cost, large-scale application when data processing pressure it is small, and positioning terminal can obtain certain economic interests.
Description
Technical field
Present invention relates particularly to a kind of cellular network RTK positioning charging method and system.
Background technology
In recent years, the application of high accuracy NAVSTAR extends to Driving Test from traditional survey field, intelligence
The fields such as control, unmanned, unmanned plane, remote sensing, so as to cause the quantity of high accuracy satellite navigation terminal (rover station) not
It is disconnected to increase.The application of ever-increasing high accuracy satellite positioning navigation and positioning terminal cause the need of high-precision technology of network RTK
Ask more and more obvious.
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 possess identical in view of observed data value between reference station and rover station to be mainly three
Plant error：The common error of atmosphere propagated error, satellite ephemeris error, star clock error and other forms, using the side of difference
Formula eliminates common error, and it is poor to calculate the integer ambiguity of carrier phase and real-time phase between reference station and rover station, and then
Realize high accuracy positioning.However, RTK technologies have certain limitation for the distance between reference station and rover station.Typically,
The distance between reference station and rover station are no more than 20km, referred to as short baseline RTK.If between reference station and rover station
Distance can be substantially reduced more than 20km, the then correlation of the ionospheric error that reference station and rover station reception data are present, so that
Effective RTK positioning results cannot be obtained so that Real-Time Positioning is greatly lowered.For between reference station and rover station
RTK technology of the distance more than more than 20km is referred to as Long baselines RTK.The key technology of Long baselines RTK precision positionings is solved at present
It is technology of network RTK.The principle of technology of network RTK is as shown in figure 1, specific as follows：Firstly, there are in a network RTK data
Virtual reference station (VRS-Virtual under the heart, its observation data genaration diverse location using multiple reference stations
Reference Station) and the dummy observation of virtual reference station is calculated, and then set up a virtual reference station and void
The list of quasi-observation, and by collecting the data of all RTK reference stations, the virtual reference of real-time update virtual reference station
Value.Secondly, rover station obtains the positioning result of precision within 10 meters by coarse positioning (pseudorange One-Point Location), and its result is given
Network RTK data centers, RTK data centers calculate position and the observation of corresponding virtual reference station according to its positioning result
Value, and send the dummy observation of corresponding virtual reference station to rover station.Finally, rover station utilizes the void of virtual reference station
Quasi-observation does difference with our station observation data, recycles conventional fast ambiguity computation to obtain rover station with virtual ginseng
The integer ambiguity for examining station is poor with real-time phase, further obtains the positioning result of Centimeter Level.
However, network RTK has some limitations.(1) firstly, it is necessary to set up a RTK data center, data center
Need to consider with the position of all RTK reference stations.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.(2) secondly as network RTK
There is the solution of problem proposition mainly for Long baselines RTK in technology, therefore, technology of network RTK cannot be by short distance electricity
The mode of platform realizes, can only be by the form of cable network, wireless cellular network or WLAN by the observation of reference station
Information is aggregated into network RTK data centers by internet, and observation data are prolonged in the presence of certain transmission delay and treatment
Late, there is certain limitation for the high accuracy positioning under dynamic environment.(3) then, technology of network RTK needs to build substantial amounts of
Reference station (also referred to as CORS stations), CORS stations construction cost is high, and CORS stations need to pay substantial amounts of maintenance cost every year.
(4) last, the virtual reference station data that RTK data centers need to maintain huge update and rover station data interaction.Also, network
The complexity and virtual reference observation of RTK technique algorithms are increased with the increase of the quantity of rover station, and then to data
Central server treatment and communication network transmission bring greatly burden and pressure.
The content of the invention
An object of the present invention is that a kind of locating speed of offer is fast, positioning precision is high, with low cost, large-scale application
When data processing pressure it is small and also the terminal that allows to be positioned using this localization method obtaining high accuracy positioning
The cellular network RTK positioning charging methods of certain economic well-being of workers and staff are obtained simultaneously.
The second object of the present invention is to provide a kind of application cellular network RTK positioning charging method to carry out positioning meter
The system taken.
