CN107976702A - A kind of position correcting method based on CORS, positioning terminal and alignment system - Google Patents
A kind of position correcting method based on CORS, positioning terminal and alignment system Download PDFInfo
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- CN107976702A CN107976702A CN201711174129.4A CN201711174129A CN107976702A CN 107976702 A CN107976702 A CN 107976702A CN 201711174129 A CN201711174129 A CN 201711174129A CN 107976702 A CN107976702 A CN 107976702A
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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
-
- 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
Abstract
The invention discloses a kind of position correcting method based on CORS, positioning terminal and alignment system, position correcting method, comprises the following steps：Step 1：Establish Irregular Geogrid model；It is connected with each other with nearest three CORS base stations and forms triangle；Multiple triangles form Irregular Geogrid model；Step 2：The rough coordinates (x, y, z) provided according to location service request end, match corresponding triangle, that is, determine that position takes request end and is located in the triangle which three CORS base station is formed；Coordinate corrective value (α is calculated further according to three CORS base station coordinate differences at corresponding momentm, βm, γm), finally obtain position coordinate value (the x+ α that revised position takes request endm, y+ βm, z+ γm).Position correcting method based on CORS, positioning terminal and the alignment system can significantly improve positioning accuracy, and easy to implement.
Description
Technical field
The present invention relates to a kind of position correcting method based on CORS, positioning terminal and alignment system.
Background technology
Mobile terminal positioning technology has two kinds, and one kind is to be based on Global Satellite Navigation System (Global Navigation
Satellite System, guide number SS) positioning, a kind of is the positioning of the base station based on mobile operation network.Based on GNSS's
Positioning method is to receive satellite-signal using the GNSS locating modules on mobile phone to realize that mobile phone positions, and positioning accuracy is generally 10
To 20 meters.Base station location is then to determine mobile phone location using measuring and calculating distance of the base station to the distance of mobile phone.The latter need not
Mobile phone has GNSS stationkeeping abilities, but precision depends greatly on the distribution of base station and the size of coverage, there is mistiming
Difference can be more than one kilometer, and precision is relatively low.Therefore, mobile terminal is generally positioned by GNSS technologies.
GNSS satellite signal is divided into carrier phase observation data and Pseudo-range Observations, since the GNSS of common mobile terminal is positioned
Module can only receive and process GNSS satellite pseudo range signals, then be positioned by One-Point Location technology.One-Point Location technology
It is that the GNSS received according to a station terminal observes data to determine the mode of its position, it can only use pseudo range observed quantity, can use
In the outline navigator fix of car and boat etc., positioning accuracy can only achieve 10-20 meters of level.
It is common to move as the fast development of satellite navigation positioning service, and requirement of the public to positioning service are higher and higher
The positioning accuracy of dynamic terminal obviously cannot fully meet demand.And the GNSS locating modules of common mobile terminal are to encapsulate to be fixed on
In mobile terminal, location algorithm is also Embedded, and can only receive and process GNSS Pseudo-range Observations, and user can not be repaiied
Change, therefore can not have hardware raising positioning accuracy by changing mobile terminal.
Therefore, it is necessary to design a kind of position correcting method based on CORS, positioning terminal and alignment system.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of position correcting method based on CORS, positioning terminal and determine
Position system, the position correcting method based on CORS, positioning terminal and alignment system are easy to implement, can effectively improve positioning accurate
Degree.
The technical solution of invention is as follows：
A kind of position correcting method based on CORS, comprises the following steps：
Step 1：Establish Irregular Geogrid model；
It is connected with each other with nearest three CORS base stations and forms triangle, each CORS base station is one of triangle
Node, the node data of node m are using coordinate difference (the Δ x for corresponding to CORS base stationsm, Δ ym, Δ zm)；Three described in multiple
Angular formation Irregular Geogrid model；
Coordinate difference (the Δ x of CORS base stationsm, Δ ym, Δ zm) refer to the known coordinate value (X of CORS base stationsm, Ym,
Zm) (CORS benchmark station coordinates is the result by being obtained with national A grades and B grade of GPS control points translocation and adjustment.) and it is pseudo- in real time
Away from coordinate value, (real-time pseudorange coordinate value is the real-time elements of a fix value that is resolved by CORS reference receivers, and is passed in real time
Go back to data center.) carry out the value of asking difference operation to obtain.
