CN107064979B - A kind of packet type RTK localization method and system - Google Patents
A kind of packet type RTK localization method and system Download PDFInfo
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- CN107064979B CN107064979B CN201710037583.9A CN201710037583A CN107064979B CN 107064979 B CN107064979 B CN 107064979B CN 201710037583 A CN201710037583 A CN 201710037583A CN 107064979 B CN107064979 B CN 107064979B
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of packet type RTK localization methods, including selected reference station, and the High-precision standard coordinate position of reference station itself is arranged, obtains and observes data required for positioning；Reference station will observe data and main flow station is transmitted in standard coordinate position；Satellite navigation signals are received from rover station and send main flow station；Main flow station carries out alignment by union resolving to itself and from rover station；The location information that main flow station is sent, which is received, from rover station completes positioning.The invention also discloses the system positioned using the localization method, including a reference station, a main flow station, several are from rover station and its communication link.The present invention uses the mode of packet type principal and subordinate co-located, the power consumption of positioning terminal can dramatically be reduced, increase the service life of positioning terminal, and can in time in tracking group positioning terminal relative position, be highly suitable for the extensive intensive applications of high accuracy positioning navigation.
Description
Technical field
Present invention relates particularly to a kind of packet type 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..
In recent years, the application of high-precision satellite positioning and navigation system has extended to Driving Test from traditional survey field, intelligence
Control, unmanned, unmanned plane, the fields such as remote sensing, so as to cause high-precision satellite navigation terminal (rover station) quantity not
It is disconnected to increase.However, being directed to unmanned, unmanned plane, the fields such as intelligent control, high-precision satellite navigation terminal is all that batch type is deposited
?.Especially for field of intelligent control, multiple high accuracy positioning module cooperatives is needed to cooperate on an engineering machine vehicle.It considers
The power consumption of high-precision satellite navigation terminal is higher, for the application of this packetizing, does not need each high-precision satellite navigation
Terminal all has real-time positioning calculation function.
Currently, patent " a kind of satellite navigation receiver based on cloud service " proposes a kind of taking based on cloud for super low-power consumption
It is engaged in the satellite navigation receiver method and apparatus of device, the problem of satellite navigation and positioning terminal high power consumption can be efficiently solved.So
And the method is in intelligent control, unmanned, there is certain limitation in the extensive intensive high accuracy positioning field such as unmanned plane
Property.Firstly, the method needs a cloud server, cloud server needs to connect internet net with each terminal module,
For no network there are the case where just no longer be applicable in；Secondly, data back is resolved to cloud server, then arrives data back,
Its transmission delay is larger, and for intelligent control, unmanned plane, unmanned this kind has the higher application of time delay sensitivity very big
Limitation；Finally, satellite navigation terminal receiving module needs the data of sampling passing through wireless network transmissions to cloud, nothing
The power consumption of line data transmission blocks is not low, therefore is not the satellite navigation receiver of super low-power consumption.
Summary of the invention
Packet type RTK localization method low in energy consumption, that positioning accuracy is high is positioned one of the objects of the present invention is to provide a kind of.
The second object of the present invention is to provide a kind of system positioned using the packet type RTK localization method.
This packet type RTK localization method provided by the invention, includes the following steps:
S1. reference station is selected, and the High-precision standard coordinate position of reference station itself is set, and observation obtains itself in real time
Data are observed required for RTK positioning；
S2. reference station sends observation data that step S1 is obtained and the standard coordinate position of itself to main flow station；
S3. satellite navigation signals are received from rover station, and the satellite navigation signals received is sent into main flow station；
S4. main flow station obtains observe data required for itself RTK positioning in real time, and the reference obtained in conjunction with step S2
The satellite navigation information for the slave rover station that the standard coordinate position stood and observation data and step S3 are obtained, to itself and from
Rover station carries out alignment by union resolving；
S5. the location information that main flow station is sent is received from rover station, completes the positioning from rover station.
The High-precision standard coordinate position of reference station itself is set described in step S1, specifically by PPP accurate one-point
Location algorithm obtains the exact position of fixed reference station for a long time.
