CN108061910A - Network-building method, device and differential position system based on phase difference - Google Patents
Network-building method, device and differential position system based on phase difference Download PDFInfo
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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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Abstract
The present invention relates to satellite positioning and field of navigation technology, more particularly, to a kind of network-building method based on phase difference, device and differential position system.Network-building method provided by the invention based on phase difference, including：The location information of the mobile base station under stable state is obtained based on differential correcting data；According to the distance between mobile base station and networking described in the positional information calculation of the mobile base station；When the distance between the mobile base station and any networking are no more than pre-determined distance, the mobile base station is added in the networking.Scheme provided by the invention can make networking carry out elastic telescopic, and then realize more flexible networking capability, reduce networking cost.
Description
Technical field
The present invention relates to satellite positionings and field of navigation technology, and specifically, the present invention relates to one kind to be based on phase difference
Network-building method, system and device.
Background technology
Requirement of the plant protection unmanned plane to the line of flight is very high, if cannot reach accurate sprinkling, being not only not achieved prevents weight
It sprays the effect of drain spray or even is also possible to generate poisoning.Traditional plant protection unmanned plane is had high, winged not straight due to GPS positioning deviation
Phenomena such as, usually there is the problems such as respraying, drain spray, how to realize precisely sprinkling is always technical barrier in the industry.
Currently, using network RTK (Real-time kinematic, carrier phase difference) technology carry out precise positioning into
For one of Hot spots for development, it relies on CORS (Continuously Operating Reference Stations, continuous operation
Reference station) technology.The CORS systems are broadcast by base station net, data processing centre, data transmission system, location navigation data and are
Five system, user's application system parts form, and each base station links into an integrated entity with monitoring analysis centrally through data transmission system,
Dedicated network is formed, virtual reference station is provided using fixed station network and VRS (virtual reference station) technologies, it is each in Shi Ce areas
Surveyor can use, and can realize the precision of Centimeter Level, greatly enhance the Performance And Reliability of system.
But existing entity reference station is all had to be erected on known coordinate, and this mode limits dedicated network progress
The flexibility of networking.And the personnel of specialty is needed to carry out manual maintenance to it, it is necessary to which the cost spent is higher.
The content of the invention
The purpose of the present invention is intended at least solve one of above-mentioned technological deficiency, and the present invention provides a kind of groups of phase difference
Network method and device enable networking to carry out elastic telescopic, realize more flexible networking capability, reduce networking cost.
In a first aspect, the present invention provides a kind of network-building methods based on phase difference, include the following steps：
The location information of the mobile base station under stable state is obtained based on differential correcting data；
According to the distance between mobile base station and networking described in the positional information calculation of the mobile base station；
When the distance of the mobile base station and any networking is no more than pre-determined distance, the mobile base station is added
Into the networking.
Further, the network-building method based on phase difference, further includes：When the mobile base station and any described group
When the distance between net is more than pre-determined distance, then new networking is created, the networking includes the mobile base station.
Further, the network-building method based on phase difference, further includes：
When detecting that the mobile base station in networking is in unsteady state, which is removed from the networking.
Further, the network-building method based on phase difference, further includes：
When detecting that the distance between different networkings are no more than predetermined threshold value, merge the networking.
Specifically, the step of location information of the mobile base station under the acquisition stable state based on differential correcting data,
Including：
Whether the observation data uploaded according to mobile base station judge the mobile base station in stable state；
When the mobile base station is in stable state, the location information of the mobile base station is obtained.
Specifically, whether the mobile base station is in the basis for estimation of stable state, including：The mobile base station connection
The delta data of number of satellite, satellite signal quality and satellite set.
Preferably, judge whether the mobile base station is in the process of stable state, including：
Obtain positioning and the velocity information of the mobile base station；
Judge whether the mobile base station is according to the positioning of the observation data and/or mobile base station and velocity information
Stable state.
Specifically, the positioning of the mobile base station and the process of velocity information are obtained, including：
The observation data uploaded using the networking internal reference station are carried out virtual reference station computing or using third party's services,
Obtain differential correcting data；
Phase difference positioning and velocity calculated are carried out to the observation data of mobile base station according to the differential correcting data, with
Obtain positioning and the velocity information of mobile base station.
Preferably, the process for obtaining differential data further includes：
When there are during multiple differential correcting data, differential correcting data are determined according to preset condition.
Specifically, the preset condition includes：The distance of core net of the mobile base station with providing the differential correcting data,
Alternatively, the geographical location residing for the mobile base station.
Preferably, phase difference positioning and speed are carried out according to the differential correcting data and the observation data of mobile base station
Before resolving, further include：When there are during multiple differential correcting data, difference is determined with reference to the low precision position of the mobile base station
Correct data.
Second aspect, the present invention also provides a kind of network device based on phase difference, including：
Acquisition module, for obtaining the location information of the mobile base station under stable state based on differential correcting data；
Computing module, for described in the positional information calculation according to the mobile base station between mobile base station and networking away from
From；
Processing module, for when the distance of the mobile base station and any networking is no more than pre-determined distance, by institute
Mobile base station is stated to be added in the networking.
