CN107872516A - Centimeter Level real-time positioning system and implementation method based on mixed cloud - Google Patents

Centimeter Level real-time positioning system and implementation method based on mixed cloud Download PDF

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Publication number
CN107872516A
CN107872516A CN201710992368.4A CN201710992368A CN107872516A CN 107872516 A CN107872516 A CN 107872516A CN 201710992368 A CN201710992368 A CN 201710992368A CN 107872516 A CN107872516 A CN 107872516A
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CN
China
Prior art keywords
terminal
station
virtual
private clound
grid
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CN201710992368.4A
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Chinese (zh)
Inventor
周睿
谢志军
张亿
沙晓杰
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千寻位置网络有限公司
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Priority to CN201710992368.4A priority Critical patent/CN107872516A/en
Publication of CN107872516A publication Critical patent/CN107872516A/en

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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00Network architectures or network communication protocols for network security
    • H04L63/08Network architectures or network communication protocols for network security for supporting authentication of entities communicating through a packet data network
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/10Network-specific arrangements or communication protocols supporting networked applications in which an application is distributed across nodes in the network
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/18Network-specific arrangements or communication protocols supporting networked applications in which the network application is adapted for the location of the user terminal
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/26Push based network services
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/30Network-specific arrangements or communication protocols supporting networked applications involving profiles

Abstract

The invention provides a kind of Centimeter Level real-time positioning system and implementation method based on mixed cloud:1st, the calculating of the mesh point of virtual reference station is carried out in the public cloud of supplier;2nd, the data of virtual reference station are pushed to the private clound of user as needed;3rd, the terminal of user is connected to the private clound of user oneself;4th, for authentication by rear, terminal sends the probability positions of oneself to the private clound of user oneself;5th, the broadcasting system in the private clound of user oneself, the probability positions uploaded according to terminal, the differential corrections of the grid of corresponding virtual reference station are broadcast.Public cloud and private clound are mixed and matched by the present invention, this personalized solution, have reached the purpose not only saved computing resource but also meet enterprise customer's safety standard.

Description

Centimeter Level real-time positioning system and implementation method based on mixed cloud

Technical field

The present invention relates to technical field of navigation and positioning, and in particular to a kind of Centimeter Level real-time positioning system based on mixed cloud And implementation method.

Background technology

Public cloud:Public cloud is often referred to the cloud that can be used that third party provider provides the user, and public cloud typically may be used Used by Internet, it may be possible to which free or cost is cheap, and the core attribute of public cloud is shared resource service.This cloud There are many examples, service can be provided in the global network entirely opened now.

Private clound:Private clound (Private Clouds) is to be used alone to build for a client, thus offer pair The most effective control of data, security and service quality.The said firm possesses infrastructure, and can control in this infrastructure The mode of disposing application program.Private clound can be deployed in the fire wall of enterprise data center, they can also be deployed in into one Individual safe hosting place, the core attribute of private clound is specific resource.

Mixed cloud:Mixed cloud has merged public cloud and private clound, is the Main Patterns and developing direction of cloud computing in recent years. It is known that if private entrepreneur is towards enterprise customer, for security consideration, enterprise is more willing to place the data in privately owned Yun Zhong, but again wish that the computing resource of public cloud can be obtained simultaneously, mixed cloud is more and more adopted in this case With public cloud and private clound are mixed and matched by it, to obtain optimal effect, this personalized solution, are reached Not only economical but also safety purpose is arrived.

Network RTK:Network RTK is also referred to as base station RTK, is one set up on the basis of conventional RTK and differential GPS Kind new technology.We are generally the GPS reference stations that multiple (generally three or more than three) are established in a region, to this Region forms netted covering, and calculating and broadcast GPS correcting informations on the basis of one or more of these base stations, so as to The positioning method that real-time correction is carried out to the GPS user in this area is referred to as GPS network network RTK, also known as more base station RTK.

VRS:Virtual Reference Stations virtual reference stations.Certain amount is set up in certain area first Base station, base station receive satellite-signal, then transfer information to information processing centre, movement station is first by the position of receiver Information is sent to data processing centre, and data processing centre can be according to the position of movement station, and nearby several positions are relatively good for selection Base station information, " virtual " goes out a reference station, then, by the reference station fictionalized correction data broadcast to movement station, this The position of individual virtual reference station be typically around movement station in 5 kilometer ranges, but in actual conditions, usually several meters it Interior, the data error obtained by this technology has been reduced by a lot.Other similar technologies with VRS also have major-minor station skill Art, FKP technologies.

