CN107918138A - " cloud+end " comprehensive positioning terminal positioner and Differential positioning method - Google Patents
" cloud+end " comprehensive positioning terminal positioner and Differential positioning method Download PDFInfo
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- CN107918138A CN107918138A CN201711220703.5A CN201711220703A CN107918138A CN 107918138 A CN107918138 A CN 107918138A CN 201711220703 A CN201711220703 A CN 201711220703A CN 107918138 A CN107918138 A CN 107918138A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of " cloud+end " comprehensive positioning terminal positioner and Differential positioning method, by the powerful computing capability of the extensive all things on earth interconnection mobile network of popularization, cloud server and high in the clouds synthesis Differential positioning algorithm, using terrestrial reference station differential data, the method being modified to the original position error of satellite.Its core concept is that terminal positioning device is sent to cloud server in real time by the original observed quantity information of satellite that mobile network receives terminal, the original observed quantity of satellite that cloud server is uploaded using existing global satellite ephemeris, base station differential data and terminal, COMPREHENSIVE CALCULATING goes out the real-time high-precision positional information of satellite, and high precision position information is fed back to by terminal positioning device by mobile network, so that inexpensive positioning terminal possesses the positioning experience consistent with high accuracy positioning terminal.
Description
Technical field
The present invention relates to high-precision low cost Differential positioning field of terminal technology, and in particular to a kind of " cloud+end " is comprehensive fixed
Position terminal positioning device and Differential positioning method.
Background technology
It is intelligent recently as rapid development of economy, the demand such as unmanned driving, need of the people to high accuracy positioning
Ask increasingly urgent.But most terminal positioning devices still do not support Differential positioning using common positioning, can not obtain stable
High accuracy positioning is experienced.And the terminal installation of traditional support Differential positioning need to generally be equipped with it is expensive support hardware it is poor
The positioning chip divided, therefore can not popularize on a large scale.
Its original positioning accuracy of the terminal reception device of GPS is relatively low at present, and most of low cost is eventually
End device does not support Differential positioning, causes position error big, and offset is big, unstable.
The content of the invention
It is relatively low that the present invention solves the terminal reception device of current GPS its original positioning accuracy, and greatly
Part low cost terminals device does not support Differential positioning, causes position error big, and offset is big, unstable technical problem.
The technical solution adopted by the present invention is as follows：
A kind of " cloud+end " comprehensive positioning terminal positioner, including cloud server and satellite positioning-terminal, satellite positioning
Original position-information, the original observed quantity information of satellite are sent to cloud server, cloud server combined ground benchmark by terminal
Stand differential data and global satellite ephemeris information, calculate the Differential positioning of satellite positioning-terminal as a result, and feeding back to satellite
Position terminal.
Further, the cloud server includes high in the clouds synthesis Differential positioning platform, high in the clouds synthesis Differential positioning platform
Original position-information, the original observed quantity information of satellite sent to satellite positioning-terminal is handled, and the difference that will be calculated
Positioning result feeds back to satellite positioning-terminal.
Further, the high in the clouds synthesis Differential positioning platform includes Differential positioning algorithm model and distributed server,
Distributed server receives original position-information, the original observed quantity information of satellite that satellite positioning-terminal is sent, and is determined by difference
Position algorithm model is resolved, and the Differential positioning result calculated is fed back to satellite positioning end by distributed server
End.
Further, the Differential positioning algorithm model includes Design on Kalman Filter, the detection of cycle slip and reparation, whole
All fuzzinesses are calculated and determined.
Further, the cloud server further includes cloud database, cloud database storage satellite positioning-terminal hair
The Differential positioning knot that original position-information, the original observed quantity information of satellite and the high in the clouds synthesis Differential positioning platform sent calculates
Fruit.
Further, the cloud database uses MySQL database.
Further, the satellite positioning-terminal is based on MT2503 chips, by by the original of RTCM32 coded formats coding
The original observed quantity information of beginning positional information, satellite is sent to cloud server.
Further, satellite positioning-terminal will be original by the original position-information of RTCM32 coded formats coding, satellite
Observed quantity information 1 second 1 time is sent to cloud server.
Further, the MT2503 chips include MT6261 central processing unit and MT3333 satellite positioning chips, defend
Star positioning terminal receives the original observed quantity information of satellite by MT3333 satellite positionings chip, and is sent to MT6261 central processings
Unit, MT6261 central processing unit extract original position-information therein, by data processing, by the original observed quantity of satellite
Information encapsulation is the information flow of RTCM32 forms, and the original position-information for combining MT3333 is sent to cloud server.