Further, the network device based on phase difference, further includes：Creation module, for working as the mobile base
When the distance between any described networking of standing is more than pre-determined distance, then new networking is created, the networking includes the shifting
Dynamic base station.
Further, the network device based on phase difference further includes：Module is removed, is detected for working as in networking
Mobile base station be in unsteady state, then the mobile base station is removed from the networking.
Further, the network device based on phase difference, further includes：Merging module detects difference for working as
When the distance between networking is no more than predetermined threshold value, merge the networking.
Specifically, acquisition module includes：
Whether the first judging unit, the observation data for being uploaded according to mobile base station judge the mobile base station in steady
Determine state；
First acquisition unit, for when the mobile base station is in stable state, obtaining the position of the mobile base station
Information.
Specifically, whether the mobile base station is in the basis for estimation of stable state, including：The mobile base station connection
The delta data of number of satellite, satellite signal quality and satellite set.
Specifically, acquisition module further includes：Second acquisition unit, for obtaining the positioning of the mobile base station and speed
Information.
Second judgment unit judges the shifting for the positioning according to the observation data and mobile base station and velocity information
Whether dynamic base station is in stable state.
Specifically, second acquisition unit, the observation data for being additionally operable to upload using the networking internal reference station carry out virtual
Reference station computing uses third party's service, acquisition differential correcting data；And
For carrying out phase difference positioning and velocity solution according to the observation data of the differential correcting data and mobile base station
It calculates, to obtain the positioning of mobile base station and velocity information.
Preferably, second acquisition unit is additionally operable to, when there are during multiple differential correcting data, being determined according to preset condition
Differential correcting data.
Specifically, the preset condition includes：The distance of core net of the mobile base station with providing the differential correcting data,
Alternatively, the geographical location residing for the mobile base station.
Preferably, further included in acquisition module：Determination unit, for when there are during multiple differential correcting data, with reference to institute
The low precision position for stating mobile base station determines differential correcting data.
The third aspect, the present invention also provides a kind of differential position system, including：
Data are observed in mobile base station for providing；
Fixed station, for providing observation data and differential correcting data；
Processing unit, for described in the positional information calculation according to the mobile base station between mobile base station and networking away from
From；And when the distance of the mobile base station and any networking is no more than pre-determined distance, the mobile base station is added
Into the networking.
Fourth aspect, the present invention also provides a kind of network device based on phase difference, including：
One or more processors；
Memory；
One or more application program, wherein one or more of application programs are stored in the memory and quilt
It is configured to be performed by one or more of processors, one or more of programs are configured to：It performs according to first aspect
The step of described network-building method based on phase difference.
5th aspect, the present invention also provides a kind of computer readable storage medium, including：
One or more application program, it is arbitrary that one or more of application programs are configurable for execution first aspect
The network-building method based on phase difference described in one.
6th aspect, the present invention provides a kind of flight instruments again, including the group based on phase difference described in the third aspect
Net system；Alternatively, the network device based on phase difference described in fourth aspect；Alternatively, the computer described in the 5th aspect can
Read storage medium.
Compared with prior art, the solution of the present invention has the following advantages：
Network-building method provided by the invention based on phase difference, by the way that the mobile base station for being in stable state is added to
The change to networking scale is realized in networking, also, in the case where manually not participating in setting mobile base station, can utilize should
Mobile base station carries out the acquisition of data and whether the automatic decision mobile base station stablizes, it is achieved thereby that the flexible frame of reference station
And if complicated setting and maintenance, saving labor and time cost are carried out to the reference station without professional.
Whether the network-building method provided by the invention based on phase difference judges in stable state according to mobile base station
Whether the observation data of the mobile base station are effective, i.e., availability verification were carried out to the data that mobile base station reports, to ensure group
The observation accurate data that net is got is reliable.
Network-building method provided by the invention based on phase difference, can be in mobile base station because surprisingly moving, hitting
Topple over when in unsteady state, system can judge to reject it from networking in time, so as to fulfill the height of whole system
Effect is stablized.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.Wherein：
Fig. 1 is the method flow diagram of the network-building method provided by the invention based on phase difference；
Fig. 2 is a kind of flow example figure of embodiment of the network-building method provided by the invention based on phase difference；
Fig. 3 is the schematic diagram of the flow of the network-building method another embodiment provided by the invention based on phase difference；
Fig. 4 is the structure diagram of the network device provided by the invention based on phase difference.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that is used in the specification of the present invention arranges
Diction " comprising " refers to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or wireless coupling.It is used herein to arrange
Take leave whole or any cell and all combination of the "and/or" including one or more associated list items.
Those skilled in the art of the present technique are appreciated that unless otherwise defined all terms used herein are (including technology art
Language and scientific terminology), there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless by specific definitions as here, idealization or the meaning of overly formal otherwise will not be used
To explain.
Present invention firstly provides a kind of network-building method based on phase difference, this method is suitable for server end, the party
The flow diagram of method is as shown in Figure 1, include the following steps：
S110 obtains the location information of the mobile base station under stable state based on differential correcting data；
S120, according to the distance between mobile base station and networking described in the positional information calculation of the mobile base station；
S130, when the distance between the mobile base station and any networking are no more than pre-determined distance, by the shifting
Dynamic base station is added in the networking.