Prioritizing selection acute angle, if not acute angle and again networking still do not have acute angle, then can be without using acute angle.
Irregular Geogrid model is static models.
Step 2：The rough coordinates (x, y, z) provided according to location service request end, the smart mobile phone with positioning function,
Position coordinates that tablet or other wearable devices obtain etc., matches corresponding triangle, that is, determines that position takes which request end is located at
In the triangle that three CORS base stations are formed；
Further according to three CORS base station coordinate differences (Δ x at corresponding momentm, Δ ym, Δ zm), calculate coordinate correction
Number (αm, βm, γm), finally obtain position coordinate value (the x+ α that revised position takes request endm, y+ βm, z+ γm)。
In step 2, using inverse distance-weighting algorithm coordinates computed correction (αm, βm, γm)。
The corresponding calculating process of inverse distance-weighting algorithm is as follows：
The principle of inverse distance-weighting algorithm is, if space point to be inserted is P (αm, βm, γm), P points are in Z1、Z2、Z3Composition
Among triangle, then property value (the α of P pointsm, βm, γm) calculation formula is as follows：
αm=wP1*Δx1+wP2*Δx2+wP3*Δx3；
βm=wP1*Δy1+wP2*Δy2+wP3*Δy3；
γm=wP1*Δz1+wP2*Δz2+wP3*Δz3；
Wherein Δ xi, Δ yi, Δ ziFor the coordinate difference of three base stations, i=1,2,3；I.e. CORS base stations have had one
Know coordinate value, also have a real-time pseudorange coordinate value, both differences；* it is multiplication sign；
wPiFor weight, calculation formula is：
Wherein diFor P to Z1、Z2、Z3Distance, be represented by：
Xi, yi and zi are exactly the coordinate value of Zi, i=1, and 2,
3 (i.e. the known coordinate values of CORS base stations).
A kind of positioning terminal, including MCU, locating module and communication module；Locating module is used to obtain current outline seat
Mark (x, y, z)；Communication module is used for the position data that CORS base stations are obtained with CORS base stations or server communication；Server
For providing location-based service；MCU is used for the position coordinates that revised position is calculated and is taken request end based on the method
It is worth (x+ αm, y+ βm, z+ γm)。
The positioning terminal is smart mobile phone, tablet computer or other wearable devices (such as intelligent watch).
Communication module is GPRS, 3G, 4G or 5G communication module.
A kind of alignment system, including positioning terminal and at least three CORS base stations described in server, claim 4；
Positioning terminal and CORS base stations are and server communication.
The server is cloud server.
Communication module in positioning terminal is GPRS, 3G, 4G or 5G communication module.
Locating module is the Big Dipper or GPS positioning module.
In one system, positioning terminal can be multiple.
Beneficial effect：
The position correcting method based on CORS, positioning terminal and the alignment system of the present invention, utilizes continuous operation satellite ginseng
The data resource of station (Continuously Operating Reference Stations, referred to as CORS) is examined, builds region
Position Corrections grid model, builds position correction service system, there is provided meter level position correction service, by public affairs such as common smart mobile phones
The positioning accuracy of many amateur type mobile terminals is improved to 1-3 meters of level from 10-20 meters.
The amateur type equipment of the public such as regular handset is improved using existing CORS base stations and satellite navigation and location system
Positioning accuracy.Specific method is to intend, based on the difference between the real-time elements of a fix of CORS base stations and its given value, building position
Put amendment grid model, and by the secondary development of intelligent terminal (such as smart mobile phone), realize broadcasting for Error Correction Model,
In the case of not increasing hardware cost, positioning accuracy is improved.
The application has reached to user as a result of the mobile terminal locations correction technique based on Irregular Geogrid model
The effect that rough coordinates are modified, improves user terminal positioning accuracy.
1st, real-time pseudorange coordinate and known coordinate based on CORS base stations obtain real-time coordinates difference, add according to anti-distance
Weight average algorithm builds Irregular Geogrid model, tries to achieve coordinate corrective value.
2nd, the rough coordinates that position correction service system is uploaded according to user, with reference in the Irregular Geogrid model built
The coordinate corrective value of customer location is inserted out, and obtains revised user coordinates value.
