CN108061910B - Networking method and device based on phase difference and differential positioning system - Google Patents
Networking method and device based on phase difference and differential positioning system Download PDFInfo
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- CN108061910B CN108061910B CN201711275429.1A CN201711275429A CN108061910B CN 108061910 B CN108061910 B CN 108061910B CN 201711275429 A CN201711275429 A CN 201711275429A CN 108061910 B CN108061910 B CN 108061910B
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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
Abstract
The invention relates to the technical field of satellite positioning and navigation, in particular to a networking method and device based on phase difference and a differential positioning system. The invention provides a networking method based on phase difference, which comprises the following steps: acquiring position information of the mobile base station in a stable state based on the differential correction data; calculating the distance between the mobile base station and the network according to the position information of the mobile base station; and when the distance between the mobile base station and any networking is not more than a preset distance, adding the mobile base station to the networking. The scheme provided by the invention can enable the networking to be elastically stretched, thereby realizing more flexible networking capability and reducing the networking cost.
Description
Technical Field
The invention relates to the technical field of satellite positioning and navigation, in particular to a networking method, a networking system and a networking device based on phase difference.
Background
The requirement of plant protection unmanned aerial vehicle to the flight line is very high, if can not reach accurate spraying, not only can not reach the effect that prevents to respray the hourglass and spout, still can produce the phytotoxicity even. Traditional plant protection unmanned aerial vehicle because GPS positioning deviation can fall the height, fly phenomenon such as not straight, often appear respraying, leak and spout the scheduling problem, how to realize that accurate spraying is the technological problem in the industry always.
Currently, accurate positioning using network RTK (Real-time kinematic) technology is one of the developing hotspots, and it relies on CORS (continuous Operating Reference states) technology. The CORS system consists of five parts, namely a reference station network, a data processing center, a data transmission system, a positioning navigation data broadcasting system and a user application system, wherein each reference station is connected with a monitoring analysis center into a whole through the data transmission system to form a special network, and a virtual reference station is provided by adopting a fixed station network and a VRS (virtual reference station) technology, so that each measurer in a measuring area can use the system, the precision of centimeter level can be realized, and the performance and reliability of the system are greatly enhanced.
However, existing physical reference stations must be set up at known coordinates, which limits the flexibility of networking the private network. And moreover, the maintenance is carried out manually by professional personnel, and the cost is high.
Disclosure of Invention
The invention aims to solve at least one of the technical defects, and provides a phase difference networking method and device, which can elastically stretch and contract networking, realize more flexible networking capability and reduce networking cost.
In a first aspect, the present invention provides a networking method based on phase difference, including the following steps:
acquiring position information of the mobile base station in a stable state based on the differential correction data;
calculating the distance between the mobile base station and the network according to the position information of the mobile base station;
and when the distance between the mobile base station and any networking is not more than a preset distance, adding the mobile base station to the networking.
Further, the networking method based on the phase difference further includes: and when the distance between the mobile base station and any networking exceeds a preset distance, creating a new networking, wherein the networking comprises the mobile base station.
Further, the networking method based on the phase difference further includes:
and when detecting that the mobile base station in the networking is in an unstable state, removing the mobile base station from the networking.
Further, the networking method based on the phase difference further includes:
and when the distance between different networking is detected not to exceed a preset threshold value, merging the networking.
Specifically, the step of acquiring the position information of the mobile base station in the stable state based on the differential correction data includes:
judging whether the mobile base station is in a stable state or not according to observation data uploaded by the mobile base station;
and when the mobile base station is in a stable state, acquiring the position information of the mobile base station.
Specifically, the criterion for determining whether the mobile base station is in a stable state includes: the number of satellites connected to the mobile base station, the signal quality of the satellites and the variation data of the satellite set.
Preferably, the process of determining whether the mobile base station is in a stable state includes:
acquiring the positioning and speed information of the mobile base station;
and judging whether the mobile base station is in a stable state or not according to the observation data and/or the positioning and speed information of the mobile base station.
Specifically, the process of acquiring the positioning and velocity information of the mobile base station includes:
performing virtual reference station operation or using third-party service by using observation data uploaded by the reference stations in the group network to obtain differential correction data;
and performing phase difference positioning and speed calculation on the observation data of the mobile base station according to the difference correction data to acquire positioning and speed information of the mobile base station.
Preferably, the process of acquiring differential data further comprises:
when there are a plurality of differential correction data, the differential correction data is determined according to a preset condition.
Specifically, the preset conditions include: a distance of the mobile base station from a core network providing the differential correction data, or a geographical location where the mobile base station is located.
Preferably, before performing phase difference positioning and velocity calculation according to the difference correction data and observation data of the mobile base station, the method further includes: when there are a plurality of differential correction data, the differential correction data is determined in conjunction with a low-precision position of the mobile base station.
In a second aspect, the present invention further provides a phase difference-based networking apparatus, including:
the acquisition module is used for acquiring the position information of the mobile base station in a stable state based on the differential correction data;
the calculation module is used for calculating the distance between the mobile base station and the network according to the position information of the mobile base station;
and the processing module is used for adding the mobile base station to the networking when the distance between the mobile base station and any networking is not more than a preset distance.