The network-building method based on phase difference judges that the mobile base station is according to the location information of mobile base station first
It is no in availability status, the mobile base station is availability status if the mobile base station be in stable state, the number of offer
According to for authentic data, then the mobile base station is added in suitable one or more networkings, expands the coverage of networking.Institute
Stating the network-building method based on phase difference can be added to the mobile base station in stable state in networking, realize networking oneself
By stretching and the flexible erection of reference station, so as to fulfill the efficient stable of whole system.
In order to which technical scheme is made to become apparent from clearly, below to the specific implementation process of each step or it is specific
Content is further elaborated.
S110 obtains the location information of the mobile base station under stable state based on differential correcting data；
Assuming that following scene, unmanned plane when carrying out plant protection operation or farmland, it is necessary to suitable differential corrections according to this into
Row is accurately positioned and navigates, if but the precision of needs is unable to reach with the data that current reference station provides, need additional frame
If mobile base station, in the operating area surveyed and drawn of needs, this just needs by complicated flow manpower and time to be spent to go to set up and move
Base station increases labor and time cost.
A kind of embodiment provided by the invention detects whether there is available movement in the region for needing to survey and draw first
Base station, if in the presence of the Satellite Observations reported using mobile base station obtain the location information of the mobile base station, the embodiment party
The flow diagram of formula is as shown in Fig. 2, specific steps include：
Whether S111, the observation data uploaded according to mobile base station judge the mobile base station in stable state；
Signified " stable state " remains static except mobile base station herein, further includes the steady of connection number of satellite
It is fixed, stabilization of satellite signal-to-noise ratio etc..
The delta data of number of satellite, satellite signal quality and satellite set in observation data judges number of satellite
Whether stablize and whether satellite signal-to-noise ratio is stablized.
What deserves to be explained is according to the Satellite Observations that mobile base station uploads, the low of the mobile base station can be parsed
Whether precision position information can substantially judge the mobile base station in stable state according to the low precision position information.
The criterion that the mobile base station is in stable state includes：It can reflect the shift in position of the mobile base station
Or any variable quantity of environmental change (as disturb) when being no more than its given threshold, then the mobile base station, which is in, stablizes shape
State.The mobile base station can be characterized, and whether the parameter in stable state generally comprises：The change rate of position, velocity amplitude, with
And quantity and signal quality variation for being observed satellite etc..
Detailed process includes：The change in location and speed or resolve quilt that carrier phase difference (RTK) technology of monitoring resolves
Quantity and signal quality (signal-to-noise ratio, carrier-to-noise ratio) variation of observation satellite, when the variation is no more than set threshold value,
Then determine that the mobile base station is in stable state.How to monitor the change in location of RTK resolvings and speed or resolve and be observed and defend
Quantity and signal quality (signal-to-noise ratio, carrier-to-noise ratio) variation of star belong to technology well-known to those skilled in the art, herein no longer
It repeats.
S112 when the mobile base station is in stable state, obtains the location information of the mobile base station.
When determining that the mobile base station is in stable state, low precision position is calculated according to the observation data of the mobile base station
To obtain differential correcting data, the movement base is obtained according to the observation data of the mobile base station obtained and differential correcting data
The location information stood.The location information passes through error transfer factor, is the accurate positionin of the mobile base station.
In such an embodiment, the observation data uploaded merely with mobile base station can interpolate that whether the mobile base station is located
It in stable state, is limited by the prior art, there are certain errors for the observation data of acquisition.
In another preferred embodiment, the observation data based on mobile base station carry out coarse localization, then basis
The rough position selects suitable differential data to be accurately positioned, and reuses pinpoint location information and velocity information knot
It closes the observation data and carries out judgement of stability, the flow diagram of the embodiment is as shown in figure 3, include the following steps：
S1101 obtains the observation data that mobile base station uploads, and by carrying out positioning calculation to the observation data, obtains
The low precision position of the mobile base station；
By parsing the Satellite Observations, the location data of mobile base station can be obtained, but the location data is to move
The low precision position of dynamic base station, low precision position are further included and carried out using secondary satellite (such as SBAS, QZSS) in addition to single-point solution
Solution of DGPS positioning etc..Under normal conditions, the positioning accuracy of low precision differs between 0.5 to 10 meter.
S1102 obtains differential correcting data, and the observation data of the mobile base station are carried out using the differential correcting data
Phase difference positions and velocity calculated, obtains the high accuracy positioning and velocity information of the mobile base station；
The group that multiple fixed stations composition of differential correcting data is provided for mobile base station is known as core net.The mobile base
There are during multiple cores net around standing, the core which provides differential correcting data is determined as by preset condition
Net, such as selection and core net of administrative region etc. where the closest core net in the mobile base station or the mobile base station,
Suitable differential correcting data are obtained by preset condition.
In the first embodiment, carry out positioning calculation using the observation data of mobile base station and obtain current mobile base station
Low precision position, core net is based on the low precision position, and at least following two modes provide differential correcting for mobile base station
Data.
A kind of mode is that core net carries out virtual reference station computing using the low precision position or uses third party's service
(such as CORS) fictionalizes a reference station, and the differential correcting data of the virtual reference station are issued the mobile base station.