3rd, revised user coordinates value is returned to user by position correction service system, and before amendment, user's is general
Rate coordinate precision is 10-20 meters, and the Irregular Geogrid model built by CORS base station real-time coordinates difference can be according to user
Probability coordinate built goes out a high-precision coordinate correction so that user coordinates positioning accuracy can be improved to 1-3 from 10-20 meters
Rice.
In this technique, using Irregular Geogrid model when building model, using initial data as mesh node, no
Change initial data and its precision, acted on basic guarantee improving user's positioning accuracy.
Brief description of the drawings
Fig. 1 is the positioning schematic diagram of the present invention；
Fig. 2 is the position correcting method flow chart based on CORS.
Embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：Such as Fig. 1~2, a kind of position correcting method based on CORS, comprises the following steps：
Step 1：Establish Irregular Geogrid model；
It is connected with each other with nearest three CORS base stations and forms triangle, each CORS base station is one of triangle
Node, the node data of node m are using coordinate difference (the Δ x for corresponding to CORS base stationsm, Δ ym, Δ zm)；Three described in multiple
Angular formation Irregular Geogrid model；
Coordinate difference (the Δ x of CORS base stationsm, Δ ym, Δ zm) refer to the known coordinate value (X of CORS base stationsm, Ym,
Zm) (CORS benchmark station coordinates is the result by being obtained with national A grades and B grade of GPS control points translocation and adjustment.) and it is pseudo- in real time
Away from coordinate value, (real-time pseudorange coordinate value is the real-time elements of a fix value that is resolved by CORS reference receivers, and is passed in real time
Go back to data center.) carry out the value of asking difference operation to obtain.
Prioritizing selection acute angle, if not acute angle and again networking still do not have acute angle, then can be without using acute angle.
Irregular Geogrid model is static models.
Step 2：The rough coordinates (x, y, z) provided according to location service request end, the smart mobile phone with positioning function,
Position coordinates that tablet or other wearable devices obtain etc., matches corresponding triangle, that is, determines that position takes which request end is located at
In the triangle that three CORS base stations are formed；
Further according to three CORS base station coordinate differences (Δ x at corresponding momentm, Δ ym, Δ zm), calculate coordinate correction
Number (αm, βm, γm), finally obtain position coordinate value (the x+ α that revised position takes request endm, y+ βm, z+ γm)。
In step 2, using inverse distance-weighting algorithm coordinates computed correction (αm, βm, γm)。
The corresponding calculating process of inverse distance-weighting algorithm is as follows：
The principle of inverse distance-weighting algorithm is, if space point to be inserted is P (αm, βm, γm), P points are in Z1、Z2、Z3Composition
Among triangle, then property value (the α of P pointsm, βm, γm) calculation formula is as follows：
αm=wP1*Δx1+wP2*Δx2+wP3*Δx3；
βm=wP1*Δy1+wP2*Δy2+wP3*Δy3；
γm=wP1*Δz1+wP2*Δz2+wP3*Δz3；
Wherein Δ xi, Δ yi, Δ ziFor the coordinate difference of three base stations, i=1,2,3；I.e. CORS base stations have had one
Know coordinate value, also have a real-time pseudorange coordinate value, both differences；
wPiFor weight, calculation formula is：
Wherein diFor P to Z1、Z2、Z3Distance, be represented by：
Xi, yi and zi are exactly the coordinate value of Zi, i=1, and 2,
3 (i.e. the known coordinate values of CORS base stations).
A kind of positioning terminal, including MCU, locating module and communication module；Locating module is used to obtain current outline seat
Mark (x, y, z)；Communication module is used for the position data that CORS base stations are obtained with CORS base stations or server communication；Server
For providing location-based service；MCU is used for the position coordinates that revised position is calculated and is taken request end based on the method
It is worth (x+ αm, y+ βm, z+ γm)。
The positioning terminal is smart mobile phone, tablet computer or other wearable devices (such as intelligent watch).
Communication module is GPRS, 3G, 4G or 5G communication module.
A kind of alignment system, including positioning terminal and at least three CORS base stations described in server, claim 4；
Positioning terminal and CORS base stations are and server communication.
The server is cloud server.
Communication module in positioning terminal is GPRS, 3G, 4G or 5G communication module.
Locating module is the Big Dipper or GPS positioning module.
In one system, positioning terminal can be multiple.