Further, the phase difference-based networking device further includes: and the creating module is used for creating a new networking when the distance between the mobile base station and any networking exceeds a preset distance, wherein the networking comprises the mobile base station.
Further, the phase difference-based networking device further includes: and the removing module is used for removing the mobile base station from the networking when the mobile base station in the networking is detected to be in an unstable state.
Further, the phase difference-based networking device further includes: and the merging module is used for merging the networking when the distance between different networking is detected to be not more than a preset threshold value.
Specifically, the obtaining module includes:
the first judgment unit is used for judging whether the mobile base station is in a stable state or not according to the observation data uploaded by the mobile base station;
a first obtaining unit, configured to obtain location information of the mobile base station when the mobile base station is in a stable state.
Specifically, the criterion for determining whether the mobile base station is in a stable state includes: the number of satellites connected to the mobile base station, the signal quality of the satellites and the variation data of the satellite set.
Specifically, the obtaining module further includes: and the second acquisition unit is used for acquiring the positioning and speed information of the mobile base station.
And the second judging unit is used for judging whether the mobile base station is in a stable state or not according to the observation data and the positioning and speed information of the mobile base station.
Specifically, the second obtaining unit is further configured to perform virtual reference station calculation or use a third-party service by using observation data uploaded by the reference station in the network group, and obtain differential correction data; and the number of the first and second groups,
and the device is used for carrying out phase difference positioning and speed calculation according to the difference correction data and the observation data of the mobile base station so as to obtain the positioning and speed information of the mobile base station.
Preferably, the second obtaining unit is further configured to determine the differential correction data according to a preset condition when there are a plurality of differential correction data.
Specifically, the preset conditions include: a distance of the mobile base station from a core network providing the differential correction data, or a geographical location where the mobile base station is located.
Preferably, the obtaining module further comprises: a determination unit for determining differential correction data in combination with a low-precision position of the mobile base station when there are a plurality of differential correction data.
In a third aspect, the present invention further provides a differential positioning system, comprising:
a mobile base station for providing observation data;
a fixed station for providing observation data and differential correction data;
the processing device is used for calculating the distance between the mobile base station and the network according to the position information of the mobile base station; and when the distance between the mobile base station and any networking is not more than a preset distance, adding the mobile base station to the networking.
In a fourth aspect, the present invention further provides a phase difference-based networking apparatus, including:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the steps of the phase difference based networking method according to the first aspect are performed.
In a fifth aspect, the present invention also provides a computer-readable storage medium, comprising:
one or more applications configured to perform the phase difference based networking method of any of the first aspects.
In a sixth aspect, the present invention further provides an aircraft, including the phase difference-based networking system of the third aspect; alternatively, the phase difference-based networking apparatus of the fourth aspect; alternatively, the computer-readable storage medium of the fifth aspect.
Compared with the prior art, the scheme of the invention has the following advantages:
according to the networking method based on the phase difference, the mobile base station in a stable state is added into networking, so that the networking specification is changed, and under the condition that the mobile base station is not manually set, the mobile base station can be used for collecting data and automatically judging whether the mobile base station is stable or not, so that the reference station is flexibly erected, a professional is not required to perform complex setting and maintenance on the reference station, and labor and time costs are saved.
The networking method based on the phase difference provided by the invention judges whether the observation data of the mobile base station is effective or not according to whether the mobile base station is in a stable state or not, namely, the usability verification is carried out on the data reported by the mobile base station, so that the accuracy and reliability of the observation data acquired by the networking are ensured.
The networking method based on the phase difference can judge that the mobile base station is removed from networking in time when the mobile base station is in an unstable state due to unexpected movement, impact, toppling and the like, so that the whole system is efficient and stable.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
fig. 1 is a flowchart of a method of a phase difference-based networking method according to the present invention;
FIG. 2 is a flowchart illustrating an embodiment of a phase difference-based networking method according to the present invention;
fig. 3 is a schematic diagram of a flow of another embodiment of a phase difference-based networking method provided by the present invention;
fig. 4 is a schematic structural diagram of a networking device based on phase difference provided in the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention firstly provides a networking method based on phase difference, which is suitable for a server end, and the flow schematic diagram of the method is shown in figure 1, and the method comprises the following steps:
s110, acquiring position information of the mobile base station in a stable state based on the differential correction data;
s120, calculating the distance between the mobile base station and the network according to the position information of the mobile base station;
s130, when the distance between the mobile base station and any networking is not more than the preset distance, the mobile base station is added to the networking.
The networking method based on the phase difference firstly judges whether the mobile base station is in an available state or not according to the position information of the mobile base station, if the mobile base station is in a stable state, the mobile base station is in the available state, and if the data provided by the mobile base station is reliable data, the mobile base station is added into one or more suitable networking networks, so that the coverage range of the networking is enlarged. The networking method based on the phase difference can add the mobile base station in a stable state into networking, so that free expansion and contraction of the networking and flexible erection of the reference station are realized, and the high efficiency and stability of the whole system are realized.
In order to make the technical solution of the present invention clearer and clearer, specific implementation processes of each step or specific contents thereof are further described below.