Main flow station described in step S4 carries out alignment by union resolving to itself and from rover station, specially using following step
Suddenly it is resolved:
A. calculus of differences is done since itself in main flow station on the basis of the observation data of reference station, successively carries out mainstream
Dynamic station and the RTK positioning calculation from rover station
If B. all correctly resolved from flowing station location, positioning calculation terminates；
If not resolved correctly all from rover station, the main flow station of positioning result will be obtained and from flowing
Station is numbered, and successively sorts according to pseudorange residuals and carrier phase residual result, and selected reference station in accordance with the following steps
Or rover station, and difference is carried out with the observation data of selected rover station or base station, the slave rover station of temporary no-fix is carried out
It relocates and resolves:
A. pseudorange residuals and the carrier phase that t-th of frequency point of i-th satellite of the website is calculated using following formula are residual
Difference:
Single-point corresponding to Pseudo-range Observations and carrier phase observation data in formula on every t frequency point of i-th satellite is thick
Positioning result and precision positioning result are respectivelyWithThe exact position of reference station is
(Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)；
B. the pseudorange residuals and carrier phase residual error of the flowing website are calculated according to following formula:
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error；
C. using the distance of following formula j-th of rover station of calculating to i-th of reference station:
The precision positions of h-th of rover station are in formulaThe position location of j-th of rover station is
D. it calculates selected as the rover station of base station or rover station number:
H in formulajThe number for the reference station that as j-th of rover station is matched；Argmin () is indicated where being maximized
Index value, γ={ h=1 ..., H }.
Slave rover station described in step S5 receives the location information that main flow station is sent and completes the positioning from rover station, tool
Body is to be positioned using following rule:
If not receiving the information at main flow station within the set time from rover station, self-positioning function is opened from rover station
Can, the observation data that reference station is sent are received, RTK positioning calculation is carried out, and report the location information of oneself to main flow station, with
Ensure real-time tracking；
If restore to receive main flow station the location information to oneself from rover station, self-locating function is closed.
The invention also discloses a kind of systems positioned using the packet type RTK localization method, including a ginseng
Examine that station, a main flow station, several are from rover station and reference station, main flow station and from carrying out data communication between rover station
Communication link；The observation data and position that the reference station is used to send itself give main flow station；Main flow station for receive from
The data that rover station is sent, complete itself and the positioning calculation from rover station, and by from the location information of rover station be sent to from
Rover station.
In the case that the present invention considers that packet type satellite navigation and positioning terminal is closer between each other, there are a mainstreams
Dynamic station and other are several from rover station module, only receives satellite navigation signals collection from rover station, and by collected satellite navigation
Signal sends main flow station to, and all positioning calculations from rover station and itself are completed at main flow station, and by closely reversed
Communication sends positioning calculation result from rover station to.Once being detached from the range communicated to connect with main flow station from rover station, recognize
To disconnect from rover station, the location information of main flow station transmission is not received within a certain period of time from rover station, carry out certainly
Dynamic alarm, and the positioning calculation function from rover station is opened, reporting position information is tracked so as to main flow station and system.This
Invention uses the mode of packet type principal and subordinate co-located, can dramatically reduce the power consumption of positioning terminal, increases positioning eventually
The service life at end, and can in time in tracking group positioning terminal relative position, be highly suitable for high accuracy positioning navigation
Extensive intensive applications.
Detailed description of the invention
Fig. 1 is positioning system operation schematic diagram of the invention.
Fig. 2 is flow chart of the method for the present invention.
Specific embodiment
It is as shown in Figure 1 positioning system operation schematic diagram of the invention: this application packet type provided by the invention
The system that RTK localization method is positioned, including a reference station, a main flow station, several from rover station and reference station,
Main flow station and between rover station carry out data communication communication link；The reference station is used to send the observation data of itself
Main flow station is given with position；Main flow station is used to receive the data sent from rover station, completes itself and the positioning from rover station
It resolves, and will be sent to from the location information of rover station from rover station.
