CN108398703A - Utilize the track automatic measurement vehicle localization method and system of RTK technologies - Google Patents
Utilize the track automatic measurement vehicle localization method and system of RTK technologies Download PDFInfo
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- CN108398703A CN108398703A CN201711423659.8A CN201711423659A CN108398703A CN 108398703 A CN108398703 A CN 108398703A CN 201711423659 A CN201711423659 A CN 201711423659A CN 108398703 A CN108398703 A CN 108398703A
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- Prior art keywords
- base station
- location data
- vehicle
- wireless communication
- measurement vehicle
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Classifications
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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
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/009—Transmission of differential positioning data to mobile
Abstract
The present invention provides a kind of track automatic measurement vehicle localization methods and system using RTK technologies, and this approach includes the following steps：Base station location data are generated after the satellite positioning information of multiple locating base stations reception position location satellites；Measurement vehicle location data is generated after measuring the satellite positioning information of vehicle reception position location satellite；Ad hoc network is carried out with each locating base station and each wireless communication module for measuring vehicle communication connection, while base station location data time sharing transmissions being given in a manner of ad hoc network with each wireless communication module of locating base station communication connection and measure vehicle；It measures vehicle and obtains high-precision satellite positioning RTK coordinates according to base station location data and measurement vehicle location data real-time resolving.The present invention can reach the positioning accuracy of Centimeter Level in wide range, and it is not necessary that data processing centre is separately provided, cost is relatively low, suitable for not having cellular mobile communication networks overlay area, realize high-precision in certain area, non-blind area positioning.
Description
Technical field
The present invention relates to orbit measurement field more particularly to a kind of track automatic measurement vehicle positioning sides using RTK technologies
Method and system.
Background technology
With the development of the society, the communications and transportation development in China is also increasingly rapider, especially rail vehicle transportation, China
Rail traffic include inter-city rail transit, Line for Passenger Transportation, the mixed transport line road passenger-cargo and railway line for freight traffic etc..Due to the row carried
Vehicle movement influences, and railroad track can be deviated gradually, settles, and the static curve parameter of rail also can gradually change at any time,
When the parameter variation ranges such as the curve of track exceed certain feasible value, the stationarity of train operation will be affected,
It could even be possible to the major accidents such as cause the derailing of train, topple.
Therefore it in order to ensure the safe operation of train, needs periodically to measure the other parameters such as orbital curve, due to
Technical merit is limited, general using measuring carriage walking on track, to orbital curve shape in existing measurement operation
It measures, orbital curve etc. parameter measures, but measures vehicle and needs to be positioned in real time during walking and measuring, existing
Some measures vehicle and is positioned only with built-in GPS module, is influenced by landform, satellite-signal, and positioning carries out often
It is poor, it is difficult to meet high-precision measurement request.
Invention content
The purpose of the present invention is to provide a kind of track automatic measurement vehicle localization method and system using RTK technologies, purports
It is positioned only with built-in GPS module for solving existing orbit measurement vehicle, by landform, the shadow of satellite-signal
It rings, positioning carries out often poor, it is difficult to the problem of meeting high-precision measurement request.
The invention is realized in this way：
The present invention provides a kind of track automatic measurement vehicle localization method using RTK technologies, includes the following steps：
S1, multiple locating base stations generate base station location data after receiving the satellite positioning informations of position location satellites；
S2 generates measurement vehicle location data after measuring the satellite positioning information of vehicle reception position location satellite；
S3, with each locating base station and measure vehicle communication connection each wireless communication module carry out ad hoc network, while with positioning base
Each wireless communication module communicated to connect of standing gives base station location data time sharing transmissions to measurement vehicle in a manner of ad hoc network；
S4 measures vehicle and obtains high-precision satellite positioning RTK according to base station location data and measurement vehicle location data real-time resolving
Coordinate.
Further, the step S4 is specifically included：
S4.1 measures vehicle and judges it at a distance from each locating base station according to base station location data and measurement vehicle location data, selects
It takes the corresponding base station location data of the locating base station of closer distance to carry out real-time resolving, obtains one with measurement vehicle apart from recently
Virtual base station virtual base station location data, including virtual base station carrier phase observation data；
S4.2, measuring vehicle, measuring vehicle, locally progress is real-time according to vehicle location data and virtual base station carrier phase observation data is measured
It resolves, obtains high-precision satellite positioning RTK coordinates.
Further, in the step S3, each wireless communication module is configured to broadcast mode, each radio communication mold first
Block one address of setting automatically respectively, which generated by the manufacture sequence number of different communication module, when broadcast, base station location
Sending and receiving for data is configured in different channels, and sending node sends and receives in two nodes being in communication with each other
The reception of node uses the same channel, sending and receiving for same node to occupy different channels respectively.