S110, acquiring position information of the mobile base station in a stable state based on the differential correction data;
supposing a scenario that the unmanned aerial vehicle needs proper differential correction data to perform accurate positioning and navigation when performing plant protection operation or farmland, if the data provided by the current reference station cannot reach the required precision, an additional mobile base station needs to be erected in an operation area needing mapping, and thus, the mobile base station needs to be erected through a complicated process, manpower and time are spent, and labor and time costs are increased.
An embodiment provided by the present invention first detects whether there is an available mobile base station in an area to be mapped, and if there is an available mobile base station, obtains location information of the mobile base station by using satellite observation data reported by the mobile base station, and a flow diagram of the embodiment is shown in fig. 2, and the specific steps include:
s111, judging whether the mobile base station is in a stable state or not according to observation data uploaded by the mobile base station;
the term "stable state" as used herein includes the stability of the number of connected satellites, the stability of the signal-to-noise ratio of the satellite, and the like, in addition to the stationary state of the mobile base station.
And judging whether the satellite number is stable and whether the satellite signal-to-noise ratio is stable according to the satellite number, the satellite signal quality and the change data of the satellite set in the observation data.
It should be noted that, according to the satellite observation data uploaded by the mobile base station, the low-precision position information of the mobile base station can be analyzed, and whether the mobile base station is in a stable state can be roughly determined according to the low-precision position information.
The judgment standard that the mobile base station is in the stable state comprises the following steps: when any variation that can reflect the position variation of the mobile base station or the environmental variation (such as interference) does not exceed the set threshold, the mobile base station is in a stable state. The parameters that can characterize whether the mobile base station is in a stable state generally include: the rate of change of position, velocity values, and the number of satellites observed and signal quality changes, among others.
The specific process comprises the following steps: monitoring the position change and speed resolved by a carrier phase difference (RTK) technology, or resolving the number of observed satellites and the change of signal quality (signal-to-noise ratio and carrier-to-noise ratio), and determining that the mobile base station is in a stable state when the change does not exceed a set threshold. How to monitor the position change and velocity of the RTK solution, or the number of observed satellites and the signal quality (signal-to-noise ratio, carrier-to-noise ratio) change belongs to the technology well known to those skilled in the art, and will not be described in detail herein.
And S112, when the mobile base station is in a stable state, acquiring the position information of the mobile base station.
And when the mobile base station is determined to be in a stable state, calculating a low-precision position according to the observation data of the mobile base station to obtain differential correction data, and obtaining the position information of the mobile base station according to the obtained observation data and the differential correction data of the mobile base station. And the position information is subjected to error adjustment, so that the mobile base station is accurately positioned.
In this embodiment, only the observation data uploaded by the mobile base station is used to determine whether the mobile base station is in a stable state, which is limited by the prior art, and the obtained observation data has a certain error.
In another preferred embodiment, rough positioning is performed based on observation data of a mobile base station, then appropriate differential data is selected according to the rough position to perform precise positioning, and stability determination is performed by using position information and speed information of the precise positioning in combination with the observation data, a flow diagram of the embodiment is shown in fig. 3, and the method includes the following steps:
s1101, acquiring observation data uploaded by a mobile base station, and acquiring a low-precision position of the mobile base station by positioning and resolving the observation data;
by analyzing the satellite observation data, it is possible to obtain positioning data of the mobile base station, but the positioning data is a low-precision position of the mobile base station, and the low-precision position includes solutions of DGPS positioning using an auxiliary satellite (e.g., SBAS, QZSS) in addition to a single-point solution. Typically, the positioning accuracy of low accuracy varies between 0.5 and 10 meters.
S1102, acquiring differential correction data, and performing phase differential positioning and speed calculation on the observation data of the mobile base station by using the differential correction data to acquire high-precision positioning and speed information of the mobile base station;
a group of a plurality of fixed stations that provide differential correction data to a mobile base station is called a core network. When a plurality of core networks exist around the mobile base station, the core network providing the differential correction data for the mobile base station is determined according to preset conditions, for example, the core network closest to the mobile base station or the core network in the administrative area where the mobile base station is located is selected, that is, appropriate differential correction data is obtained according to preset conditions.
In the first embodiment, the low-precision position of the current mobile base station is obtained by performing positioning calculation using the observation data of the mobile base station, and the core network provides the mobile base station with differential correction data in at least the following two ways based on the low-precision position.
One way is that the core network uses the low-precision position to perform virtual reference station calculation or uses a third-party service (such as CORS), virtualizes a reference station, and sends differential correction data of the virtual reference station to the mobile base station.
Another mode is that a fixed station closest to the mobile base station in the core network is obtained according to the low-precision position, and the fixed station is used for providing differential correction data for the mobile base station. That is, in the single station method, the accuracy of the RTK solution decreases as the base length (distance between the fixed station and the mobile base station) increases, compared to the first method.
In the second embodiment, the observation data of the mobile base station is used for positioning calculation to obtain the low-precision position of the current mobile base station, and the low-precision position is used for obtaining the corresponding differential correction data from the core network for high-precision RTK calculation to obtain the high-precision position information of the mobile base station. The second method is more accurate in determining whether the mobile base station is in a stable state than the first method because the used positioning and velocity accuracy for determining the position change is higher.
In some occasions where the precision requirement is not high, RTD technology can be used to replace the RTK, and the positioning precision can reach a decimeter level generally.