It is illustrated in figure 2 positioning system operation schematic diagram of the invention: the positioning side this packet type RTK provided by the invention
Method includes the following steps:
S1. reference station is selected, obtains the High-precision standard of reference station itself for a long time by PPP Static Precise Point Positioning algorithm
Coordinate position, and observation in real time obtains and observes data required for itself RTK positioning；
S2. reference station sends observation data that step S1 is obtained and the standard coordinate position of itself to main flow station；
S3. satellite navigation signals are received from rover station, and the satellite navigation signals received is sent into main flow station；
S4. main flow station obtains observe data required for itself RTK positioning in real time, and the reference obtained in conjunction with step S2
The satellite navigation information for the slave rover station that the standard coordinate position stood and observation data and step S3 are obtained, to itself and from
Rover station carries out alignment by union resolving, is specially resolved using following steps:
A. calculus of differences is done since itself in main flow station on the basis of the observation data of reference station, successively carries out mainstream
Dynamic station and the RTK positioning calculation from rover station
If B. all correctly resolved from flowing station location, positioning calculation terminates；
If not resolved correctly all from rover station, the main flow station of positioning result will be obtained and from flowing
Station is numbered, and successively sorts according to pseudorange residuals and carrier phase residual result, and selected reference station in accordance with the following steps
Or rover station, and difference is carried out with the observation data of selected rover station or base station, the slave rover station of temporary no-fix is carried out
It relocates and resolves:
A. pseudorange residuals and the carrier phase that t-th of frequency point of i-th satellite of the website is calculated using following formula are residual
Difference:
Single-point corresponding to Pseudo-range Observations and carrier phase observation data in formula on every t frequency point of i-th satellite is thick
Positioning result and precision positioning result are respectivelyWithThe exact position of reference station is
(Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)；
B. the pseudorange residuals and carrier phase residual error of the flowing website are calculated according to following formula:
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error；
C. using the distance of following formula j-th of rover station of calculating to i-th of reference station:
The precision positions of h-th of rover station are in formulaThe position location of j-th of rover station is
D. it calculates selected as the rover station of base station or rover station number:
H in formulajThe number for the reference station that as j-th of rover station is matched；Argmin () is indicated where being maximized
Index value, γ={ h=1 ..., H }；
S5. the location information that main flow station is sent is received from rover station, completes the positioning from rover station, specially using such as
Lower rule is positioned:
If not receiving the information at main flow station within the set time from rover station, self-positioning function is opened from rover station
Can, the observation data that reference station is sent are received, RTK positioning calculation is carried out, and report the location information of oneself to main flow station, with
Ensure real-time tracking；
If restore to receive main flow station the location information to oneself from rover station, self-locating function is closed.
Claims (5)
1. a kind of packet type RTK localization method, includes the following steps:
S1. reference station is selected, and the High-precision standard coordinate position of reference station itself is set, and observation obtains itself RTK in real time
Data are observed required for positioning；
S2. reference station sends observation data that step S1 is obtained and the standard coordinate position of itself to main flow station；
S3. satellite navigation signals are received from rover station, and the satellite navigation signals received is sent into main flow station；
S4. main flow station obtains observe data required for itself RTK positioning in real time, and in conjunction with the obtained reference station of step S2
The satellite navigation information of slave rover station that standard coordinate position and observation data and step S3 are obtained, to itself and from flowing
It stands and carries out alignment by union resolving；Specially resolved using following steps:
A. calculus of differences is done since itself in main flow station on the basis of the observation data of reference station, successively carries out main flow station
With the RTK positioning calculation from rover station
If B. all correctly resolved from flowing station location, positioning calculation terminates；
If from rover station by all do not resolved correctly, by obtained positioning result main flow station and from rover station into
Row number, and successively sort according to pseudorange residuals and carrier phase residual result, and selected reference station or stream in accordance with the following steps
Dynamic station, and difference is carried out with the observation data of selected rover station or base station, the slave rover station of temporary no-fix is carried out again
Positioning calculation:
A. the pseudorange residuals and carrier phase residual error of t-th of frequency point of i-th satellite of the website are calculated using following formula:
Single-point coarse positioning corresponding to Pseudo-range Observations and carrier phase observation data in formula on every t frequency point of i-th satellite
As a result it is respectively with precision positioning resultWithThe exact position of reference station is (Xf,
Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)；
B. the pseudorange residuals and carrier phase residual error of the flowing website are calculated according to following formula:
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error；
C. using the distance of following formula j-th of rover station of calculating to i-th of reference station:
The precision positions of h-th of rover station are in formulaThe position location of j-th of rover station is
D. it calculates selected as the rover station of base station or rover station number:
H in formulajThe number for the reference station that as j-th of rover station is matched；Argmin () indicates the index where being maximized
Value, γ={ h=1 ..., H }；
S5. the location information that main flow station is sent is received from rover station, completes the positioning from rover station.