Another way is to obtain fixed station nearest from the mobile base station in core net according to the low precision position,
Differential correcting data are provided by the mobile base station of the fixed station.I.e. single station mode, compared to first way, with baseline length
The increase of (the distance between fixed station and mobile base station), the precision of RTK solutions can decline.
In second of embodiment, carry out positioning calculation using the observation data of mobile base station and obtain current mobile base station
Low precision position, using the low precision position from core net obtain corresponding differential corrections according to carry out high-precision RTK resolvings, obtain
Take the high precision position information of mobile base station.Compared with the first embodiment, the second way is for judging mobile base station
It is no more accurate in stable state, because judging the positioning of change in location and velocity accuracy higher used in it.
In the not high occasion of some required precisions, the above-mentioned RTK of RTD technical substitutions is can also use, its usual positioning accuracy
Decimeter grade can be reached.
S1103 judges the mobile base according to the observation data and high accuracy positioning and velocity information of the mobile base station
It whether stands in stable state；
Judge whether the criterion in stable state includes for the mobile base station according to the positioning and speed data：Energy
When enough reflecting that any variable quantity of the shift in position of the mobile base station is no more than its given threshold, then at the mobile base station
In stable state.In embodiments of the present invention, it is any during positioning and velocity calculated to reflect the mobile base station position
Put the criterion whether intermediate quantity of variation or result quantities can be stablized as mobile base station.
The RTK fixed solutions of the mobile base station are obtained by the low precision observation data combination differential correcting data of mobile base station
It process and monitors the variable quantities of the intermediate parameters generated during this and belongs to technology well-known to those skilled in the art, herein
It repeats no more.
Secondly, optionally, the quantity of state of the satellite tracked is further included, it can also be used to which what whether mobile base station stablized sentences
It is disconnected, such as stellar map (ephemeris), signal quality of every satellite etc..At steady state, the distribution of stellar map Satellite is opposite
Stable, it is impossible to there is the losing lock of a large amount of satellites；The signal quality of every satellite is also metastable.Therefore, satellite number
Variation with satellite signal quality is more than default threshold value, and it is unstable for also can determine that the mobile base station.
S1104 when the mobile base station is in stable state, preserves the location information of the mobile base station.
If mobile base station is in stable state, observation data are effective, preserve the location information of the mobile base station with after an action of the bowels
Continuous add in networking is used.If the mobile base station is in unsteady state, the observation data of the mobile base station are unavailable,
The location information of the mobile base station will not preserved.
Satellite Observations that the present embodiment is provided using mobile base station and the positioning that can be elected additional member and speed judge the shifting
Whether dynamic base station stablizes, and judging result is more accurate reliable.
Mobile base station in stable state is added to according to preset condition in qualified networking, will such as move base
It stands to be added to and meets in the networking of distance condition or delimit in advance geographic area progress networking, such as Guangdong Province, Beijing
Deng the geographic area according to administrative division, all mobile base stations in its geographic area, when it is judged as stablizing shape
During state, which is added in the geographic area belonging to it in corresponding networking.According to the geographic region by having delimited in advance
The networking scope of domain composition and the location information of mobile base station judge whether that the mobile base station can be added in the networking, work as shifting
When dynamic base station is in the range of a networking or on its border, distance is 0；When outside networking scope, distance is more than 0.If the shifting
When the distance of dynamic base station and networking is 0, which is added in the networking, if the distance of the mobile base station and networking is big
When 0, illustrate that the mobile base station is not belonging in the geographic area delimited, then the mobile base station cannot be added to the networking
In.
Mobile base station is added to symbol by method mobile base station being added in the networking of the non-geographic area delimited
In the networking of conjunction condition, including：
S120, according to the distance between mobile base station and networking described in the positional information calculation of the mobile base station；
Calculate the distance between the mobile base station and networking at least two ways：
The first, which is described as border, and if the mobile base station is within networking or on border, then distance is
0；Otherwise distance is more than 0, and value is beeline of the base station to border.
Second, which is described as to the set of reference station, networking border is the model using the coordinate of reference station as the center of circle
The border of composition is enclosed, calculates the mobile base station to the distance at any networking internal reference station around it, the mobile base station to networking
Distance for mobile base station to all reference stations in networking beeline.
S130, when the distance between the mobile base station and any networking are no more than pre-determined distance, by the shifting
Dynamic base station is added in the networking.
The networking can be one or more, i.e. if the distance between the mobile base station and a networking are no more than
The mobile base station is added in the networking by pre-determined distance；If the distance of the mobile base station to multiple networkings is no more than
During pre-determined distance, which is added in the multiple networking, the multiple networking includes at least two networkings；Into one
Step ground when the mobile base station for having been added to different networkings meets the condition for merging networking, then carries out step S150.
The mobile base station for meeting condition in region to be measured is added in networking in this way, realizes the expansion of networking scale
Greatly, so as to obtain larger range of networking covering power, while need not manually participate in complicated base station and set, reduce manpower into
This, saves time cost.
Also there is another situation in the present embodiment, when the distance between the mobile base station and any described networking are more than
During pre-determined distance, then new networking is created, the networking includes the mobile base station.The process for creating new networking, bag
It includes：
The distance between the mobile base station and any networking are more than pre-determined distance, retain mobile base station with providing
Data transmission channel between the core net of the differential correcting data makes the mobile base station be formed newly with the core net
Networking, the networking include the mobile base station.