The present invention also provides a kind of track automatic measurement vehicle positioning systems using RTK technologies, including measure vehicle, further include
At least three locating base stations and multiple wireless communication modules, each locating base station respectively with a radio communication mold
Block communicates to connect, and the measurement vehicle has satellite positioning module and resolves module, the measurement vehicle and one of them described nothing
Line communication module communicates to connect, and is communicated to connect in a manner of ad hoc network between each wireless communication module, the locating base station
Base station location data are generated after satellite positioning information for receiving position location satellite, and pass through coupled wireless communication module
Timesharing is sent to other wireless communication modules in ad hoc network, and the satellite positioning module for measuring vehicle is for receiving position location satellite
Satellite positioning information after generate and measure vehicle location data, and pass through coupled wireless communication module and receive base station location number
According to the resolving module is used to obtain high-precision satellite according to base station location data and measurement vehicle location data real-time resolving
Position RTK coordinates.
Further, the resolving module includes that virtual base station location data resolves submodule and satellite positioning RTK seats
Mark resolves submodule, the virtual base station location data resolve submodule be used to judge to measure vehicle and each locating base station away from
From the corresponding base station location data for choosing the locating base station of closer distance carry out real-time resolving, obtain one and measurement spacing
Virtual base station location data from nearest virtual base station, including virtual base station carrier phase observation data, the satellite
Position RTK calculating coordinate submodules are used to be obtained according to measurement vehicle location data and virtual base station carrier phase observation data real-time resolving
High-precision satellite positioning RTK coordinates.
Compared with prior art, the invention has the advantages that：
（1）The present invention can reach the positioning accuracy of Centimeter Level in wide range, simultaneously because the storage of data and in real time solution
It calculates and is all measuring the progress of vehicle therein, it is not necessary that data processing centre is separately provided, cost is relatively low.
（2）The present invention carries out the communication of ad hoc network formula, some locating base station and measurement vehicle using multiple wireless communication modules
Between information exchange can by multiple wireless communication modules forward realize, therefore, localization method of the present invention can solve tradition
Signal blind zone problem in radio communication, while this method is suitable for not having cellular mobile communication networks overlay area, realizes one
Determine high-precision in region, non-blind area positioning.
Description of the drawings
Fig. 1 is a kind of flow of track automatic measurement vehicle localization method using RTK technologies provided in an embodiment of the present invention
Figure；
Fig. 2 is a kind of block diagram of track automatic measurement vehicle positioning system using RTK technologies provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1：
As shown in Figure 1, offer of the embodiment of the present invention is a kind of to utilize RTK（Carrier phase difference technology）The track automatic measurement of technology
Vehicle localization method, includes the following steps：
S1, multiple locating base stations generate base station location data after receiving the satellite positioning informations of position location satellites.
S2 generates measurement vehicle after measuring satellite positioning information of the vehicle by built-in satellite positioning module reception position location satellite
Location data；The satellite positioning module can be Beidou positioning module or GPS positioning module.
S3, with each locating base station and each wireless communication module for measuring vehicle communication connection with the side Point-Multipoint
Formula carry out ad hoc network, while with locating base station communication connection each wireless communication module in a manner of ad hoc network by base station location data
Time sharing transmissions give measurement vehicle.
S4 measures vehicle and obtains high-precision satellite positioning according to base station location data and measurement vehicle location data real-time resolving
RTK coordinates.
The present invention can reach the positioning accuracy of Centimeter Level in wide range, simultaneously because the storage of data and in real time solution
It calculates and is all measuring the progress of vehicle therein, it is not necessary that data processing centre is separately provided, cost is relatively low.Use multiple radio communication molds
Block carries out the communication of ad hoc network formula, some locating base station and the information exchange measured between vehicle can pass through multiple wireless communication modules
Forwarding realizes that therefore, localization method of the present invention can solve the problems, such as signal blind zone in traditional radio communication, while this method is suitable
For there is no cellular mobile communication networks overlay area, high-precision in certain area, non-blind area positioning are realized.
As the preferred of the present embodiment, the step S4 is specifically included：
S4.1 measures vehicle and judges it at a distance from each locating base station according to base station location data and measurement vehicle location data, selects
It takes the corresponding base station location data of the locating base station of closer distance to carry out real-time resolving, obtains one with measurement vehicle apart from recently
Virtual base station virtual base station location data, including virtual base station carrier phase observation data；
S4.2, measuring vehicle, measuring vehicle, locally progress is real-time according to vehicle location data and virtual base station carrier phase observation data is measured
It resolves, obtains high-precision satellite positioning RTK coordinates.