This cellular network RTK positioning charging 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. fixed reference station sends to centralized-control center the standard coordinate position of itself；
S4. the standard coordinate position of the fixed reference station that centralized-control center is obtained according to step S3, distributes fixed reference
Reference station control centre belonging to standing；
S5. fixed reference station is residual according to the pseudorange residuals and carrier phase that the observation data that step S2 is obtained calculate itself
Difference；
S6. the standard that pseudorange residuals, carrier phase residual error and the step S1 that fixed reference station obtains step S5 are set
Coordinate position is sent to affiliated reference station control centre；
S7. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S8. the coarse positioning result that rover station obtains step S7 sends centralized-control center to；
S9. the reference belonging to the coarse positioning result distribution rover station of the rover station that centralized-control center is obtained according to step S8
Stand control centre；
S10. pseudorange residuals, carrier phase residual sum standard coordinate position of the reference station control centre according to reference station, with
And the coarse positioning position result of rover station matches the reference station corresponding to rover station；Reference station corresponding to described rover station
Including fixed reference station and instant reference station；
S11. rover station is matched in reference station control centre reference station unique mark is (in a communication network for unique
IP address or MAC Address) it is sent to rover station；
S12. rover station receives the observation data and standard coordinate of correspondence reference station according to the unique mark of correspondence reference station
Position；
S13. rover station completes rover station according to the observation data and the observation data of itself of the corresponding reference station for receiving
High accuracy positioning；
S14. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position with the ginseng belonging to it
Relation between the management region of Kao Zhan control centres, and update the rover station set belonging to reference station control centre；
S15. reference station control centre updates the unpaired message of reference station and rover station；
S16. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can turn into instant reference station：If judging successfully, rover station is converted to instant reference station；
S17. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain hour
Residual error, and combine judge this instant reference station whether can continue turn into instant reference station：If judgement is unsuccessful, this reference immediately
Station converts back rover station；
S18. reference station control centre is authenticated and power level evaluation to the instant reference station of subordinate；
S19. reference station control centre is according to the power level of subordinate's reference station, the number of users of service and service time span, meter
Calculate the income of subordinate's reference station；Meanwhile, service time length computation stream of the reference station control centre according to the rover station for being serviced
The expenditure undertaken needed for dynamic station；
S20. reference station control centre calculates each reference station in affiliated reference according to the receipts and expenditures of each reference station
Stand the income of control centre, and report centralized-control center；
S21. centralized-control center carries out integrated management according to the income of each reference station to reference station.
The selection of the fixed reference station described in step S1, specially sets fixed reference in the place of known exact position
Stand, or fixed reference station is set at an arbitrary position, and the exact position of fixed reference station is obtained by location algorithm；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.
Calculating pseudorange residuals and carrier phase residual error described in step S5, are specially calculated using following formula：
In formula
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the pseudorange on i-th every t frequency of satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data are respectively
WithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)。
The reference station control centre belonging to centralized-control center distribution rover station described in step S9, specially using nearby
That nearest reference station control centre of distribution principle, i.e. centralized-control center chosen distance rover station is the ginseng of rover station ownership
Kao Zhan control centres.
The reference station corresponding to reference station control centre matching rover station described in step S10, specially using following rule
Then matched：
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 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.
The rover station set updated belonging to reference station control centre described in step S14, is specially entered using following steps
Row updates：
A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；
B. centralized-control center according to rover station position and its belonging to reference station control centre management region it
Between relation, using the rover station set belonging to following Policy Updates reference station control centre：
If rover station has got over area and has been switched to the management region of other reference station control centres, update belonging to rover station
Reference station control centre information, and by fresh information send to rover station and update before and after reference station control centre；
C. the ginseng after deleting rover station information, and renewal is concentrated from the rover station of subordinate in the reference station control centre before updating
Rover station information is added to the rover station collection of itself subordinate for Kao Zhan control centres.
Reference station control centre described in step S15 updates the unpaired message of reference station and rover station, specially using such as
One of lower two ways is updated：
The request of mode A- rover stations updates：When rover station cannot be consolidated under the current reference station environment for being matched
Determine calculation result, then rover station request reference station control centre carries out reference station renewal；
The mode B- set times update：In the fixed time period being previously set, the fixed time period timing is reached
The unpaired message of reference station and rover station is then updated immediately；The fixed time period is to be set according to the dynamic of environment
Put, or be configured according to user behavior analysis.
Rover station described in step S16 judges whether itself can turn into instant reference station, specially using following rule
Judged：
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value for resolving every time is not more than 2 meters,
And carrier phase residual values are not more than 2 centimetres, then mobile station mode can turn into instant reference station.
Judge whether instant reference station can continue to turn into instant reference station described in step S17, if specially reference immediately
Station has that continuous N time Carrier Phase Ambiguity Resolution is unsuccessful, then instant reference station is converted to rover station.