Comprise the following steps that：
(1) CORS base station real-time streams are obtained.The data flow is real-time Pseudo-range Observations, and system accesses the number in real time
According to stream, and try to achieve using One-Point Location technology the real-time pseudorange coordinate value (x of each CORS base stationsm, ym, zm), wherein m is CORS
Base station sequence number.
(2) the known coordinate value (X of each CORS base stations is recycledm, Ym, Zm), carry out seeking poor fortune with real-time pseudorange coordinate value
Calculate, obtain (Δ xm, Δ ym, Δ zm), and by coordinate difference according to benchmark station name, year day of year, specific time, Δ xm、Δym、Δzm
In form deposit database (such as SQL Server, Oracle or MySQL).
(3) structure of Irregular Geogrid model.It is connected with each other with nearest three CORS base stations and forms triangle, triangle
Shapes and sizes depend on irregular distribution base station position and density.And ensure three angles of triangle as far as possible
All it is acute angle.Model is made of node (Node), side (Edge), triangle (Triangle), model schematic as shown in Fig. 2,
In model, Z1、Z2、Z3... each CORS base stations are represented, side are connected into by base station adjacent two-by-two, then be made of three sides
Triangle.Wherein node data use coordinate difference (Δ x, Δ y, the Δ for each CORS base stations that database is stored in (2) step
z)。
(4) probability coordinate (x, y, z) is sent in system, system is searched according to probability coordinate by user by the APP of terminal
Rope matches corresponding triangle, that is, determines in the triangle which three CORS base station that user's probability positions are located are formed.Again
According to three CORS base station coordinate differences (Δ x at corresponding momentm, Δ ym, Δ zm), according in inverse distance weighted interpolation algorithm
Insert out the coordinate corrective value (α of customer locationm, βm, γm), finally obtain revised user coordinates value (x+ αm, y+ βm, z+
γm)。
The principle of inverse distance-weighting algorithm is, if space point to be inserted is P (αm, βm, γm), P points are in Z1、Z2、Z3Composition
Among triangle, then property value (the α of P pointsm, βm, γm) can be expressed as：
Wherein wPiFor weight, ZiFor property value (the Δ x of three base stationsi, Δ yi, Δ zi), and wPiIt is represented by：
Wherein diFor P to Z1、Z2、Z3Distance, be represented by：
(5) revised user coordinates is returned to user by system by network, and user obtains final coordinate value, and it is fixed to improve
Position precision.
It is an instantiation below：
By taking HNCORS as an example, tri- CORS base stations composition triangle station nets of YYSQ, YYHR, YYDT are chosen.In this triangle
It has chosen 5 test points in the range of shape, use Huawei P9 mobile phone gathered datas.Test result is as shown in the table, and wherein △ 1 is China
Coordinate value and the difference of RTK actual measurement standard values are measured for P9 mobile phones, △ 1 is that the coordinate value that this method is calculated is surveyed with RTK
The difference of standard value.
Note：Continuously run base station net HuNan continuously operating reference in Hunan
Stations, abbreviation HNCORS.HNCORS is to be formed with national A, B grade point translocation through the accurate resolving networking of overall adjustment, is 365
Continuously uninterrupted observation network, and periodically carry out accurate adjustment and resolve when day * 24 is small.HNCORS totally 122 base stations (85 at present
A base station compatibility dipper system), containing 12 country stations, 110 provincial stations.
Table 1
1 (Continued) of table
By test it can be found that the coordinate value that is collected using smart mobile phone and RTK measured values in x, y direction difference about
For 10-21m, and it with RTK measured values is about 2.5-3.8m in x, y direction difference to use the result that this method obtains after calculating, can
To find out that the position correction technology based on CORS can improve the positioning accuracy of common intelligent terminal really.
Claims (10)
1. a kind of position correcting method based on CORS, it is characterised in that comprise the following steps：
Step 1：Establish Irregular Geogrid model；
It is connected with each other with nearest three CORS base stations and forms triangle, each CORS base station is a knot of triangle
Point, the node data of node m are using coordinate difference (the Δ x for corresponding to CORS base stationsm, Δ ym, Δ zm)；Multiple triangles
Shape forms Irregular Geogrid model；
Coordinate difference (the Δ x of CORS base stationsm, Δ ym, Δ zm) refer to the known coordinate value (X of CORS base stationsm, Ym, Zm) with
Real-time pseudorange coordinate value (real-time pseudorange coordinate value is the real-time elements of a fix value resolved by CORS reference receivers, and
Real-time returned data center.) carry out the value of asking difference operation to obtain.