S1103, judging whether the mobile base station is in a stable state or not according to the observation data and the high-precision positioning and speed information of the mobile base station;
the criterion for judging whether the mobile base station is in a stable state according to the positioning and speed data comprises the following steps: and when any variable quantity capable of reflecting the position change of the mobile base station does not exceed the set threshold value, the mobile base station is in a stable state. In the embodiment of the invention, any intermediate quantity or result quantity capable of reflecting the position change of the mobile base station in the positioning and speed calculation process can be used as a judgment standard for judging whether the mobile base station is stable or not.
The process of obtaining the RTK fixed solution of the mobile base station from the low-precision observation data of the mobile base station in combination with the differential correction data and monitoring the variation of the intermediate parameter generated in the process are well known to those skilled in the art, and are not described herein again.
And optionally, the state quantity of the tracked satellite is also included, and the state quantity can also be used for judging whether the mobile base station is stable, such as a star-sky-map (ephemeris), the signal quality of each satellite, and the like. In a stable state, the distribution of the satellites in the star-sky diagram is relatively stable, and the loss of locks of a large number of satellites cannot occur; the signal quality of each satellite is also relatively stable. Therefore, the number of satellites and the variation of the satellite signal quality exceed the preset threshold value, and the mobile base station can be judged to be unstable.
S1104, when the mobile base station is in a stable state, storing the location information of the mobile base station.
If the mobile base station is in a stable state, the observation data is valid, and the position information of the mobile base station is stored so as to be added into networking for utilization. If the mobile base station is in an unstable state, the observation data of the mobile base station is unavailable, and the position information of the mobile base station is not stored.
In the embodiment, whether the mobile base station is stable or not is judged by using satellite observation data provided by the mobile base station and the positioning and speed which can be additionally selected, and the judgment result is more accurate and reliable.
Adding the mobile base station in a stable state to networking meeting the conditions according to preset conditions, for example, adding the mobile base station to networking meeting the distance conditions, or pre-defining a geographical area for networking, for example, geographical areas divided according to administrative areas such as Guangdong province and Beijing city, and all mobile base stations in the geographical area, and adding the mobile base station to corresponding networking in the geographical area to which the mobile base station belongs when the mobile base station is judged to be in the stable state. Judging whether the mobile base station can be added into the networking according to a networking range formed by a pre-defined geographic area and the position information of the mobile base station, wherein when the mobile base station is in a networking range or on the boundary thereof, the distance is 0; the distance is greater than 0 when out of networking range. If the distance between the mobile base station and the networking is 0, the mobile base station is added into the networking, and if the distance between the mobile base station and the networking is greater than 0, the mobile base station does not belong to a well-defined geographic area, and the mobile base station cannot be added into the networking.
A method for adding a mobile base station to a network group in a non-defined geographical area, namely adding the mobile base station to the network group meeting the conditions, comprises the following steps:
s120, calculating the distance between the mobile base station and the network according to the position information of the mobile base station;
there are at least two ways to calculate the distance between the mobile base station and the network:
first, the networking is described as a boundary, and if the mobile base station is in the networking or on the boundary, the distance is 0; otherwise, the distance is greater than 0, and the value is the shortest distance from the base station to the boundary.
And secondly, describing the networking as a set of reference stations, wherein the networking boundary is a boundary formed by a range taking the coordinates of the reference stations as the circle center, and calculating the distance from the mobile base station to any one group of intra-network reference stations around the mobile base station, wherein the distance from the mobile base station to the networking is the shortest distance from the mobile base station to all the reference stations in the networking.
S130, when the distance between the mobile base station and any networking is not more than the preset distance, the mobile base station is added to the networking.
The networking can be one or more, namely, if the distance between the mobile base station and one networking does not exceed a preset distance, the mobile base station is added into the networking; if the distance from the mobile base station to a plurality of networks does not exceed the preset distance, adding the mobile base station to the plurality of networks, wherein the plurality of networks comprise at least two networks; further, when the mobile base stations added to different networks satisfy the condition of combining networks, the step S150 is performed.
The mobile base station meeting the conditions in the area to be tested is added into networking in the mode, and the networking scale is enlarged, so that the networking coverage capacity in a larger range is obtained, meanwhile, the manual participation in the complex base station setting is not needed, the labor cost is reduced, and the time cost is saved.
In this embodiment, when the distance between the mobile base station and any one of the networks exceeds a preset distance, a new network is created, where the network includes the mobile base station. The process of creating a new network comprises:
and the distance between the mobile base station and any one networking exceeds a preset distance, and a data transmission channel between the mobile base station and a core network for providing the differential correction data is reserved, so that the mobile base station and the core network form a new networking, wherein the networking comprises the mobile base station.
The embodiment of the invention also comprises the following steps:
s140, when detecting that a reference station in the networking is in an unstable state, removing the reference station from the networking, wherein the reference station is a mobile base station. The method specifically comprises the following steps:
s141, performing RTK positioning and speed calculation according to observation data provided by a reference station in a network and differential correction data provided by the network, and acquiring positioning and speed information of the reference station;
the step of obtaining the positioning and velocity information of the reference station in the networking is similar to the step of obtaining the positioning and velocity information of the mobile base station, and is not described herein again.