Reference station control centre described in step S18 is authenticated and power level evaluation to the instant reference station of subordinate, specifically
It is that authentication and power level evaluation are carried out using following rule：
1) precise position information of any reference station is periodically sent to all instant reference stations of subordinate with reference to control centre
And corresponding difference observation data；
2) reference station observes data, and exact position and the difference of itself according to the positional information and difference that receive immediately
Observation data, resolve the exact position of the reference station belonging to the observation data for receiving, and calculation result is sent into affiliated ginseng
Kao Zhan control centres；
3) reference station control centre receives the calculation result that instant reference station sends, with reference to being sent to the instant reference station
The precise position information of the reference station belonging to observation data, authenticates to the instant reference station；
4) if the observation data of reference station of the rover station according to belonging to cannot obtain Carrier Phase Ambiguity Resolution result, flow
Is stood and the unique mark of the reference station is transferred to reference station control centre；
5) reference station control centre is according to step 4) the unique mark that sends of rover station judge the type of the reference station, and
Adjust the power level of the reference station；
6) reference station control centre is according to step 5) described in adjustment power level reference station adjustment number of times, forbid the website
Reference station function.
Described instant reference station can only be used as the reference station of the low rover station of the power level of reference station more instant than this.
Step 3) described in instant reference station is authenticated, specially authenticated using following rule：
If the reference belonging to the calculation result that the instant reference station sends and the observation data for being sent to the instant reference station
Error between the exact position stood is less than the threshold value A being previously set, then it is assumed that the instant reference station is normal reference immediately
Stand；
If the instant reference station does not feed back calculation result, or the solution that the instant reference station sends to reference station control centre
The error calculated result and be sent between the exact position of the reference station belonging to the observation data of the instant reference station is more than in advance
The threshold value A of setting, and cumulative number reaches the threshold value B of setting, then assert that the instant reference station is the instant reference station forged, and
Cancel the instant reference station function of the website immediately.
Step 5) described in judge the type of reference station and adjust the power level of the reference station, if specially the reference station for i.e.
When reference station, and the reference station reports by rover station and cannot obtain the number of times of Carrier Phase Ambiguity Resolution result more than being previously set
Threshold value C, then reference station control centre reduce by one power level of the instant reference station.
Step 6) described in reference station control centre number of times adjusted according to the power level of reference station forbid the reference station of the website
Function, specially reference station control centre judge the degraded reference station degraded number of times altogether：If the reference station is altogether
Degraded number of times reaches the threshold value D being previously set, then reference station control centre forbids the reference station function of the website, then should
It is mobile station mode that reference station can only work.
Reference station control centre described in step S19 calculates the income of subordinate's reference station, specially counts in the following way
Calculate income：
In in formulaiIt is i-th service income of reference station；αuCorresponding to the service power level of u-th rover station for being serviced
Coefficient, wherein αu=1+0.1D, D are the power level of the rover station of service；TuIt is the service time of u-th rover station for being serviced
Length；C is atomic charge unit.
Reference station control centre described in step S19 calculates the expenditure undertaken needed for rover station, specially using such as mode
Calculate expenditure：
OUTu=αuTuC
OUT in formulauIt is u-th expenditure of rover station；αuCorresponding to the service power level of u-th rover station for being serviced
Coefficient, wherein αu=1+0.1D, D are the power level of rover station；TuIt is the u-th service time length of rover station；C is minimum charging
Unit.
Integrated management is carried out to reference station described in step S21, specially centralized-control center defines any reference station
Total payment and the remaining sum that the income sum with reference to station is the website；When certain reference station remaining sum for it is negative when, remind the reference station and
When pay the fees, and reference the station exceed payment time limit for setting and when not paying the fees yet, stop the positioning service of the reference station up to
The remaining sum of the reference station is positive number.
Present invention also offers a kind of system for applying the cellular network RTK positioning charging method to carry out positioning charging,
Data friendship is carried out including a centralized-control center, several RTK cellular cells and centralized-control center and RTK cellular cells
Mutual communication link；One RTK cellular cells include a reference station control centre, several fixed reference stations and some
Individual rover station, and reference station control centre, the communication link of data exchange is carried out between fixed reference station and rover station；It is described
Centralized-control center is used to receive the positional information of fixed reference station, judges rover station and the position pass of reference station control centre
Reference station control centre belonging to system, distribution rover station and update rover station and reference station control centre data message and
Calculate the income of reference station and reference station is managed；Reference station control centre is used to match the reference station corresponding to rover station
Information, rover station is sent by the match information by communication link, the instant reference station of subordinate is authenticated and graded, and is counted
Calculate the receipts and expenditures of subordinate's reference station；Rover station is to need to carry out pinpoint rover station；Fixed reference station is used to obtain
The exact position of itself position, calculates the pseudorange residuals and carrier phase residual error of itself and sends reference station control centre,
It is additionally operable to be matched with rover station and positioned the position of rover station；Reference station corresponding to the rover station includes fixed reference
Stand and instant reference station, the instant reference station is converted by the rover station after high accuracy positioning.