A kind of Differential positioning method, comprises the following steps：
Step S1, satellite positioning-terminal obtain the original observed quantity information of satellite；
Step S2, is parsed and is extracted to the original observed quantity information of satellite；
Step S3, extracts gps clock information；
Step S4, forms the original observed quantity information of satellite of an epoch；
Step S5, RTCM32 codings are carried out to the original observed quantity information of satellite of an epoch；
Step S6, according to communications protocol group bag；
Step S7, is sent to cloud server by GPRS network.
The comprehensive positioning terminal positioner of " cloud+end " of the present invention is based on MT2503, and beneficial effect is, hardware plan valency
Lattice are cheap, can be widely popularized, and the terminal quantity for accessing comprehensive Differential positioning cloud server is more, and Cloud Server more can be with
The advantage of comprehensive Differential positioning is played using big data.Therefore the present invention has very strong realistic meaning and promotional value.
The beneficial effects of the present invention are make inexpensive positioning terminal possess the positioning body consistent with high accuracy positioning terminal
Test.
Brief description of the drawings
Fig. 1 is " cloud+end " of the invention comprehensive positioning terminal positioner overall system block diagram.
Fig. 2 is satellite positioning-terminal hardware block diagram of the present invention.
Fig. 3 is satellite positioning-terminal program flow diagram of the present invention.
Embodiment
It is wide by popularization the present invention provides a kind of " cloud+end " comprehensive positioning terminal positioner and Differential positioning method
The powerful computing capability of general all things on earth interconnection mobile network, cloud server and high in the clouds synthesis Differential positioning algorithm, use ground
Base station differential data, the method being modified to the original position error of satellite.Its core concept is that terminal positioning device passes through
The original observed quantity information of satellite that mobile network receives terminal is sent to cloud server in real time, and cloud server is using now
The original observed quantity of satellite that some global satellite ephemeris, base station differential data and satellite positioning-terminal upload, COMPREHENSIVE CALCULATING go out
The real-time high-precision positional information of satellite, and high precision position information is fed back to by satellite positioning-terminal by mobile network, from
And inexpensive positioning terminal is set to possess the positioning experience consistent with high accuracy positioning terminal.
GPS error includes the general character errors such as atmosphere, ionosphere, and these errors can pass through difference
Positioning is divided to eliminate well.Hereinafter, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.
Fig. 1 is the comprehensive positioning terminal positioner overall system block diagram of invention " cloud+end ", including based on
The satellite positioning-terminal and cloud server of MT2503.All equipment is connected by mobile network in system.Satellite positioning is whole
End sends (1 second 1 time) original position-information, the original observed quantity information of satellite to cloud by RTCM32 coded formats coding in real time
Server is held, cloud server gathers the original position-information of each satellite positioning-terminal, and combines what other servers provided
The terrestrial reference station differential data and global satellite ephemeris information, data combination for being distributed in the whole nation go out the satellite positioning-terminal
Differential positioning is as a result, simultaneously Real-time Feedback is to satellite positioning-terminal.Wherein cloud server includes cloud database, is responsible for storage institute
Some process datas, to realize the algorithm Continuous optimization of Differential positioning.
1) satellite positioning-terminal
Satellite positioning-terminal is with the low cost terminals hardware of the synthesis positioning chip MT2503 of MTK (Lian Fake science and technology) company
For core, possess multisystem satellite positioning capability and mobile network's ability.MT2503 is that Lian Fake will be released the end of the year in 2015
For wearable device design chip, be one piece of highly integrated compact system in package Internet of Things chip, chip ruler
Very little is only 5.4 × 6.2mm, and inside is that monokaryon ARM-7EJ-S is designed, frequency 260MHz.Its greatest feature is to support GPS and north
Struggle against multiple satellite positioning system, has Global Satellite Navigation System (GNSS) plus spy, supports bluetooth 3.0, is also integrated with 2G modulation
Demodulator.
MT2503 chips are mainly made of central processing unit MT6261 and satellite positioning chip MT3333, both pass through 3
Road SOC on piece serial communications, as shown in Figure 2.
Satellite positioning-terminal receives the original observed quantity information of satellite by MT3333 positioning chips, and is transmitted by serial ports
To MT6261 central processing unit, after the original observed quantity information parsing that MT6261 encapsulates MTK, it is therein original fixed to extract
Position information (GNGGA or GPGGA), satellite system ID (GPS, GLONASS, BDS), satellite number (PRN), carrier phase, pseudorange,
Whether doppler values, signal-to-noise ratio, carrier phase the information such as lock.By data processing, by the original observed quantity Information encapsulation of satellite
For the information flow of RTCM32 forms, and the original position-information of MT3333 is combined, sent after being encapsulated according to communications protocol to high in the clouds
Server.