And S142, determining that the reference station is in an unstable state by combining the observation data of the reference station and the acquired positioning and speed information, and removing the reference station from the networking.
The networking method based on the phase difference provided by the embodiment of the invention can realize that when the mobile base station moves, bumps, topples and the like due to accidents, the system can timely judge to remove the mobile base station from networking, and the whole system is efficient and stable.
The embodiment of the invention also comprises the following steps:
s150, when the distance between different networking is detected not to exceed a preset threshold value, merging the networking.
The distance between different networks can be calculated in at least two ways:
firstly, when a networking boundary is formed by a pre-defined geographical area, if the boundaries of two networks are intersected at least at one point, the distance between the two networks is 0; otherwise, the distance is the shortest distance between the boundaries of the two nets and is the distance between the two nets.
Second, an approximation calculation is performed using the coordinates of the reference stations within the two networks, the distance between the two networks being the distance between the two reference stations that are closest to each other and belong to the two networks, respectively.
And when the distance between different networking calculated according to any mode does not exceed a preset threshold value, if the preset threshold value can be a specific numerical value, such as 5 meters, 100 meters and the like, merging the networking.
The invention also provides a networking device based on phase difference, the structural schematic diagram of the device is shown in fig. 4, and the device comprises: an acquisition module 400, a calculation module 410, and a processing module 420.
An obtaining module 400, configured to obtain, based on the differential correction data, position information of the mobile base station in a stable state;
in an embodiment of the present invention, the obtaining module 400 is first configured to detect whether there is an available mobile base station in an area to be mapped, and if so, obtain location information of the mobile base station by using satellite observation data reported by the mobile base station.
The acquisition module further comprises: a first judging unit 4001, configured to judge whether a mobile base station is in a stable state according to observation data uploaded by the mobile base station;
the term "stable state" as used herein includes the stability of the number of connected satellites, the stability of the signal-to-noise ratio of the satellite, and the like, in addition to the stationary state of the mobile base station.
And judging whether the satellite number is stable and whether the satellite signal-to-noise ratio is stable according to the satellite number, the satellite signal quality and the change data of the satellite set in the observation data.
It should be noted that, according to the satellite observation data uploaded by the mobile base station, the low-precision position information of the mobile base station can be analyzed, and whether the mobile base station is in a stable state can be roughly determined according to the low-precision position information.
The judgment standard that the mobile base station is in the stable state comprises the following steps: when any variation that can reflect the position variation of the mobile base station or the environmental variation (such as interference) does not exceed the set threshold, the mobile base station is in a stable state. The parameters that can characterize whether the mobile base station is in a stable state generally include: the rate of change of position, velocity values, and the number of satellites observed and signal quality changes, among others.
The specific process comprises the following steps: monitoring the position change and speed resolved by a carrier phase difference (RTK) technology, or resolving the number of observed satellites and the change of signal quality (signal-to-noise ratio and carrier-to-noise ratio), and determining that the mobile base station is in a stable state when the change does not exceed a set threshold.
A first obtaining unit 4002, configured to obtain location information of the mobile base station when the mobile base station is in a stable state.
And when the mobile base station is determined to be in a stable state, acquiring the position information of the mobile base station according to the acquired observation data and the acquired difference correction data of the mobile base station. And the position information is subjected to error adjustment, so that the mobile base station is accurately positioned.
In this embodiment, only the observation data uploaded by the mobile base station is used to determine whether the mobile base station is in a stable state, which is limited by the prior art, and the obtained observation data has a certain error.
In another preferred embodiment, the performing coarse positioning based on the observation data of the mobile base station, then selecting appropriate differential data according to the coarse position to perform fine positioning, and then using the position information and the speed information of the fine positioning to combine with the observation data to perform stability determination, and the obtaining module 400 needs to obtain the position information of the mobile base station according to the observation data and the speed information of the mobile base station, which includes:
the resolving unit 4003 is used for acquiring observation data uploaded by the mobile base station, and acquiring a low-precision position of the mobile base station by positioning and resolving the observation data;
by analyzing the satellite observation data, it is possible to obtain positioning data of the mobile base station, but the positioning data is a low-precision position of the mobile base station, and the low-precision position includes solutions of DGPS positioning using an auxiliary satellite (e.g., SBAS, QZSS) in addition to a single-point solution. Typically, the positioning accuracy of low accuracy varies between 0.5 and 10 meters.
A second obtaining unit 4004, configured to obtain differential correction data, perform phase differential positioning and velocity calculation on the observation data of the mobile base station using the differential correction data, and obtain positioning and velocity information of the mobile base station;
a group of a plurality of fixed stations that provide differential correction data to a mobile base station is called a core network. When a plurality of core networks exist around the mobile base station, the core network providing the differential correction data for the mobile base station, such as the core network closest to the mobile base station or the core network in the administrative area where the mobile base station is located, is determined according to the preset condition, and accordingly, the appropriate differential data is obtained according to the preset condition.
In the first embodiment, the low-precision position of the current mobile base station is obtained by performing positioning calculation using the observation data of the mobile base station, and the core network provides the mobile base station with differential correction data in at least the following two ways based on the low-precision position.
One way is that the core network uses the low-precision position to perform virtual reference station calculation or uses a third-party service (such as CORS), virtualizes a reference station, and sends differential correction data of the virtual reference station to the mobile base station.