Step 2：The rough coordinates (x, y, z) provided according to location service request end, match corresponding triangle, that is, determine position
Request end is taken to be located in the triangle which three CORS base station is formed；
Further according to three CORS base station coordinate differences (Δ x at corresponding momentm, Δ ym, Δ zm), calculate coordinate corrective value (αm,
βm, γm), finally obtain position coordinate value (the x+ α that revised position takes request endm, y+ βm, z+ γm)。
2. the position correcting method according to claim 1 based on CORS, it is characterised in that in step 2, using anti-distance
Weighting algorithm coordinates computed correction (αm, βm, γm)。
3. the position correcting method according to claim 2 based on CORS, it is characterised in that inverse distance-weighting algorithm corresponds to
Calculating process it is as follows：
The principle of inverse distance-weighting algorithm is, if space point to be inserted is P (αm, βm, γm), P points are in Z1、Z2、Z3The triangle of composition
Among shape, then property value (the α of P pointsm, βm, γm) calculation formula is as follows：
αm=wP1*Δx1+wP2*Δx2+wP3*Δx3；
βm=wP1*Δy1+wP2*Δy2+wP3*Δy3；
γm=wP1*Δz1+wP2*Δz2+wP3*Δz3；
Wherein Δ xi, Δ yi, Δ ziFor the coordinate difference of three base stations, i=1,2,3；I.e. CORS base stations have seat known to one
Scale value, also has a real-time pseudorange coordinate value, both differences；
wPiFor weight, calculation formula is：
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<mi>&Sigma;</mi>
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Wherein diFor P to Z1、Z2、Z3Distance, be represented by：
Xi, yi and zi are exactly the coordinate value of Zi, i=1, and 2,3.
4. a kind of positioning terminal, it is characterised in that including MCU, locating module and communication module；Locating module is used to obtain current
Rough coordinates (x, y, z)；Communication module is used for the positional number that CORS base stations are obtained with CORS base stations or server communication
According to；Server is used to provide location-based service；MCU is used to amendment be calculated based on claim 1-3 any one of them methods
Position afterwards takes position coordinate value (the x+ α of request endm, y+ βm, z+ γm)。
5. positioning terminal according to claim 4, it is characterised in that the positioning terminal is smart mobile phone, tablet electricity
Brain or other wearable devices (such as intelligent watch).
6. positioning terminal according to claim 4, it is characterised in that communication module GPRS, 3G, 4G or 5G communication mould
Block.
7. a kind of alignment system, it is characterised in that including the positioning terminal described in server, claim 4 and at least three CORS
Base station；
Positioning terminal and CORS base stations are and server communication.
8. alignment system according to claim 6, it is characterised in that the server is cloud server.
9. alignment system according to claim 6, it is characterised in that the communication module in positioning terminal is GPRS, 3G, 4G
Or 5G communication modules.
10. according to the alignment system described in claim 6-9, it is characterised in that locating module is the Big Dipper or GPS positioning module.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110446205A (en) * | 2019-10-09 | 2019-11-12 | 北京讯腾智慧科技股份有限公司 | Localization method, device, equipment and readable storage medium storing program for executing based on base station networking |
| CN110488332A (en) * | 2018-05-14 | 2019-11-22 | 广州市中海达测绘仪器有限公司 | Method and device based on technology of network RTK |
| CN111103610A (en) * | 2018-10-25 | 2020-05-05 | 千寻位置网络有限公司 | Real-time relative positioning and precise single-point positioning fusion positioning method and device |
| CN111279221A (en) * | 2018-12-20 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Position calibration method and device for reference station |
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| CN113484885A (en) * | 2021-06-21 | 2021-10-08 | 武汉长江通信智联技术有限公司 | Terminal positioning method adaptive to CDR data broadcast VRS technology application |
| CN114185069A (en) * | 2021-12-07 | 2022-03-15 | 西藏金采科技股份有限公司 | Differential positioning method, device and system for improving Beidou positioning accuracy |
| CN117098116A (en) * | 2023-10-18 | 2023-11-21 | 湖北省国土测绘院 | GNSS user terminal position privacy protection method based on CORS |
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