2. packet type RTK localization method according to claim 1, it is characterised in that setting reference station described in step S1 is certainly
The High-precision standard coordinate position of body obtains the essence of fixed reference station specifically by PPP Static Precise Point Positioning algorithm for a long time
True position.
3. packet type RTK localization method according to claim 1 or 2, it is characterised in that slave rover station described in step S5
It receives the location information that main flow station is sent and completes the positioning from rover station, specially positioned using following rule:
If not receiving the information at main flow station within the set time from rover station, self-locating function is opened from rover station, is connect
The observation data that reference station is sent are received, RTK positioning calculation is carried out, and report the location information of oneself to main flow station, to ensure
Real-time tracking；
If restore to receive main flow station the location information to oneself from rover station, self-locating function is closed.
4. packet type RTK localization method according to claim 3, it is characterised in that slave rover station described in step S5 receives
Location information that main flow station is sent simultaneously is completed specially to be positioned using following rule from the positioning of rover station:
If not receiving the information at main flow station within the set time from rover station, self-locating function is opened from rover station, is connect
The observation data that reference station is sent are received, RTK positioning calculation is carried out, and report the location information of oneself to main flow station, to ensure
Real-time tracking；
If restore to receive main flow station the location information to oneself from rover station, self-locating function is closed.
5. a kind of using the system that packet type RTK localization method is positioned described in one of Claims 1 to 4, feature exists
In include a reference station, a main flow station, several from rover station and reference station, main flow station and between rover station into
The communication link of row data communication；The observation data and position that the reference station is used to send itself give main flow station；Main flow
It stands for receiving the data from rover station transmission, completes itself and the positioning calculation from rover station, and will be from the positioning of rover station
Information is sent to from rover station.
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| CN109541542B (en) * | 2018-10-25 | 2020-12-29 | 广州市中海达测绘仪器有限公司 | Reference station networking resolving method and system and reference station networking system |
| WO2020107434A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Coordinate calibration method and device for rtk reference station, and storage medium |
| CN109814137B (en) * | 2019-02-26 | 2023-07-14 | 腾讯科技（深圳）有限公司 | Positioning method, positioning device and computing equipment |
| CN110988938B (en) * | 2019-12-06 | 2022-08-12 | 长沙海格北斗信息技术有限公司 | Low-power-consumption satellite navigation mobile acquisition system and method in cross-region scene |
| CN111352131B (en) * | 2020-03-24 | 2022-04-12 | 广东星舆科技有限公司 | Method and device for processing high-precision positioning data |
| CN113126135A (en) * | 2021-04-01 | 2021-07-16 | 江苏省送变电有限公司 | Method for personnel tracking and illegal operation detection in transformer substation construction |
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| CN103823228A (en) * | 2014-01-29 | 2014-05-28 | 北京红旗胜利科技发展有限责任公司 | Positioning system, terminal, and positioning method |
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| US9541648B2 (en) * | 2013-12-18 | 2017-01-10 | Agco Corporation | System and method of communicating GNSS information between mobile machines |
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| CN1989419A (en) * | 2004-07-26 | 2007-06-27 | 纳夫科姆技术公司 | Moving reference receiver for rtk navigation based on corrections calculated at reference receiver |
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