Uplink communication agreement：
Downgoing communication agreement：
2) cloud server
Cloud server includes high in the clouds synthesis Differential positioning platform and cloud database, possesses big data operational capability, make
With a variety of Differential positioning algorithms, wherein high in the clouds synthesis Differential positioning platform includes Differential positioning algorithm model and Distributed Services
Device.
High in the clouds synthesis Differential positioning platform possesses and has powerful computation capability, using distributed server technology and net
Format technology.The satellite positioning-terminal information of input is pre-processed, realizes and carries out Preliminary division by geographical location information, can
To access multiple satellite positioning-terminals at the same time.
The positioning principle of GPS is seen using pseudorange, ephemeris, satellite launch time of one group of satellite etc.
Measurement and user clock correction are realized.Obtain the three-dimensional coordinate on ground, it is necessary to which at least four satellites are measured.At this
In position fixing process, there are three parts error：
Part I error is as caused by satellite clock error, ephemeris error, ionospheric error, tropospheric error etc.；
Part II is the error as caused by propagation delay；
Part III is the intrinsic error of each receiver user, by reasons such as internal noise, channel delay, multipath effects
Cause.
Using differential technique, Part I error can be completely eliminated；Part II error can largely eliminate, and eliminate
Degree depends primarily upon the distance of reference receiver and receiver user；Part III error can not then eliminate.
High in the clouds integrates Differential positioning platform by accessing existing AGNSS (Assisted-Global Navigation
Satellite System, assisted global aeronautical satellite alignment system) satellite ephemeris service, obtain newest global satellite ephemeris
Information, by accessing the differential data service in the existing covering whole nation, obtains the differential data information of each base station, and use
The original position-information that satellite positioning-terminal uploads, chooses the base station differential data nearest from terminal installation, with reference to satellite
The satellite raw observation that position terminal uploads, calculates final Differential positioning result.
High in the clouds synthesis Differential positioning platform supports real-time pseudo range difference (RTD) and real-time carrier phase difference technology (RTK),
And the integration technology (inertial navigation and satellite navigation integration technology) for supporting INS and GNSS can be extended.Differential positioning algorithm mould
Type major technique includes Design on Kalman Filter, the detection of cycle slip and reparation, integer ambiguity calculates and determines etc..
Cloud database be mainly used for store magnanimity historical data, including the original location data of satellite positioning-terminal,
Differential positioning result that cloud server obtains after calculating etc..Cloud database uses MySQL database, and MySQL is a kind of pass
It is type data base management system, saves the data in different tables, add retrieval rate, improve flexibility.
Fig. 3 is high-precision difference localization method flow chart of the present invention, essentially describes positioning terminal equipment and obtains gps satellite
Original observed quantity information, and the original observed quantity information of an epoch is logical according to the data packetized form (RTCM32) of agreement
Cross the process that GPRS network is sent to cloud server.Following steps are specifically included in a preferred embodiment of the invention：
Step S1, satellite positioning-terminal obtain the original observed quantity information of satellite；
Step S2, is parsed and is extracted to the original observed quantity information of satellite；
Step S3, extracts gps clock information；
Step S4, forms the original observed quantity information of satellite of an epoch；
Step S5, RTCM32 codings are carried out to the original observed quantity information of satellite of an epoch；
Step S6, according to communications protocol group bag；
Step S7, is sent to cloud server by GPRS network.
Satellite positioning-terminal equipment of the present invention is developed preferably using C/C++ language, high in the clouds synthesis Differential positioning platform
It is preferred that developed using Java, C++.
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 solution 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)
- A kind of 1. " cloud+end " comprehensive positioning terminal positioner, it is characterised in that whole including cloud server and satellite positioning Original position-information, the original observed quantity information of satellite are sent to cloud server, cloud server knot by end, satellite positioning-terminal Terrestrial reference station differential data and global satellite ephemeris information are closed, calculates the Differential positioning of satellite positioning-terminal as a result, simultaneously anti- It is fed to satellite positioning-terminal.
- 2. the comprehensive positioning terminal positioner of one kind " cloud+end " as claimed in claim 1, it is characterised in that the high in the clouds clothes Business device includes high in the clouds synthesis Differential positioning platform, the home position that high in the clouds synthesis Differential positioning platform sends satellite positioning-terminal The original observed quantity information of information, satellite is handled, and the Differential positioning result calculated is fed back to satellite positioning-terminal.