Another mode is that a fixed station closest to the mobile base station in the core network is obtained according to the low-precision position, and the fixed station is used for providing differential correction data for the mobile base station. That is, in the single station method, the accuracy of the RTK solution decreases as the base length (distance between the fixed station and the mobile base station) increases, compared to the first method.
In the second embodiment, the observation data of the mobile base station is used for positioning calculation to obtain the low-precision position of the current mobile base station, and the low-precision position is used for obtaining the corresponding differential correction data from the core network for high-precision RTK calculation to obtain the high-precision position information of the mobile base station. The second method is more accurate in determining whether the mobile base station is in a stable state than the first method because the used positioning and velocity accuracy for determining the position change is higher.
In some occasions where the precision requirement is not high, RTD technology can be used to replace the RTK, and the positioning precision can reach a decimeter level generally.
A second judging unit 4005, which judges whether the mobile base station is in a stable state according to the observation data of the mobile base station and the high-precision positioning and speed information;
the criterion for judging whether the mobile base station is in a stable state according to the positioning and speed data comprises the following steps: and when any variable quantity capable of reflecting the position change of the mobile base station does not exceed the set threshold value, the mobile base station is in a stable state. In the embodiment of the invention, any intermediate quantity or result quantity capable of reflecting the position change of the mobile base station in the positioning and speed calculation process can be used as a judgment standard for judging whether the mobile base station is stable or not.
The process of obtaining the RTK fixed solution of the mobile base station from the low-precision observation data of the mobile base station in combination with the differential correction data and monitoring the variation of the intermediate parameter generated in the process are well known to those skilled in the art, and are not described herein again.
Optionally, the state quantities of the tracked satellites are also included, and may also be used for determining whether the mobile base station is stable, such as a star-sky-map (ephemeris), signal quality of each satellite, and the like. In a stable state, the distribution of the satellites in the star-sky diagram is relatively stable, and the loss of locks of a large number of satellites cannot occur; the signal quality of each satellite is also relatively stable. Therefore, the number of satellites and the variation of the satellite signal quality exceed the preset threshold value, and the mobile base station can be judged to be unstable.
The second obtaining unit 4004 is further configured to obtain the location information of the mobile base station when the mobile base station is in a stable state.
If the mobile base station is in a stable state, the observation data is valid, and the position information of the mobile base station is stored so as to be added into networking for utilization. If the mobile base station is in an unstable state, the observation data of the mobile base station is unavailable, and the position information of the mobile base station is not stored.
In the embodiment, whether the mobile base station is stable or not is judged by using satellite observation data provided by the mobile base station and the positioning and speed which can be additionally selected, and the judgment result is more accurate and reliable.
And adding the mobile base station in the stable state to the networking meeting the condition according to a preset condition, for example, adding the mobile base station to the networking meeting the condition, or pre-defining a geographical area for pre-networking, for example, geographical areas divided according to administrative areas such as Guangdong province and Beijing city, and all mobile base stations in the geographical area, and adding the mobile base station to the corresponding networking in the geographical area to which the mobile base station belongs when the mobile base station is judged to be in the stable state.
A method for adding a mobile base station to a network group in a non-defined geographical area, namely adding the mobile base station to the network group meeting the conditions, comprises the following steps:
a calculating module 410, configured to calculate a distance between the mobile base station and a network according to the location information of the mobile base station;
the distance between the mobile base station and the network is calculated in at least two ways:
in the first mode, the networking boundary is formed by a pre-defined geographical area, if the mobile base station is located in the networking or on the boundary, the distance between the mobile base station and the networking is 0, otherwise, the distance between the mobile base station and the networking is greater than 0, and the distance between the mobile base station and the networking is the shortest distance from the mobile base station to the networking boundary.
In the second mode, the networking boundary is composed of reference stations, and the distance from the mobile base station to any one of the surrounding sets of reference stations in the network is calculated by taking the coordinate of each reference station as the center of a circle, wherein the distance from the mobile base station to the network is the shortest distance from the mobile base station to all the reference stations in the network.
The phase difference-based networking device further comprises:
a processing module 420, configured to add the mobile base station to the networking when a distance between the mobile base station and any one of the networking does not exceed a preset distance.
The networking can be divided into one or more, namely, when the distance between the mobile base station and one networking does not exceed a preset distance, the mobile base station is added into the networking; and when the distance from the mobile base station to a plurality of networking networks does not exceed the preset distance, adding the mobile base station to the plurality of networking networks, wherein the plurality of networking networks comprise at least two networking networks.
Further, the phase difference-based networking device further includes: and the creating module is used for creating a new networking when the distance between the mobile base station and any networking exceeds a preset distance, wherein the networking comprises the mobile base station.
Further, when the distances between the mobile base stations added to different networks and the reference stations in other networks meet the grid-connection condition, combining the different networks.
The mobile base station meeting the conditions in the area to be tested is added into networking in the implementation mode, and the networking scale is enlarged, so that the networking coverage capacity in a larger range is obtained, meanwhile, the manual participation in the complex base station setting is not needed, the labor cost is reduced, and the time cost is saved.