For wireless communication module in a manner of ad hoc network, specially：Each wireless communication module is the section in communication network
Point, one of wireless communication module are fundamental nodes, and it is intermediate node that a part, which is wireless communication module, and a part is wireless
Communication module is terminal node, thus starts fundamental node wireless communication module by base station location data broadcasting to intermediate node
Wireless communication module recycles intermediate node by base station location data forwarding to terminal node wireless communication module.
In above-mentioned networking mode, it configures each wireless communication module to broadcast mode, each wireless communication module point first
One address is not set not automatically, which generated by the manufacture sequence number of different communication module, therefore, each in ad hoc network
Wireless communication module has only one address (ID).When broadcast, the sending and receiving of base station location data is configured to different
In channel, the reception for sending and receiving node of sending node is using the same channel in two nodes being in communication with each other, together
Sending and receiving for one node occupies different channels respectively, after avoiding same node from receiving the information that broadcast comes and broadcasts back to
Sending node, in this way, information can be broadcasted into the whole network.
Embodiment 2：
As shown in Fig. 2, the embodiment of the present invention also provides a kind of track automatic measurement vehicle positioning system using RTK technologies, including
Measure vehicle, further include at least three locating base stations and multiple wireless communication modules, each locating base station respectively with one
Wireless communication module communication connection, the measurements vehicle have satellite positioning module and resolve module, the measurement vehicle and
One of them described wireless communication module communication connection, between each wireless communication module in a manner of ad hoc network communication link
Connect, the locating base station, which is used to receive after the satellite positioning information of position location satellite, generates base station location data, and by with its phase
Wireless communication module timesharing even is sent to other wireless communication modules in ad hoc network, the satellite positioning module for measuring vehicle
It is generated after satellite positioning information for receiving position location satellite and measures vehicle location data, and pass through coupled radio communication mold
Block receives base station location data, and the resolving module is used to be obtained according to base station location data and measurement vehicle location data real-time resolving
To high-precision satellite positioning RTK coordinates.
Further, the resolving module includes that virtual base station location data resolves submodule and satellite positioning RTK seats
Mark resolves submodule, the virtual base station location data resolve submodule be used to judge to measure vehicle and each locating base station away from
From the corresponding base station location data for choosing the locating base station of closer distance carry out real-time resolving, obtain one and measurement spacing
Virtual base station location data from nearest virtual base station, including virtual base station carrier phase observation data, the satellite
Position RTK calculating coordinate submodules are used to be obtained according to measurement vehicle location data and virtual base station carrier phase observation data real-time resolving
High-precision satellite positioning RTK coordinates.
Specifically, after locating base station generates base station location data, by base station location data module by radio communication
It is transferred to the wireless communication module being connected with measurement vehicle in a manner of Point-to-Multipoint, life is corresponded to measure vehicle
At measurement vehicle location data, and receive the base station location data from each locating base station.It measures vehicle and judges one or more distances
Closer locating base station carries out real-time resolving using VRS algorithms, and it is fixed to calculate a virtual base station apart from nearest virtual base station
Position data measure vehicle using measurement vehicle location data and above-mentioned virtual base station including virtual base station carrier phase observation data
Carrier phase observation data obtains a high-precision Big Dipper or the RTK coordinates of GPS.
The present invention the track automatic measurement vehicle localization method and system using RTK technologies, localization method can compared with
Reach the positioning accuracy of Centimeter Level in a wide range of, simultaneously because the storage of data and real-time resolving all measure vehicle therein into
Row, it is not necessary that data processing centre is separately provided, without establishing locating base station and data processing centre and measure vehicle and data
Communication link between processing center, cost is relatively low, simultaneously because carrying out the logical of ad hoc network formula using multiple wireless communication modules
Letter, some locating base station and the information exchange measured between vehicle can forward realization, therefore, this hair by multiple wireless communication modules
Bright localization method can solve signal blind zone problem in traditional radio communication (such as radio station, cellular mobile communication), simultaneously
This method is suitable for not having cellular mobile communication networks overlay area, such as mountain area, desert, forest, ocean, realizes certain area
Interior high-precision, non-blind area positioning.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (5)
1. a kind of track automatic measurement vehicle localization method using RTK technologies, which is characterized in that include the following steps：
S1, multiple locating base stations generate base station location data after receiving the satellite positioning informations of position location satellites；
S2 generates measurement vehicle location data after measuring the satellite positioning information of vehicle reception position location satellite；
S3, with each locating base station and measure vehicle communication connection each wireless communication module carry out ad hoc network, while with positioning base
Each wireless communication module communicated to connect of standing gives base station location data time sharing transmissions to measurement vehicle in a manner of ad hoc network；
S4 measures vehicle and obtains high-precision satellite positioning RTK according to base station location data and measurement vehicle location data real-time resolving
Coordinate.