The present invention provide this cellular network RTK positioning charging method and positioning charge system, using based on rover station/
Reference station can switching at runtime pattern, there is provided it is a kind of share economic formula charging method so that be linked into this cellular network RTK
Terminal can obtain high accuracy positioning position while obtain certain economic well-being of workers and staff.The present invention needs a centralized Control
Center and multiple reference station control centres, centralized-control center is used to distribute the reference station control centre belonging to rover station, and joins
The effect of Kao Zhan control centres is to perform reference station dispatching algorithm according to the coarse positioning result of rover station, and rover station is realized to refer to
Stand distribution, belonging to this reference station control centre, each reference station belongs to a reference station scheduling to the reference station of its distribution
Center, when the position of reference station occurs certain change, can cause affiliated reference station control centre also to change.Complete
To the pairing of the reference station of rover station, reference station sends data to all rover stations for matching, so as to rover station realize it is high-precision fixed
Position.One rover station is only matched with a reference station.Secondly, rover station receive candidate reference station group unique mark with
Afterwards, cooperated using the data of candidate reference station group, chosen optimal reference station, performed positioning calculation algorithm, finally
Realize the precision positioning of rover station.Finally, each rover station is after high accuracy positioning is completed, and by certain authentication and sentences
Certainly criterion, can turn into candidate reference station so that other rover stations make reference.The present invention is to provide a kind of cellular network RTK
Charging method based on shared economic model, it is not necessary to carry out the CORS station networkings of large-scale centralization, it is not required that
Powerful and complicated RTK data centers, it is possible to use existing wireless cellular network framework, composition cellular network RTK's is basic
Framework.At the same time, the high accuracy positioning terminal using present invention offer is more, and the robustness of network is stronger, can be effectively
The key issue that the technology of network RTK based on virtual reference station is present is solved, and also can be to be linked into this cellular network RTK
In terminal obtain high accuracy positioning result while can also obtain certain income, be very beneficial for high accuracy positioning navigation
Large-scale application.
Brief description of the drawings
Fig. 1 is the positioning principle schematic diagram of existing technology of network RTK.
Fig. 2 is positioning charge system operating diagram of the invention.
Fig. 3 is flow chart of the method for the present invention.
Specific embodiment
It is illustrated in figure 2 positioning charge system operating diagram of the invention：This application honeybee that the present invention is provided
The positioning charge system that nest network RTK positioning charging methods are positioned, including centralized-control center, several RTK honeybees
Nest cell and centralized-control center carry out the communication link of data interaction with RTK cellular cells；One RTK cellular cells
Including a reference station control centre, several fixed reference stations and several rover stations, and reference station control centre, fixation
The communication link of data exchange is carried out between reference station and rover station；The centralized-control center is used to receive fixed reference station
Reference station control centre belonging to positional information, the position relationship for judging rover station and reference station control centre, distribution rover station
Managed with the data message and the income of calculating reference station that update rover station and reference station control centre and to reference station
Reason；Reference station control centre is used to match the reference station information corresponding to rover station, and the match information is passed through into communication link
Rover station is sent, the instant reference station of subordinate is authenticated and graded, and calculates the receipts and expenditures of subordinate's reference station；Rover station
To need to carry out pinpoint rover station；Fixed reference station is used to obtain the exact position of itself position, calculates itself
Pseudorange residuals and carrier phase residual error and send reference station control centre, be additionally operable to that flowing is matched and positioned with rover station
The position stood；Reference station corresponding to the rover station includes fixed reference station and instant reference station, the instant reference station by
Rover station after high accuracy positioning is converted.