NTRIP agreements:Networked Transport of RTCM via Internet Protocol pass through internet Carry out the agreement of RTCM network transmissions.

Difference account:The account of the differential data service of NTRIP protocol definitions, including username and password.

The general principle of differential position based on virtual reference station is:Base station (the also known as base of known precisely coordinate Stand or reference station) calculate the distance correction that oneself arrives satellite, and data center is uniformly uploaded to, in base station and data The heart forms ground based augmentation system (difference broadcasts platform).Difference, which broadcasts platform and is in real time sent to this data, needs what is positioned Terminal device.Terminal device also receives difference and broadcasts the differential data that platform is sent while moonscope is carried out, and right Its positioning result is corrected, so as to improve positioning precision.Difference is generally divided into carrier phase differential data and pseudo range difference number According to, be respectively used to terminal device carry out carrier phase difference (RTK, Real Time Kinematic) positioning and pseudo range difference (RTD, Real Time Differential) is positioned, wherein carrier phase differential positioning, and precision is high, but high to equipment requirement, Cost is also high, and availability is low, is used primarily in survey field;Pseudo range difference positions, and low for equipment requirements, cost is low, and availability is high, Moderate accuracy, civil navigation field can be used in.

The international ocean shipping cause radiotechnics committee (RTCM, Radio Technical Commission for Maritime Services) define the form of differential data, and recommend need the terminal device that positions and difference broadcast it is flat Service agreement NTRIP (Networked Transport of RTCM via Internet Protocol) between platform.At present Using carrier phase position terminal and pseudo range difference positioning terminal, all follow NTRIP agreements and RTCM data formats.Terminal Equipment is typically all broadcast platform with difference by wireless network and is connected.Broadcast for satellite difference data, existing industry is general Scheme is (agreement of RTCM network transmissions, Networked Transport of to be carried out by internet based on NTRIP agreements RTCM via Internet Protocol)。

The existing Centimeter Level real-time positioning system based on virtual reference station technology, is generally basede on publicly-owned cloud framework, typical case Usage scenario is as follows:

1st, in the public cloud of supplier's (providing Centimeter Level real-time positioning service positioning service), counted according to physical reference station Calculate virtual reference station;

2nd, the terminal device of user's (using the real-time positioning service positioning service of Centimeter Level) is connected to by NTRIP agreements Gateway in the public cloud of supplier;

3rd, authentication passes through rear, there is provided the public cloud differential data broadcasting system of person, broadcasts centimeter-level positioning needs Differential correcting data are to terminal device;

4th, terminal device carries out centimeter-level positioning according to the differential correcting data received.

For many enterprise customers (user), there is problems with prior art:

Enterprise wishes to obtain the computing resource (calculating of the mesh point of virtual reference station) in supplier's public cloud, but Security consideration is in order at, the connection of terminal, certification, authentication wish the gateway in the private clound of oneself, the probability that terminal uploads Position data also is intended to be stored in the private clound of enterprise oneself.

The content of the invention

The invention provides a kind of Centimeter Level real-time positioning system and implementation method based on mixed cloud, solves calculating money Source is saved and the technical problem of enterprise customer's safety.

The technical solution adopted by the present invention is as follows:

A kind of Centimeter Level real-time positioning system based on mixed cloud, including the public cloud of supplier, the private clound of user With the terminal of user;Public cloud calculates the differential correcting data of each grid corresponding to virtual reference station, and will virtually join The differential correcting data for examining the grid at station are pushed to private clound;Terminal is connected with private clound, and by rear, terminal is sent authentication The probability positions of oneself are to private clound;The probability positions that private clound uploads according to terminal, corresponding virtual reference is broadcast to terminal The differential correcting data for the grid stood.

Further, the public cloud includes virtual reference station grid data computing system, virtual reference station grid data Supplying system and supplier's console;The observation data that virtual reference station grid data computing system reports according to physical reference station With the virtual reference station of division, the differential correcting data of each grid corresponding to virtual reference station are calculated;Virtual reference station net The differential correcting data of the grid of virtual reference station are pushed to private by lattice data delivery system according to the configuration of supplier's console There is cloud.