The embodiment of the present invention further includes：
S140 when detecting that the reference station in networking is in unsteady state, then removes the reference station from the networking,
The reference station is mobile base station.The step specifically includes：
S141, the differential correcting data that the observation data and the networking that the reference station in networking provides provide carry out
RTK is positioned and velocity calculated, obtains positioning and the velocity information of the reference station；
The positioning and speed of the positioning of reference station and velocity information with above-mentioned acquisition mobile base station in the networking is obtained to believe
The step of breath, is similar, and details are not described herein.
S142 determines that the reference station is in non-steady with reference to the observation data of the reference station and the positioning obtained and velocity information
Determine state, then remove the reference station from the networking.
The network-building method based on phase difference that the embodiment of the present invention is provided can be realized when mobile base station is because of unexpected hair
When raw mobile, shock is toppled over, system can judge to reject it from networking in time, realize the efficient steady of whole system
It is fixed.
The embodiment of the present invention further includes：
S150 when detecting that the distance between different networkings are no more than predetermined threshold value, then merges the networking.
The distance between different networkings at least can be there are two types of calculation：
The first, when networking border is made of the geographic area delimited in advance, if two networking borders at least intersect at one
A, then the distance of two networkings is 0；Otherwise, beeline of the distance between two networking borders be between two networkings away from
From.
Second, the distance between approximate calculation, two networkings is carried out using the coordinate of the reference station in networking to belong to respectively
In the distance between two nearest reference stations apart of two networkings.
When the distance between different networkings calculated according to any of the above-described mode are no more than predetermined threshold value, the default threshold
It is worth then merge the networking with a special value, such as 5 meters, 100 meters.
The present invention also provides a kind of network device based on phase difference, the structure diagram of the device as shown in figure 4,
The device includes：Acquisition module 400, computing module 410, processing module 420.
Acquisition module 400, for obtaining the location information of the mobile base station under stable state based on differential correcting data；
In a kind of embodiment provided by the invention, acquisition module 400, be initially used for detection is in the region for needing to survey and draw
It is no there are available mobile base station, if in the presence of the Satellite Observations reported using the mobile base station obtain the movement base
The location information stood.
It is further included in acquisition module：First judging unit 4001, the observation data for being uploaded according to mobile base station judge
Whether the mobile base station is in stable state；
Signified " stable state " remains static except mobile base station herein, further includes the steady of connection number of satellite
It is fixed, stabilization of satellite signal-to-noise ratio etc..
The delta data of number of satellite, satellite signal quality and satellite set in observation data judges number of satellite
Whether stablize and whether satellite signal-to-noise ratio is stablized.
What deserves to be explained is according to the Satellite Observations that mobile base station uploads, the low of the mobile base station can be parsed
Whether precision position information can substantially judge the mobile base station in stable state according to the low precision position information.
The criterion that the mobile base station is in stable state includes：It can reflect the shift in position of the mobile base station
Or any variable quantity of environmental change (as disturb) when being no more than its given threshold, then the mobile base station, which is in, stablizes shape
State.The mobile base station can be characterized, and whether the parameter in stable state generally comprises：The change rate of position, velocity amplitude and
It is observed quantity and signal quality variation of satellite etc..
Detailed process includes：The change in location and speed or resolve quilt that carrier phase difference (RTK) technology of monitoring resolves
Quantity and signal quality (signal-to-noise ratio, carrier-to-noise ratio) variation of observation satellite, when the variation is no more than set threshold value,
Then determine that the mobile base station is in stable state.
First acquisition unit 4002, for when the mobile base station is in stable state, obtaining the mobile base station
Location information.
When determining that the mobile base station is in stable state, according to the observation data and difference of the mobile base station obtained
Correct the location information of the data acquisition mobile base station.The location information passes through error transfer factor, is the accurate of the mobile base station
Positioning.
In such an embodiment, the observation data uploaded merely with mobile base station can interpolate that whether the mobile base station is located
It in stable state, is limited by the prior art, there are certain errors for the observation data of acquisition.
In another preferred embodiment, the observation data based on mobile base station carry out coarse localization, then basis
The rough position selects suitable differential data to be accurately positioned, and reuses pinpoint location information and velocity information knot
It closes the observation data and carries out judgement of stability, acquisition module 400 needs the observation data and velocity information according to mobile base station
The location information of the mobile base station is obtained, including：
Solving unit 4003 obtains the observation data that mobile base station uploads, by carrying out positioning solution to the observation data
It calculates, obtains the low precision position of the mobile base station；
By parsing the Satellite Observations, the location data of mobile base station can be obtained, but the location data is to move
The low precision position of dynamic base station, low precision position are further included and carried out using secondary satellite (such as SBAS, QZSS) in addition to single-point solution
Solution of DGPS positioning etc..Under normal conditions, the positioning accuracy of low precision differs between 0.5 to 10 meter.