It is illustrated in figure 3 flow chart of the method for the present invention：This cellular network RTK positioning charged parties that the present invention is provided
Method, comprises the 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. step S1 chooses fixed reference station real-time monitored and the observation data needed for obtaining RTK technologies；
S3. fixed reference station sends to centralized-control center the standard coordinate position of itself；
S4. the standard coordinate position of the fixed reference station that centralized-control center is obtained according to step S3, distributes fixed reference
Reference station control centre belonging to standing；
S5. fixed reference station is residual according to the pseudorange residuals and carrier phase that the observation data that step S2 is obtained calculate itself
Difference；Described calculating pseudorange residuals and carrier phase residual error, are specially calculated using following formula：
In formula
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the pseudorange on i-th every t frequency of satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data are respectively
WithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)；
S6. the standard that pseudorange residuals, carrier phase residual error and the step S1 that fixed reference station obtains step S5 are set
Coordinate position is sent to affiliated reference station control centre；
S7. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S8. the coarse positioning result that rover station obtains step S7 sends centralized-control center to；
S9. the reference belonging to the coarse positioning result distribution rover station of the rover station that centralized-control center is obtained according to step S8
Stand control centre；Specially using that reference that distribution principle, i.e. centralized-control center chosen distance rover station nearby are nearest
Stand control centre for rover station ownership reference station control centre；
S10. pseudorange residuals, carrier phase residual sum standard coordinate position of the reference station control centre according to reference station, with
And the coarse positioning position result of rover station matches the reference station corresponding to rover station；Reference station corresponding to described rover station
Including fixed reference station and instant reference station；Specially matched 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 isWherein the value of SD determines the precision of short baseline RTK, SD values
Conference is crossed so that RTK positioning precisions decline or even cannot get calculation result.SD values are too small can cause not exist with it is current
The reference station of rover station pairing；A kind of proper mode is that SD is set into 5km first, if discovery has reference station, is matched somebody with somebody
It is right, if not finding the reference station that can be matched, then SD is increased into 5km, untill the reference station that discovery has pairing, wherein SD
At most it is added to 20km；
S11. rover station is matched in reference station control centre reference station unique mark is (in a communication network for unique
IP address or MAC Address) it is sent to rover station；
S12. rover station receives the observation data and standard coordinate of correspondence reference station according to the unique mark of correspondence reference station
Position；
S13. rover station completes rover station according to the observation data and the observation data of itself of the corresponding reference station for receiving
High accuracy positioning；
S14. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position with the ginseng belonging to it
Relation between the management region of Kao Zhan control centres, and update the rover station set belonging to reference station control centre；Specially
It is updated using following steps：
A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；
B. centralized-control center according to rover station position and its belonging to reference station control centre management region it
Between relation, using the rover station set belonging to following Policy Updates reference station control centre：
If rover station has got over area and has been switched to the management region of other reference station control centres, update belonging to rover station
Reference station control centre information, and by fresh information send to rover station and update before and after reference station control centre；
C. the ginseng after deleting rover station information, and renewal is concentrated from the rover station of subordinate in the reference station control centre before updating
Rover station information is added to the rover station collection of itself subordinate for Kao Zhan control centres；
S15. reference station control centre updates the unpaired message of reference station and rover station；Specially use the following two kinds mode
One of be updated：
The request of mode A- rover stations updates：When rover station cannot be consolidated under the current reference station environment for being matched
Determine calculation result, then rover station request reference station control centre carries out reference station renewal；
The mode B- set times update：In the fixed time period being previously set, the fixed time period timing is reached
The unpaired message of reference station and rover station is then updated immediately；The fixed time period is to be set according to the dynamic of environment
Put, or be configured according to user behavior analysis, the general fixed time period that sets is 5~30 minutes；
S16. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can turn into instant reference station：If judging successfully, rover station is converted to instant reference station；
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 carrier phase residual values are not more than 2 centimetres, then mobile station mode can turn into instant reference station；Wherein, the desirable arbitrary integers of N
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
Reference station can be turned into only a few rover station so that the instant reference station that can be used in RTK networks is very few.Therefore, the value of N
Different selection modes are had according to different scenes.For example, in unmanned plane, it is necessary to sub_meter position is smart under unmanned environment
Under degree environment, N values can be 100-200 or so, it is assumed that the renewal frequency of 1 second, then rover station needs as instant reference station
By the time decision of 2-3 minutes.In the case where environment is surveyed and drawn, it is necessary to centimeter-level positioning precision, the value of N can be 1000-3000
Left and right, it is assumed that the renewal frequency of 1 second, then rover station turn into the time decision that instant reference station needs by 20-60 minutes or so；
S17. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain hour
Residual error, and combine judge this instant reference station whether can continue turn into instant reference station：If judgement is unsuccessful, this reference immediately
Station converts back rover station；If specially reference station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful immediately, instant reference station turn
Be changed to rover station, in the specific implementation, M be set to 10~20 times or so it is proper；
S18. reference station control centre is authenticated and power level evaluation to the instant reference station of subordinate；Specially using as follows
Rule carries out authentication and power level evaluation：
1) precise position information of any reference station is periodically sent to all instant reference stations of subordinate with reference to control centre
And corresponding difference observation data；
2) reference station observes data, and exact position and the difference of itself according to the positional information and difference that receive immediately
Observation data, resolve the exact position of the reference station belonging to the observation data for receiving, and calculation result is sent into affiliated ginseng
Kao Zhan control centres；
3) reference station control centre receives the calculation result that instant reference station sends, with reference to being sent to the instant reference station
The precise position information of the reference station belonging to observation data, authenticates to the instant reference station；Specially using following rule
Authenticated：
If the reference belonging to the calculation result that the instant reference station sends and the observation data for being sent to the instant reference station
Error between the exact position stood is less than the threshold value A (such as 2 centimetres) being previously set, then it is assumed that the instant reference station is normal
Instant reference station；
If the instant reference station does not feed back calculation result, or the solution that the instant reference station sends to reference station control centre
The error calculated result and be sent between the exact position of the reference station belonging to the observation data of the instant reference station is more than in advance
The threshold value A of setting, and cumulative number reaches the threshold value B (such as 10 times) of setting, then assert the instant reference station be forge i.e.