Further, the private clound includes virtual reference station grid data reception system, terminal authentication right discriminating system, difference Divided data broadcasting system and user console;Virtual reference station grid data reception system receives the virtual ginseng of public cloud push Examine the differential correcting data of the grid at station;Terminal authentication right discriminating system is authenticated and authenticated to the terminal of access;Certification and mirror Weigh after passing through, the probability positions that differential data broadcasting system uploads according to terminal, corresponding virtual reference station is broadcast to terminal The differential correcting data of grid;User console configures to differential data broadcasting system.

A kind of implementation method of the Centimeter Level real-time positioning system based on mixed cloud, comprises the following steps:

Step S1, there is provided the public cloud of person calculates the differential correcting data of each grid corresponding to virtual reference station, and The differential correcting data of the grid of virtual reference station are pushed to the private clound of user;

Step S2, private clound receive the differential correcting data of public cloud push, and the probability positions uploaded according to terminal, to Terminal broadcasts the differential correcting data of the grid of corresponding virtual reference station;

Step S3, terminal are connected with private clound, and for authentication by rear, terminal sends the probability positions of oneself to privately owned Cloud.

Further, the step S1 specifically includes following steps:

Step S11, public cloud initialization;

Step S12, public cloud configure to the information of user;

Step S13, the observation number that the virtual reference station grid data computing system of public cloud reports according to physical reference station According to calculating and produce the differential correcting data of the grid of virtual reference station;

Step S14, the virtual reference station grid data supplying system of public cloud, will be virtual according to the configuration information of user The differential correcting data of the grid of reference station are pushed to private clound.

Further, public cloud is configured by supplier's console to the information of user in the step S12.

Further, the step S2 specifically includes following steps:

Step S21, private clound initialization;

Step S22, private clound configure to the information of terminal;

Step S23, the virtual reference station grid data reception system of private clound receive the virtual reference station of public cloud push Grid differential correcting data;

Differential correcting data are saved in the database of private clound by step S24, private clound;

Step S25, the access request of the terminal authentication right discriminating system receiving terminal of private clound, and be authenticated and authenticate;

Step S26, if certification and authentication pass through, probability that the differential data broadcasting system of private clound uploads according to terminal Position, find the grid of virtual reference station corresponding to terminal;

Step S27, differential data broadcasting system is according to the grid of the virtual reference station found, and terminal matches somebody with somebody confidence Breath, the differential correcting data of the grid of corresponding virtual reference station are broadcast to terminal;

Step S28, private clound continue to the access request of terminal.

Further, in the step S35, if certification and failed authentication, private clound returns to error message to terminal.

Further, the step S3 specifically includes following steps:

Step S31, terminal initialization;

Step S32, terminal initiate access request according to the requirement of Location Request to private clound;

Step S33, terminal send certification and authentication information to private clound;

Step S34, if certification and authentication pass through, terminal calculates the probability positions of oneself, and uploads to private clound;

Step S35, terminal receives the differential correcting data that private clound is broadcast, and carries out high accuracy positioning calculating.

Further, in the step S33, if certification and failed authentication, terminal needs to check certification and authentication information.

The beneficial effects of the present invention are be mixed and matched public cloud and private clound, this personalized solution Scheme, the purpose not only saved computing resource but also meet enterprise customer's safety standard is reached.

Brief description of the drawings

Fig. 1 is present system Organization Chart.

Fig. 2 is the flow chart of public cloud implementation method of the present invention.

Fig. 3 is the flow chart of private clound implementation method of the present invention.

Fig. 4 is the flow chart of terminal realizing method of the present invention

Embodiment

The invention provides a kind of Centimeter Level real-time positioning system and implementation method based on mixed cloud:

1st, the calculating of the mesh point of virtual reference station is carried out in the public cloud of supplier;

2nd, the data of virtual reference station are pushed to the private clound of user as needed;

3rd, the terminal of user is connected to the private clound of user oneself;

4th, for authentication by rear, terminal sends the probability positions of oneself to the private clound of user oneself;

5th, the differential data broadcasting system in the private clound of user oneself, the probability positions uploaded according to terminal, broadcasts The differential correcting data of the grid of corresponding virtual reference station.

Hereinafter, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.

Fig. 1 is present system Organization Chart, and the Centimeter Level real-time positioning system of the invention based on mixed cloud includes supplier Public cloud, the private clound of user and the terminal of user.Public cloud includes virtual reference station grid data computing system, void Intend reference station grid data delivery system and supplier's console.Private clound include virtual reference station grid data reception system, Terminal authentication right discriminating system, differential data broadcasting system and user console.