Second acquisition unit 4004 obtains differential correcting data, using the differential correcting data to the mobile base station
It observes data and carries out phase difference positioning and velocity calculated, obtain positioning and the velocity information of the mobile base station；
The group that multiple fixed stations composition of differential correcting data is provided for mobile base station is known as core net.The mobile base
There are during multiple cores net around standing, the core which provides differential correcting data is determined as by preset condition
Core net of administrative region etc. where net, such as core net closest with the mobile base station or the mobile base station, accordingly
Ground also just obtains suitable differential data by preset condition.
In the first embodiment, carry out positioning calculation using the observation data of mobile base station and obtain current mobile base station
Low precision position, core net is based on the low precision position, and at least following two modes provide differential correcting for mobile base station
Data.
A kind of mode is that core net carries out virtual reference station computing using the low precision position or uses third party's service
(such as CORS) fictionalizes a reference station, and the differential correcting data of the virtual reference station are issued the mobile base station.
Another way is to obtain fixed station nearest from the mobile base station in core net according to the low precision position,
Differential correcting data are provided by the mobile base station of the fixed station.I.e. single station mode, compared to first way, with base length
The increase of (distance of fixed station and mobile base station) is spent, the precision of RTK solutions can decline.
In second of embodiment, carry out positioning calculation using the observation data of mobile base station and obtain current mobile base station
Low precision position, using the low precision position from core net obtain corresponding differential corrections according to carry out high-precision RTK resolvings, obtain
Take the high precision position information of mobile base station.Compared with the first embodiment, the second way is for judging mobile base station
It is no more accurate in stable state, because judging the positioning of change in location and velocity accuracy higher used in it.
In the not high occasion of some required precisions, the above-mentioned RTK of RTD technical substitutions is can also use, its usual positioning accuracy
Decimeter grade can be reached.
Second judgment unit 4005 judges according to the observation data and high accuracy positioning and velocity information of the mobile base station
Whether the mobile base station is in stable state；
Judge whether the criterion in stable state includes for the mobile base station according to the positioning and speed data：Energy
When enough reflecting that any variable quantity of the shift in position of the mobile base station is no more than its given threshold, then at the mobile base station
In stable state.In embodiments of the present invention, it is any during positioning and velocity calculated to reflect the mobile base station position
Put the criterion whether intermediate quantity of variation or result quantities can be stablized as mobile base station.
The RTK fixed solutions of the mobile base station are obtained by the low precision observation data combination differential correcting data of mobile base station
It process and monitors the variable quantities of the intermediate parameters generated during this and belongs to technology well-known to those skilled in the art, herein
It repeats no more.
Secondly optionally, the quantity of state of the satellite tracked is further included, it can also be used to the judgement whether mobile base station stablizes,
Such as stellar map (ephemeris), signal quality of every satellite etc..At steady state, the distribution of stellar map Satellite is relatively stable
, it is impossible to there is the losing lock of a large amount of satellites；The signal quality of every satellite is also metastable.Therefore, satellite number and defend
The variation of star signal quality is more than default threshold value, and it is unstable for also can determine that the mobile base station.
Second acquisition unit 4004 is additionally operable to, when the mobile base station is in stable state, obtain the position of the mobile base station
Confidence ceases.
If the mobile base station is in stable state, observation data are effective, preserve the location information of the mobile base station so as to
Follow-up add in networking is used.If the mobile base station is in unsteady state, the observation data of the mobile base station can not
With the location information of the mobile base station will do not preserved.
Satellite Observations that the present embodiment is provided using mobile base station and the positioning that can be elected additional member and speed judge the shifting
Whether dynamic base station stablizes, and judging result is more accurate reliable.
Mobile base station in stable state is added to according to preset condition in qualified networking, will such as move base
It delimit in standing added to qualified networking or in advance geographic area and has carried out pre- networking, such as Guangdong Province, Beijing etc.
According to the geographic area of administrative division, all mobile base stations in its geographic area, when it is judged as stable state
When, which is added in the geographic area belonging to it in corresponding networking.
Mobile base station is added to symbol by method mobile base station being added in the networking of the non-geographic area delimited
In the networking of conjunction condition, including：
Computing module 410, for described in the positional information calculation according to the mobile base station between mobile base station and networking
Distance；
The distance between the mobile base station and networking are calculated including at least two ways：
In first way, which is made of the geographic area delimited in advance, as the mobile base station is in group
Within net or on border, then the distance between the mobile base station and networking are 0, otherwise, the mobile base station and networking
The distance between be more than 0, the distance between the mobile base station and networking be mobile base station to the networking border beeline.
In the second way, which is made of reference station, and using the coordinate of each reference station as the center of circle, then calculating should
To the distance at any networking internal reference station around it, the distance of the mobile base station to networking is mobile base station to group for mobile base station
The beeline of all reference stations in net.
The network device based on phase difference further includes：
Processing module 420, for working as the distance between the mobile base station and any networking no more than pre-determined distance
When, the mobile base station is added in the networking.
The networking can be divided into one or more, i.e. when the distance between described mobile base station to networking no
During more than pre-determined distance, which is added in the networking；When the mobile base station to multiple networkings distance not
More than pre-determined distance, which is added in the multiple networking, the multiple networking includes at least two networkings.
Further, the network device based on phase difference further includes：Creation module, for working as the mobile base station with appointing
When the distance between one described networking is more than pre-determined distance, then new networking is created, the networking includes the mobile base station.