When reference station, and cancel the instant reference station function of the website immediately；
4) if the observation data of reference station of the rover station according to belonging to cannot obtain Carrier Phase Ambiguity Resolution result, flow
Is stood and the unique mark of the reference station is transferred to reference station control centre；
5) reference station control centre is according to step 4) the unique mark that sends of rover station judge the type of the reference station, and
Adjust the power level of the reference station；If specially the reference station is instant reference station, and the reference station reported by rover station cannot
The number of times for obtaining Carrier Phase Ambiguity Resolution result is more than the threshold value C (such as 10 times) being previously set, then reference station control centre drop
Low one power level of the instant reference station；
6) reference station control centre is according to step 5) described in adjustment power level reference station adjustment number of times, forbid the website
Reference station function；Specially reference station control centre judges the degraded reference station degraded number of times altogether：If the ginseng
Degraded number of times reaches the threshold value D (such as 10 times) being previously set altogether to examine station, then reference station control centre is by the website
Reference station function is forbidden, then it is mobile station mode that the reference station can only work；
S19. reference station control centre is according to the power level of subordinate's reference station, the number of users of service and service time span, meter
Calculate the income of subordinate's reference station；Income is specially calculated in the following way：
In in formulaiIt is i-th service income of reference station；αuCorresponding to the service power level of u-th rover station for being serviced
Coefficient, wherein αu=1+0.1D, D are the power level of the rover station of service；TuIt is the service time of u-th rover station for being serviced
Length；C is atomic charge unit；
Meanwhile, reference station control centre undertakes according to needed for the service time length computation rover station of the rover station for being serviced
Expenditure；Expenditure is specially calculated using such as mode：
OUTu=αuTuC
OUT in formulauIt is u-th expenditure of rover station；αuCorresponding to the service power level of u-th rover station for being serviced
Coefficient, wherein αu=1+0.1D, D are the power level of rover station；TuIt is the u-th service time length of rover station；C is minimum charging
Unit；
S20. reference station control centre calculates each reference station in affiliated reference according to the receipts and expenditures of each reference station
Stand the income of control centre, and report centralized-control center；
S21. centralized-control center carries out integrated management according to the income of each reference station to reference station, specially concentrates control
Center processed defines total payment of any reference station and with reference to the remaining sum that the income sum stood is the website；When the remaining sum of certain reference station
During to bear, the reference station is reminded to pay the fees in time, and when the reference station exceedes the payment time limit of setting and do not pay the fees yet, stopping should
The positioning service of reference station is until the remaining sum of the reference station is positive number.