Virtual reference station grid data computing system:The observation data reported according to physical reference station, are divided according to system Virtual reference station, calculate each grid difference correction data corresponding to virtual reference station.

Virtual reference station grid data supplying system:According to the configuration of supplier's console, user is needed what is used The differential correcting data of grid, the private clound of user is pushed to from the public cloud of supplier.

Virtual reference station grid data reception system:The public cloud from supplier is received, is pushed to the private clound of user Differential correcting data.

Terminal authentication right discriminating system:Need to use the access of the terminal of high accuracy positioning service, certification and authentication.

Differential data broadcasting system:For authentication by rear, the probability positions reported according to terminal (typically pass through NTRIP Agreement reports NEMA0183 GGA), the mesh point where terminal is found, and broadcast the corresponding difference of this mesh point to terminal and change Correction data.

Supplier's console/user console:Management configuration works, as user needs to use which grid, terminal The account information that authentication is used, Mountpoint (mount point) information that differential data is broadcast etc..

The flow chart of supplier's public cloud implementation method is as shown in Fig. 2 comprise the following steps that:

Step S11, public cloud initialization.

Step S12, by supplier's console or other means, user's relevant information is configured, including:

The information such as the IP/ domain names of-user;

Grid (geographic area where selected user's end activity scope, the root for the virtual reference station that-user needs The mesh point of needs is found according to geographic area);

The information of-other needs.

Step S13, the observation data that public cloud reports according to physical reference station, periodically calculate and produce virtual reference station Grid difference corrects data.

Step S14, public cloud push away according to the configuration information (IP/ domain names, mesh point etc. corresponding to geographic area) of user The differential data of the grid of needs is sent to the private clound of user.

The flow chart of user's private clound implementation method is as shown in figure 3, comprise the following steps that:

Step S21, private clound initialization.

Step S22, private clound is by user's console or other means, the related information of configurating terminal, including:

Account/password of-terminal access, for authentication;

- terminal broadcasts parameter (broadcasting frequency, satellite system, frequency, coordinate system, broadcast text etc.);

- other relevant informations.

Step S23, private clound receive the differential correcting data from supplier's public cloud.

Step S24, private clound preserve the differential correcting data from supplier's public cloud to the database of private clound.

Step S25, private clound receives the access request from high accuracy positioning terminal, and is authenticated and authenticates;

If-authentication fails, error message is returned.

Step S26, if authentication is by the probability positions that private clound uploads according to terminal, finding corresponding to terminal The grid of virtual reference station.

Step S27, according to the grid found, and parameter is broadcast in configuration, and private clound broadcasts corresponding grid to terminal Differential correcting data.

Step S28, private clound continue to come the access request of self terminal.

The flow chart of terminal realizing method is as shown in figure 4, comprise the following steps that:

Step S31, terminal initialization.

Step S32, according to the requirement of high accuracy location request, terminal is initiated to the access gateway (NTRIP) in private clound Connection request.

Step S33, terminal send certification and authentication information (difference account/password) to access gateway (NTRIP);

If-authentication fails, terminal needs to check difference account/encrypted message.

Step S34, authentication success, terminal calculates the probability positions of oneself, and reports and arrived (by NMEA GGA) Private clound.

Step S35, terminal receives the differential correcting data that private clound is broadcast, and carries out high accuracy positioning calculating.

Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this area Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair Bright technical scheme makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, according to the present invention Any simple modifications, equivalents, and modifications made to above example of technical spirit, belong to technical solution of the present invention Protection domain.

Claims (10)