In an embodiment of the present invention, the networking device based on phase difference further includes: and the removing module is used for removing the reference station added to the networking from the networking when the reference station is detected to be in an unstable state, wherein the reference station is a mobile base station.
The removing module is also used for carrying out RTK positioning and speed resolving according to observation data provided by a reference station in the networking and differential correction data provided by the networking so as to acquire positioning and speed information of the reference station; the step of obtaining the positioning and velocity information of the reference station in the networking is similar to the step of obtaining the positioning and velocity information of the mobile base station, and is not described herein again.
And the removing module is also used for combining the observation data of the reference station and the acquired positioning and speed information to determine that the reference station is in an unstable state, and then removing the reference station from the networking.
The networking method based on the phase difference provided by the embodiment of the invention can realize that when the mobile base station moves, bumps, topples and the like due to accidents, the system can timely judge to remove the mobile base station from networking, and the whole system is efficient and stable.
In an embodiment of the present invention, the networking device based on phase difference further includes: and the merging module is used for merging the networking when the distance between different networking is detected to be not more than a preset threshold value.
There are at least two calculation methods for the distance between different networks:
in the first mode, the networking boundary is formed by pre-defining a geographical area, and if the two networking boundaries intersect at least at one point, the distance between the two networks is 0, otherwise, the distance between the two networks is the shortest distance between the two networking boundaries.
In a second mode, the networking boundary is formed by reference stations, and the coordinates of the reference stations in the networking are used for approximate calculation, and the distance between two networks is the distance between two closest reference stations belonging to the two networking respectively. And when the server detects that at least two networking networks meet the condition of merging and networking, merging the networking networks, wherein the condition of merging and networking preferably selects that the distance between at least two reference stations in different networking networks does not exceed a preset distance, or the distance between at least two reference stations in different networking networks does not exceed a preset distance, and the networking networks are all in the same administrative area. Or other conditions that can combine reference stations belonging to different networks into one network. And if the judgment standard of the merging and networking is a preset distance, setting the preset distance as required.
Accordingly, the present invention also provides a differential positioning system comprising:
a mobile base station for providing observation data;
a fixed station for providing observation data and differential correction data;
the processing device is used for calculating the distance between the mobile base station and the network according to the position information of the mobile base station; and when the distance between the mobile base station and any networking is not more than a preset distance, adding the mobile base station to the networking.
The fixed station provides differential correction data for the mobile base station, is used for determining the position information of the mobile base station, and also provides reliable observation data which can be used in various aspects of scientific research and life and the like.
It should be noted that, in the embodiments of the present invention, the number of reference stations in the networking may be flexibly set, so that the number of the mobile base stations varies within the range, and of course, an extreme case where only one reference station is included in the networking is also within the protection scope of the present invention. In the phase difference-based networking device provided by the invention, the core network comprises a plurality of fixed stations, and a plurality of mobile base stations also exist, and of course, the extreme case that the core network only comprises one fixed station is also within the protection scope of the invention.
Correspondingly, the invention also provides a networking device based on phase difference, which comprises:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the steps of the phase difference based method according to the first aspect are performed.
In addition, the present invention also provides a computer-readable storage medium comprising:
one or more applications configured to perform the phase difference based networking method of any of the first aspects.
Furthermore, the present invention further provides an aircraft comprising the phase difference-based networking system according to the third aspect; alternatively, the phase difference-based networking apparatus of the fourth aspect; alternatively, the computer-readable storage medium of the fifth aspect.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (20)
1. A networking method based on phase difference is characterized by comprising the following steps:
receiving differential correction data provided by a core network based on low-precision position information of a mobile base station, judging whether the mobile base station is in a stable state or not according to observation data uploaded by the mobile base station, and acquiring the position information of the mobile base station in the stable state based on the differential correction data when the mobile base station is in the stable state;
calculating the distance between the mobile base station and the networking according to the position information of the mobile base station, wherein the distance from the mobile base station to the networking is the shortest distance from the mobile base station to all reference stations in the networking;
when the distance between the mobile base station and any networking is not more than a preset distance, adding the mobile base station to the networking;
when the fact that the distance between different networking is not larger than a preset threshold value is detected, the networking is combined; wherein, the distance between different networks is obtained by at least one of the following modes: when the networking boundary is formed by a pre-defined geographical area, if the two networking boundaries are intersected at least at one point, the distance between the two networking boundaries is zero, otherwise, the shortest distance between the two networking boundaries is the distance between the two networking boundaries; and/or, performing approximate calculation by using coordinates of reference stations in the two networks, wherein the distance between the two networks is the distance between two reference stations which are closest to each other and belong to the two networks respectively.
2. The phase differential-based networking method according to claim 1, further comprising:
and when the distance between the mobile base station and any networking exceeds a preset distance, creating a new networking, wherein the networking comprises the mobile base station.
3. The phase differential-based networking method according to claim 1, further comprising:
and when detecting that the mobile base station in the networking is in an unstable state, removing the mobile base station from the networking.
4. The phase difference-based networking method according to claim 1, wherein the determining of whether the mobile base station is in a stable state comprises: the number of satellites connected to the mobile base station, the signal quality of the satellites and the variation data of the satellite set.