Claims (11)
1. a kind of cellular network RTK positioning charging method, comprises 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. fixed reference station sends to centralized-control center the standard coordinate position of itself；
S4. the standard coordinate position of the fixed reference station that centralized-control center is obtained according to step S3, distributes fixed reference station institute
The reference station control centre of category；
S5. fixed reference station calculates the pseudorange residuals and carrier phase residual error of itself according to the observation data that step S2 is obtained；
S6. the standard coordinate that pseudorange residuals, carrier phase residual error and the step S1 that fixed reference station obtains step S5 are set
Position is sent to affiliated reference station control centre；
S7. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S8. the coarse positioning result that rover station obtains step S7 sends centralized-control center to；
S9. the reference station belonging to the coarse positioning result distribution rover station of the rover station that centralized-control center is obtained according to step S8 is adjusted
Degree center；
S10. pseudorange residuals, carrier phase residual sum standard coordinate position, Yi Jiliu of the reference station control centre according to reference station
The coarse positioning position result at dynamic station matches the reference station corresponding to rover station；Reference station corresponding to described rover station includes
Fixed reference station and instant reference station；
S11. the reference station unique mark that rover station is matched in reference station control centre (is in a communication network unique IP ground
Location or MAC Address) it is sent to rover station；
S12. rover station receives observation data and the standard coordinate position of correspondence reference station according to the unique mark of correspondence reference station
Put；
S13. rover station completes the height of rover station according to the observation data and the observation data of itself of the corresponding reference station for receiving
Precision is positioned；
S14. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position with the reference station belonging to it
Relation between the management region of control centre, and update the rover station set belonging to reference station control centre；
S15. reference station control centre updates the unpaired message of reference station and rover station；
S16. rover station obtains result, pseudorange residuals and the carrier phase residual error of the Carrier Phase Ambiguity Resolution in setting time, and
Joint judges whether itself can turn into instant reference station：If judging successfully, rover station is converted to instant reference station；
S17. the result of the Carrier Phase Ambiguity Resolution in instant reference station acquisition certain hour, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether this instant reference station can continue as instant reference station：If judgement is unsuccessful, this instant reference station
Convert back rover station；
S18. reference station control centre is authenticated and power level evaluation to the instant reference station of subordinate；
S19. reference station control centre is according to the power level of subordinate's reference station, the number of users of service and service time span, under calculating
Belong to the income of reference station；Meanwhile, service time length computation rover station of the reference station control centre according to the rover station for being serviced
The required expenditure for undertaking；
S20. reference station control centre calculates each reference station and is adjusted in affiliated reference station according to the receipts and expenditures of each reference station
The income at degree center, and report centralized-control center；
S21. centralized-control center carries out integrated management according to the income of each reference station to reference station.
2. cellular network RTK according to claim 1 positions charging method, it is characterised in that the calculating described in step S5 is pseudo-
Away from residual sum carrier phase residual error, specially calculated using following formula：
In formula
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the Pseudo-range Observations on i-th every t frequency of satellite
It is respectively with the single-point coarse positioning result and precision positioning result corresponding to carrier phase observation dataWithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)。
3. cellular network RTK according to claim 1 positions charging method, it is characterised in that the reference described in step S10
The reference station stood corresponding to control centre's matching rover station, is specially matched 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.
4. cellular network RTK according to claim 1 positions charging method, it is characterised in that the renewal described in step S14
Rover station set belonging to reference station control centre, is specially updated using following steps：
A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；
B. between the management region of reference station control centre of the centralized-control center according to rover station position and belonging to it
Relation, using the rover station set belonging to following Policy Updates reference station control centre：
If rover station has got over area and has been switched to the management region of other reference station control centres, the ginseng belonging to rover station is updated
Kao Zhan control centres information, and fresh information is sent into the reference station control centre to rover station and renewal；
C. the reference station after deleting rover station information, and renewal is concentrated from the rover station of subordinate in the reference station control centre before updating
Rover station information is added to the rover station collection of itself subordinate for control centre.
5. cellular network RTK according to claim 1 positions charging method, it is characterised in that the flowing described in step S16
Stand and judge whether itself can turn into 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 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 instant reference station.
6. cellular network RTK according to claim 1 positions charging method, it is characterised in that the judgement described in step S17
Whether instant reference station can continue to turn into instant reference station, if specially reference station has continuous N time Carrier Phase Ambiguity Resolution immediately
Unsuccessful, then instant reference station is converted to rover station.
7. cellular network RTK according to claim 1 positions charging method, it is characterised in that the reference described in step S18
Stand control centre the instant reference station of subordinate is authenticated and power level evaluation, specially authenticated and weighed using following rule
Level evaluation：
1) with reference to control centre periodically to all instant reference stations of subordinate send any reference station precise position information and
Corresponding difference observes data；
2) reference station observes data, and exact position and the difference observation of itself according to the positional information and difference that receive immediately
Data, resolve the exact position of the reference station belonging to the observation data for receiving, and calculation result is sent into affiliated reference station
Control centre；
3) reference station control centre receives the calculation result that instant reference station sends, with reference to the observation for being sent to the instant reference station
The precise position information of the reference station belonging to data, authenticates to the instant reference station；
If 4) the observation data of reference station of the rover station according to belonging to cannot obtain Carrier Phase Ambiguity Resolution result, rover station will
The unique mark of the reference station is transferred to reference station control centre；
5) reference station control centre is according to step 4) the unique mark that sends of rover station judge the type of the reference station, and adjust
The power level of the reference station；
6) reference station control centre is according to step 5) described in adjustment power level reference station adjustment number of times, forbid the ginseng of the website
Examine station function.