- 3. the comprehensive positioning terminal positioner of one kind " cloud+end " as claimed in claim 2, it is characterised in that the high in the clouds is comprehensive Closing Differential positioning platform includes Differential positioning algorithm model and distributed server, and distributed server receives satellite positioning-terminal The original observed quantity information of the original position-information of transmission, satellite, is resolved, and pass through distribution by Differential positioning algorithm model The Differential positioning result calculated is fed back to satellite positioning-terminal by formula server.
- 4. the comprehensive positioning terminal positioner of one kind " cloud+end " as claimed in claim 3, it is characterised in that the difference is determined Position algorithm model includes Design on Kalman Filter, the detection of cycle slip and reparation, integer ambiguity calculates and determines.
- 5. the comprehensive positioning terminal positioner of one kind " cloud+end " as claimed in claim 2, it is characterised in that the high in the clouds clothes Business device further includes cloud database, the original position-information of cloud database storage satellite positioning-terminal transmission, the original sight of satellite The Differential positioning result that metrical information and high in the clouds synthesis Differential positioning platform calculate.
- 6. the comprehensive positioning terminal positioner of one kind " cloud+end " as claimed in claim 5, it is characterised in that the high in the clouds number MySQL database is used according to storehouse.
- 7. the comprehensive positioning terminal positioner of one kind " cloud+end " as claimed in claim 5, it is characterised in that the satellite Position terminal is based on MT2503 chips, will believe by the original position-information of RTCM32 coded formats coding, the original observed quantity of satellite Breath is sent to cloud server.
- 8. the comprehensive positioning terminal positioner of one kind " cloud+end " as claimed in claim 7, it is characterised in that satellite positioning is whole End will take by the original position-information of RTCM32 coded formats coding, 1 transmission of the original observed quantity information 1 second of satellite to high in the clouds Business device.
- 9. the comprehensive positioning terminal positioner of one kind " cloud+end " as claimed in claim 7, it is characterised in that the MT2503 Chip includes MT6261 central processing unit and MT3333 satellite positioning chips, satellite positioning-terminal pass through MT3333 satellite positionings Chip receives the original observed quantity information of satellite, and is sent to MT6261 central processing unit, the extraction of MT6261 central processing unit Go out original position-information therein, by data processing, by the information that the original observed quantity Information encapsulation of satellite is RTCM32 forms Stream, and the original position-information for combining MT3333 is sent to cloud server.
- 10. a kind of Differential positioning method, using " cloud+end " as claimed in claim 1 comprehensive positioning terminal positioner, it is special Sign is, comprises the following steps：Step S1, satellite positioning-terminal obtain the original observed quantity information of satellite；Step S2, is parsed and is extracted to the original observed quantity information of satellite；Step S3, extracts gps clock information；Step S4, forms the original observed quantity information of satellite of an epoch；Step S5, RTCM32 codings are carried out to the original observed quantity information of satellite of an epoch；Step S6, according to communications protocol group bag；Step S7, is sent to cloud server by GPRS network.
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Cited By (13)
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| CN109597109A (en) * | 2018-11-20 | 2019-04-09 | 腾讯科技（深圳）有限公司 | A kind of localization method, positioning device and positioning system |
| CN110673184A (en) * | 2019-09-05 | 2020-01-10 | 成都亿盟恒信科技有限公司 | High-precision positioning system and method based on vehicle |
| CN110895343A (en) * | 2019-08-19 | 2020-03-20 | 腾讯科技（深圳）有限公司 | Data processing method, system and related equipment |
| CN110947164A (en) * | 2018-09-26 | 2020-04-03 | 千寻位置网络有限公司 | Door line judging system and method based on high-precision positioning |
| CN111090111A (en) * | 2018-10-23 | 2020-05-01 | 千寻位置网络有限公司 | Dynamic differential positioning method and system based on edge calculation |
| CN111225341A (en) * | 2019-12-19 | 2020-06-02 | 重庆特斯联智慧科技股份有限公司 | Big data all-in-one thing allies oneself with positioner |
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| CN112887320A (en) * | 2021-02-05 | 2021-06-01 | 北京百度网讯科技有限公司 | Ephemeris data processing method, device, equipment and storage medium |
| CN113253318A (en) * | 2021-06-21 | 2021-08-13 | 四川中科川信科技有限公司 | GNSS data remote super-calculation method |
| CN114088070A (en) * | 2020-08-25 | 2022-02-25 | 千寻位置网络有限公司 | Head-mounted RTK measuring device |
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| CN117452460A (en) * | 2023-12-25 | 2024-01-26 | 武汉大学 | Beidou satellite-ground cooperative cloud edge end elastic positioning platform and method |
| CN117630987A (en) * | 2022-12-09 | 2024-03-01 | 无锡天熠电子科技有限公司 | Cloud data calibration method based on satellite positioning |
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