Further, when the distance of the reference station in the mobile base station and other networkings for having been added to different networkings meets simultaneously
During the condition of net, then the different networkings are merged.
The mobile base station for meeting condition in region to be measured is added in networking with this kind of embodiment, realizes networking scale
Expansion, so as to obtain larger range of networking covering power, while need not manually participate in complicated base station and set, reduce people
Power cost saves time cost.
In embodiment of the present invention, the network device based on phase difference further includes：Module is removed, for when detection
Unsteady state is in the reference station having been added in networking, then is removed the reference station from the networking, the reference station
For mobile base station.
Module is removed, the observation data of reference station offer and the differential correcting of networking offer being additionally operable in networking
Data carry out RTK positioning and velocity calculated, obtain positioning and the velocity information of the reference station；Obtain reference station in the networking
Positioning and velocity information to positioning and the velocity information of above-mentioned acquisition mobile base station the step of it is similar, details are not described herein.
Module is removed, is additionally operable to determine the reference with reference to the observation data of the reference station and the positioning obtained and velocity information
It stands in unsteady state, then removes the reference station from the networking.
The network-building method based on phase difference that embodiment of the present invention is provided can be realized when mobile base station is because of accident
When moving, hitting and topple over, system can judge to reject it from networking in time, realize the efficient of whole system
Stablize.
Embodiment provided by the invention, the network device based on phase difference further include：Merging module, for working as
When detecting that the distance between different networkings are no more than default threshold value, then merge the networking.
At least there are two types of calculations for the distance between different networkings：
In first way, which is formed by having delimited geographic area in advance, if two networking borders are at least intersecting
In a point, then the distance between two networkings are 0, otherwise, most short distance of the distance between two networkings between two networking borders
From.
In the second way, which is made of reference station, is carried out using the coordinate of the reference station in networking approximate
It calculates, the distance between two networkings are to be belonging respectively to the distance between two nearest reference stations apart of two networkings.Service
Device end detects that at least two networkings meet the condition for merging networking, then merges the networking, and the condition of the merging networking is excellent
The distance between at least two reference stations in different networkings is selected to be no more than default distance, alternatively, in different networkings at least
The distance between two reference stations are no more than default distance, and the networking is in same administrative region.Or meet
The reference station for belonging to different networkings can be merged into the condition of a networking by other.If the criterion for merging networking
For default distance, then the default distance is arranged as required to.
Correspondingly, the present invention also provides a kind of differential position system, including：
Data are observed in mobile base station for providing；
Fixed station, for providing observation data and differential correcting data；
Processing unit, for described in the positional information calculation according to the mobile base station between mobile base station and networking away from
From；And when the distance of the mobile base station and any networking is no more than pre-determined distance, the mobile base station is added
Into the networking.
The fixed station for mobile base station except providing differential correcting data, for determining the location information of mobile base station,
The reliable observation data that can be used in the various aspects such as scientific research life are also provided.
It is worth noting that, embodiment of the present invention, can flexibly set the quantity of reference station in networking, make the movement
The quantity of base station changes in the range, certainly, the egregious cases of a reference station is only included in networking also in the guarantor of the present invention
Within the scope of shield.In network device provided by the invention based on phase difference, core net includes multiple fixed stations, mobile base
It stands there is also multiple, certainly, core net only includes the egregious cases of a fixed station also within protection scope of the present invention.
Correspondingly, the present invention also provides a kind of network device based on phase difference, including：
One or more processors；
Memory；
One or more application program, wherein one or more of application programs are stored in the memory and quilt
It is configured to be performed by one or more of processors, one or more of programs are configured to：It performs according to first aspect
The step of described method based on phase difference.
In addition, the present invention also provides a kind of computer readable storage medium, including：
One or more application program, it is arbitrary that one or more of application programs are configurable for execution first aspect
The network-building method based on phase difference described in one.
In addition, the present invention provides a kind of flight instruments again, including the networking system based on phase difference described in the third aspect
System；Alternatively, the network device based on phase difference described in fourth aspect；Alternatively, computer-readable depositing described in the 5th aspect
Storage media.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be employed in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and is independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
The above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (24)
1. a kind of network-building method based on phase difference, which is characterized in that including：
The location information of the mobile base station under stable state is obtained based on differential correcting data；
According to the distance between mobile base station and networking described in the positional information calculation of the mobile base station；
When the distance of the mobile base station and any networking is no more than pre-determined distance, the mobile base station is added to should
In networking.
2. the network-building method according to claim 1 based on phase difference, which is characterized in that further include：When the movement
When the distance between base station and any networking are more than pre-determined distance, then new networking is created, the networking includes described
Mobile base station.
3. the network-building method according to claim 1 based on phase difference, which is characterized in that further include：
When detecting that the mobile base station in networking is in unsteady state, which is removed from the networking.
4. the network-building method according to claim 1 based on phase difference, which is characterized in that further include：
When detecting that the distance between different networkings are no more than predetermined threshold value, merge the networking.
5. the network-building method according to claim 1 based on phase difference, which is characterized in that described to be based on differential corrections
The step of according to the location information for obtaining the mobile base station under stable state, including：
Whether the observation data uploaded according to mobile base station judge the mobile base station in stable state；
When the mobile base station is in stable state, the location information of the mobile base station is obtained.