5. The phase difference-based networking method according to claim 1, wherein the step of determining whether the mobile base station is in a stable state comprises:
acquiring the positioning and speed information of the mobile base station;
and judging whether the mobile base station is in a stable state or not according to the observation data and/or the positioning and speed information of the mobile base station.
6. The phase difference-based networking method according to claim 5, wherein the process of obtaining the positioning and velocity information of the mobile base station comprises:
performing virtual reference station operation or using third-party service by using observation data uploaded by the reference stations in the group network to obtain differential correction data;
and performing phase difference positioning and speed calculation on the observation data of the mobile base station according to the difference correction data to acquire positioning and speed information of the mobile base station.
7. The phase difference-based networking method according to claim 6, wherein the step of obtaining the difference data further comprises:
when there are a plurality of differential correction data, the differential correction data is determined according to a preset condition.
8. The phase difference-based networking method according to claim 7, wherein the preset condition comprises: a distance of the mobile base station from a core network providing the differential correction data, or a geographical location where the mobile base station is located.
9. The phase difference-based networking method according to claim 6, wherein before performing phase difference positioning and velocity solution according to the difference correction data and observation data of the mobile base station, the method further comprises: when there are a plurality of differential correction data, the differential correction data is determined in conjunction with a low-precision position of the mobile base station.
10. A phase difference-based networking apparatus, comprising:
the acquisition module is used for receiving differential correction data provided by a core network based on low-precision position information of a mobile base station, judging whether the mobile base station is in a stable state according to observation data uploaded by the mobile base station, and acquiring the position information of the mobile base station in the stable state based on the differential correction data when the mobile base station is in the stable state;
the calculation module is used for calculating the distance between the mobile base station and the networking according to the position information of the mobile base station, wherein the distance from the mobile base station to the networking is the shortest distance from the mobile base station to all reference stations in the networking;
the processing module is used for adding the mobile base station to the networking when the distance between the mobile base station and any networking is not more than a preset distance;
the merging module is used for merging the networking when the distance between different networking is detected to be not more than a preset threshold value; wherein, the distance between different networks is obtained by at least one of the following modes: when the networking boundary is formed by a pre-defined geographical area, if the two networking boundaries are intersected at least at one point, the distance between the two networking boundaries is zero, otherwise, the shortest distance between the two networking boundaries is the distance between the two networking boundaries; and/or, performing approximate calculation by using coordinates of reference stations in the two networks, wherein the distance between the two networks is the distance between two reference stations which are closest to each other and belong to the two networks respectively.
11. The phase differential-based networking apparatus according to claim 10, further comprising: and the creating module is used for creating a new networking when the distance between the mobile base station and any networking exceeds a preset distance, wherein the networking comprises the mobile base station.
12. The phase differential-based networking apparatus according to claim 10, further comprising: and the removing module is used for removing the mobile base station from the networking when the mobile base station in the networking is detected to be in an unstable state.
13. The apparatus for phase difference-based networking according to claim 10, wherein the criterion for determining whether the mobile base station is in a stable state comprises: the number of satellites connected to the mobile base station, the signal quality of the satellites and the variation data of the satellite set.
14. The phase differential-based networking apparatus of claim 10, wherein the obtaining module further comprises:
a second acquisition unit for acquiring positioning and velocity information of the mobile base station,
and the second judging unit is used for judging whether the mobile base station is in a stable state or not according to the observation data and/or the positioning and speed information of the mobile base station.
15. The networking device based on phase difference according to claim 14, wherein the second obtaining unit is further configured to perform virtual reference station calculation using observation data uploaded by the reference stations in the networking or obtain difference correction data using a third-party service; and the number of the first and second groups,
and the device is used for carrying out phase difference positioning and speed calculation according to the difference correction data and the observation data of the mobile base station so as to obtain the positioning and speed information of the mobile base station.
16. The phase difference-based networking device according to claim 15, wherein the second obtaining unit is further configured to determine the differential correction data according to a preset condition when there are a plurality of differential correction data.
17. The phase difference-based networking device according to claim 16, wherein the preset condition comprises: a distance of the mobile base station from a core network providing the differential correction data, or a geographical location where the mobile base station is located.
18. The phase differential networking apparatus according to claim 15, wherein the obtaining module further comprises: a determination unit for determining differential correction data in combination with a low-precision position of the mobile base station when there are a plurality of differential correction data.
19. A differential positioning system, comprising:
a mobile base station for providing observation data;
a fixed station for providing observation data and differential correction data;
the processing device is used for calculating the distance between the mobile base station and the network according to the position information of the mobile base station; when the distance between the mobile base station and any networking is not more than a preset distance, the mobile base station is added into the networking;
the processing device is further used for merging the networks when the distance between different networks is detected not to exceed a preset threshold value; wherein, the distance between different networks is obtained by at least one of the following modes: when the networking boundary is formed by a pre-defined geographical area, if the two networking boundaries are intersected at least at one point, the distance between the two networking boundaries is zero, otherwise, the shortest distance between the two networking boundaries is the distance between the two networking boundaries; and/or, performing approximate calculation by using coordinates of reference stations in the two networks, wherein the distance between the two networks is the distance between two reference stations which are closest to each other and belong to the two networks respectively.
20. A phase difference-based networking apparatus, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the steps of performing the phase differential networking method according to any of claims 1-9.
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