8. cellular network RTK according to claim 7 positioning charging method, it is characterised in that step 3) described in instant
Reference station is authenticated, and is specially authenticated using following rule：
If the calculation result that the instant reference station sends and being sent to reference station belonging to the observation data of the instant reference station
Error between exact position is less than the threshold value A being previously set, then it is assumed that the instant reference station is normal reference station immediately；
If the instant reference station does not feed back calculation result, or the resolving knot that the instant reference station sends to reference station control centre
Fruit and the error that is sent between the exact position of the reference station belonging to the observation data of the instant reference station are more than and are previously set
Threshold value A, and cumulative number reaches the threshold value B of setting, then assert that the instant reference station is the instant reference station forged, and immediately
Cancel the instant reference station function of the website.
9. cellular network RTK according to claim 8 positioning charging method, it is characterised in that step 5) described in judgement ginseng
Examine the type at station and adjust the power level of the reference station, if specially the reference station is instant reference station, and the reference station flowed
Dynamic station reports the number of times that cannot obtain Carrier Phase Ambiguity Resolution result to be more than the threshold value C being previously set, then reference station control centre
Reduce by one power level of the instant reference station；And step 6) described in reference station control centre according to the power level of reference station adjust number of times
Forbid the reference station function of the website, specially reference station control centre judges the degraded reference station degraded time altogether
Number：If degraded number of times reaches the threshold value D being previously set to the reference station altogether, reference station control centre is by the ginseng of the website
Examine station function to forbid, then it is mobile station mode that the reference station can only work.
10. charging method is positioned according to the described cellular network RTK of one of claim 1~9, it is characterised in that step S19 institutes
The reference station control centre for stating calculates the income of subordinate's reference station, and income is specially calculated in the following way：
In in formulaiIt is i-th service income of reference station；αuIt is corresponding to the service power level of u-th rover station for being serviced
Number, wherein αu=1+0.1D, D are the power level of the rover station of service；TuIt is the service time length of u-th rover station for being serviced；
C is atomic charge unit；
Described reference station control centre calculates the expenditure undertaken needed for rover station, specially calculates expenditure using such as mode：
OUTu=αuTuC
OUT in formulauIt is u-th expenditure of rover station；αuCoefficient corresponding to the service power level of u-th rover station for being serviced,
Wherein αu=1+0.1D, D are the power level of rover station；TuIt is the u-th service time length of rover station；C is atomic charge unit；
And integrated management is carried out to reference station described in step S21, specially centralized-control center defines the total of any reference station
Payment and the remaining sum that the income sum with reference to station is the website；When the remaining sum of certain reference station is to bear, remind the reference station timely
Payment, and when the reference station exceedes the payment time limit of setting and do not pay the fees yet, stop the positioning service of the reference station until should
The remaining sum of reference station is positive number.
Cellular network RTK positioning charging methods described in a kind of 11. application claims 1~10 carry out the system for positioning charging,
It is characterized in that including a centralized-control center, several RTK cellular cells and centralized-control center and RTK cellular cells
Carry out the communication link of data interaction；One RTK cellular cells include a reference station control centre, and several fix ginseng
Examine station and several rover stations, and reference station control centre, the logical of data exchange is carried out between fixed reference station and rover station
Letter link；During the centralized-control center is for receiving the positional information of fixed reference station, judging that rover station and reference station are dispatched
The position relationship of the heart, the data for distributing the reference station control centre belonging to rover station and renewal rover station and reference station control centre
The income of information and calculating reference station is simultaneously managed to reference station；Reference station control centre is right for matching rover station institute
The reference station information answered, rover station is sent by the match information by communication link, and the instant reference station of subordinate is authenticated
And grading, and calculate the receipts and expenditures of subordinate's reference station；Rover station is to need to carry out pinpoint rover station；Fixed reference
Stand for the exact position for obtaining itself position, calculate the pseudorange residuals and carrier phase residual error of itself and send reference station
Control centre, is additionally operable to be matched with rover station and positioned the position of rover station；Reference station bag corresponding to the rover station
Fixed reference station and instant reference station are included, the instant reference station is converted by the rover station after high accuracy positioning.
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