6. the network-building method based on phase difference according to claim 1 or 5, which is characterized in that the mobile base station is
The no basis for estimation in stable state, including：Number of satellite, satellite signal quality and the satellite collection of the mobile base station connection
The delta data of conjunction.
7. the network-building method according to claim 5 based on phase difference, which is characterized in that judge that the mobile base station is
The no process in stable state, including：
Obtain positioning and the velocity information of the mobile base station；
Judge the mobile base station whether in stabilization according to the positioning of the observation data and/or mobile base station and velocity information
State.
8. the network-building method according to claim 7 based on phase difference, which is characterized in that obtain the mobile base station
Positioning and the process of velocity information, including：
The observation data uploaded using the networking internal reference station are carried out virtual reference station computing or using third party's services, are obtained
Differential correcting data；
Phase difference positioning and velocity calculated are carried out to the observation data of mobile base station according to the differential correcting data, to obtain
The positioning of mobile base station and velocity information.
9. the network-building method according to claim 8 based on phase difference, which is characterized in that the acquisition differential data
Process further includes：
When there are during multiple differential correcting data, differential correcting data are determined according to preset condition.
10. the network-building method according to claim 9 based on phase difference, which is characterized in that the preset condition includes：
The distance of core net of the mobile base station with providing the differential correcting data, alternatively, the geographical location residing for the mobile base station.
11. the network-building method according to claim 8 based on phase difference, which is characterized in that according to the differential correcting
Before data and the observation data of mobile base station carry out phase difference positioning and velocity calculated, further include：When there are multiple difference
When correcting data, differential correcting data are determined with reference to the low precision position of the mobile base station.
12. a kind of network device based on phase difference, which is characterized in that including：
Acquisition module, for obtaining the location information of the mobile base station under stable state based on differential correcting data；
Computing module, for the distance between mobile base station and networking described in the positional information calculation according to the mobile base station；
Processing module, for when the distance of the mobile base station and any networking is no more than pre-determined distance, by the shifting
Dynamic base station is added in the networking.
13. the network device according to claim 12 based on phase difference, which is characterized in that further include：Creation module,
For when the distance between the mobile base station and any networking are more than pre-determined distance, then creating new networking, institute
Stating networking includes the mobile base station.
14. the network device according to claim 12 based on phase difference, which is characterized in that further include：Remove module,
For when detecting that the mobile base station in networking is in unsteady state, then the mobile base station being removed from the networking.
15. the network device according to claim 12 based on phase difference, which is characterized in that further include：Merging module,
For when detecting that the distance between different networkings are no more than predetermined threshold value, merging the networking.
16. the network device according to claim 12 based on phase difference, which is characterized in that acquisition module includes：
First judging unit, the observation data for being uploaded according to mobile base station judge whether the mobile base station is in and stablize shape
State；
First acquisition unit, for when the mobile base station is in stable state, obtaining the location information of the mobile base station.
17. the network device based on phase difference according to claim 12 or 16, which is characterized in that the mobile base station
Whether the basis for estimation of stable state is in, including：Number of satellite, satellite signal quality and the satellite of the mobile base station connection
The delta data of set.
18. the network device according to claim 16 based on phase difference, which is characterized in that acquisition module further includes：
Second acquisition unit, for obtaining the positioning of the mobile base station and velocity information,
Second judgment unit judges the shifting for the positioning according to the observation data and/or mobile base station and velocity information
Whether dynamic base station is in stable state.
19. the network device according to claim 18 based on phase difference, which is characterized in that second acquisition unit, also
Observation data for being uploaded using the networking internal reference station are carried out virtual reference station computing or using third party's services, are obtained
Differential correcting data；And
For carrying out phase difference positioning and velocity calculated according to the observation data of the differential correcting data and mobile base station, with
Obtain positioning and the velocity information of mobile base station.
20. the network device according to claim 19 based on phase difference, which is characterized in that second acquisition unit, also
For when there are during multiple differential correcting data, differential correcting data are determined according to preset condition.
21. the network device according to claim 20 based on phase difference, which is characterized in that the preset condition bag
It includes：The distance of core net of the mobile base station with providing the differential correcting data, alternatively, the geographical position residing for the mobile base station
It puts.
22. the network device of phase difference according to claim 19, which is characterized in that further included in acquisition module：Really
Order member, for when there are during multiple differential correcting data, differential correcting is determined with reference to the low precision position of the mobile base station
Data.
23. a kind of differential position system, which is characterized in that including：
Data are observed in mobile base station for providing；
Fixed station, for providing observation data and differential correcting data；
Processing unit, for the distance between mobile base station and networking described in the positional information calculation according to the mobile base station；
And when the distance of the mobile base station and any networking is no more than pre-determined distance, the mobile base station is added to
In the networking.
24. a kind of network device based on phase difference, which is characterized in that including：
One or more processors；
Memory；
One or more application program, wherein one or more of application programs are stored in the memory and are configured
To be performed by one or more of processors, one or more of programs are configured to：It performs according to claim 1-11
The step of network-building method of any one of them phase difference.
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