1. a kind of Centimeter Level real-time positioning system based on mixed cloud, it is characterised in that public cloud, user including supplier Private clound and user terminal;Public cloud calculates the differential correcting data of each grid corresponding to virtual reference station, and The differential correcting data of the grid of virtual reference station are pushed to private clound;Terminal is connected with private clound, authentication by rear, Terminal sends the probability positions of oneself to private clound;The probability positions that private clound uploads according to terminal, broadcast accordingly to terminal The differential correcting data of the grid of virtual reference station.
2. a kind of Centimeter Level real-time positioning system based on mixed cloud as claimed in claim 1, it is characterised in that described publicly-owned Cloud includes virtual reference station grid data computing system, virtual reference station grid data supplying system and supplier's console;It is empty Intend the observation data that reference station grid data computing system reports according to physical reference station and the virtual reference station divided, calculate The differential correcting data of each grid corresponding to virtual reference station;Virtual reference station grid data supplying system is controlled according to supplier The configuration of platform processed, the differential correcting data of the grid of virtual reference station are pushed to private clound.
3. a kind of Centimeter Level real-time positioning system based on mixed cloud as claimed in claim 2, it is characterised in that described privately owned Cloud includes virtual reference station grid data reception system, terminal authentication right discriminating system, differential data broadcasting system and user's control Platform processed;Virtual reference station grid data reception system receives the differential corrections of the grid of the virtual reference station of public cloud push According to;Terminal authentication right discriminating system is authenticated and authenticated to the terminal of access;After certification and authentication pass through, differential data, which is broadcast, is The probability positions that system uploads according to terminal, the differential correcting data of the grid of corresponding virtual reference station are broadcast to terminal;Use Person's console configures to differential data broadcasting system.
4. a kind of implementation method of the Centimeter Level real-time positioning system based on mixed cloud, it is characterised in that comprise the following steps:
Step S1, there is provided the public cloud of person calculates the differential correcting data of each grid corresponding to virtual reference station, and by void The differential correcting data for intending the grid of reference station are pushed to the private clound of user;
Step S2, private clound receives the differential correcting data of public cloud push, and the probability positions uploaded according to terminal, to terminal Broadcast the differential correcting data of the grid of corresponding virtual reference station;
Step S3, terminal are connected with private clound, and for authentication by rear, terminal sends the probability positions of oneself to private clound.
5. a kind of implementation method of the Centimeter Level real-time positioning system based on mixed cloud as claimed in claim 4, its feature exist In the step S1 specifically includes following steps:
Step S11, public cloud initialization;
Step S12, public cloud configure to the information of user;
Step S13, the observation data that the virtual reference station grid data computing system of public cloud reports according to physical reference station, meter Calculate and produce the differential correcting data of the grid of virtual reference station;
Step S14, the virtual reference station grid data supplying system of public cloud is according to the configuration information of user, by virtual reference The differential correcting data for the grid stood are pushed to private clound.
6. a kind of implementation method of the Centimeter Level real-time positioning system based on mixed cloud as claimed in claim 5, its feature exist In public cloud is configured by supplier's console to the information of user in the step S12.
7. a kind of implementation method of the Centimeter Level real-time positioning system based on mixed cloud as claimed in claim 4, its feature exist In the step S2 specifically includes following steps:
Step S21, private clound initialization;
Step S22, private clound configure to the information of terminal;
Step S23, the virtual reference station grid data reception system of private clound receive the net of the virtual reference station of public cloud push The differential correcting data of lattice;
Differential correcting data are saved in the database of private clound by step S24, private clound;
Step S25, the access request of the terminal authentication right discriminating system receiving terminal of private clound, and be authenticated and authenticate;
Step S26, if certification and authentication pass through, probability position that the differential data broadcasting system of private clound uploads according to terminal Put, find the grid of virtual reference station corresponding to terminal;
Step S27, differential data broadcasting system according to the grid of the virtual reference station found, and the configuration information of terminal, to Terminal broadcasts the differential correcting data of the grid of corresponding virtual reference station;
Step S28, private clound continue to the access request of terminal.
8. a kind of implementation method of the Centimeter Level real-time positioning system based on mixed cloud as claimed in claim 7, its feature exist In in the step S35, if certification and failed authentication, private clound returns to error message to terminal.
9. a kind of implementation method of the Centimeter Level real-time positioning system based on mixed cloud as claimed in claim 4, its feature exist In the step S3 specifically includes following steps:
Step S31, terminal initialization;
Step S32, terminal initiate access request according to the requirement of Location Request to private clound;
Step S33, terminal send certification and authentication information to private clound;
Step S34, if certification and authentication pass through, terminal calculates the probability positions of oneself, and uploads to private clound;
Step S35, terminal receives the differential correcting data that private clound is broadcast, and carries out high accuracy positioning calculating.
10. a kind of implementation method of the Centimeter Level real-time positioning system based on mixed cloud as claimed in claim 9, its feature exist In in the step S33, if certification and failed authentication, terminal needs to check certification and authentication information.
CN201710992368.4A 2017-10-23 2017-10-23 Centimeter Level real-time positioning system and implementation method based on mixed cloud CN107872516A (en)

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