2. a kind of track automatic measurement vehicle localization method using RTK technologies as described in claim 1, it is characterised in that：Institute
Step S4 is stated to specifically include：
S4.1 measures vehicle and judges it at a distance from each locating base station according to base station location data and measurement vehicle location data, selects
It takes the corresponding base station location data of the locating base station of closer distance to carry out real-time resolving, obtains one with measurement vehicle apart from recently
Virtual base station virtual base station location data, including virtual base station carrier phase observation data；
S4.2, measuring vehicle, measuring vehicle, locally progress is real-time according to vehicle location data and virtual base station carrier phase observation data is measured
It resolves, obtains high-precision satellite positioning RTK coordinates.
3. a kind of track automatic measurement vehicle localization method using RTK technologies as described in claim 1, it is characterised in that：Institute
It states in step S3, configures each wireless communication module to broadcast mode, the automatic setting one respectively of each wireless communication module first
Address, the address are generated by the manufacture sequence number of different communication module, and when broadcast, sending and receiving for base station location data is matched
It sets into different channels, the reception for sending and receiving node of sending node is using same in two nodes being in communication with each other
A channel, sending and receiving for same node occupy different channels respectively.
4. a kind of track automatic measurement vehicle positioning system using RTK technologies, including measure vehicle, it is characterised in that：Further include to
Few three locating base stations and multiple wireless communication modules, each locating base station respectively with a wireless communication module
Communication connection, the measurement vehicle have satellite positioning module and resolve module, and the measurement vehicle is described wireless with one of them
Communication module communicates to connect, and is communicated to connect in a manner of ad hoc network between each wireless communication module, and the locating base station is used
Base station location data are generated after the satellite positioning information for receiving position location satellite, and pass through coupled wireless communication module point
When be sent to other wireless communication modules in ad hoc network, the satellite positioning module for measuring vehicle is for receiving position location satellite
It is generated after satellite positioning information and measures vehicle location data, and base station location number is received by coupled wireless communication module
According to the resolving module is used to obtain high-precision satellite according to base station location data and measurement vehicle location data real-time resolving
Position RTK coordinates.
5. a kind of track automatic measurement vehicle positioning system using RTK technologies as claimed in claim 4, it is characterised in that：Institute
It includes that virtual base station location data resolves submodule and satellite positioning RTK calculating coordinate submodules, the void to state and resolve module
Quasi- base station location data calculation submodule chooses the positioning of closer distance for judging to measure vehicle at a distance from each locating base station
The corresponding base station location data of base station carry out real-time resolving, obtain one with measurement vehicle apart from the virtual of nearest virtual base station
Base station location data, including virtual base station carrier phase observation data, the satellite positioning RTK calculating coordinate submodules are used for
High-precision satellite positioning RTK is obtained according to measurement vehicle location data and virtual base station carrier phase observation data real-time resolving to sit
Mark.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375246A (en) * | 2018-12-18 | 2019-02-22 | 成都国星通信有限公司 | A kind of high-accuracy position system applied to rail traffic |
| CN110979398A (en) * | 2019-11-28 | 2020-04-10 | 天津津辆实业公司 | Safety protection system for train inspection operation |
| CN113433564A (en) * | 2020-03-06 | 2021-09-24 | 上海禾赛科技有限公司 | Laser radar and method for measuring distance by using laser radar |
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| CN104833992A (en) * | 2015-04-15 | 2015-08-12 | 华东师范大学 | RTK (Real-Time Kinematic) Beidou positioning system and method based on Beidou short message mode |
| CN104833994A (en) * | 2015-04-15 | 2015-08-12 | 华东师范大学 | Ad-Hoc network mode-based RTK (Real-Time Kinematic) Beidou positioning system and method |
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Patent Citations (3)
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| CN101306691A (en) * | 2008-07-03 | 2008-11-19 | 株洲南车时代电气股份有限公司 | Track curve parameter measuring device and method |
| CN104833992A (en) * | 2015-04-15 | 2015-08-12 | 华东师范大学 | RTK (Real-Time Kinematic) Beidou positioning system and method based on Beidou short message mode |
| CN104833994A (en) * | 2015-04-15 | 2015-08-12 | 华东师范大学 | Ad-Hoc network mode-based RTK (Real-Time Kinematic) Beidou positioning system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109375246A (en) * | 2018-12-18 | 2019-02-22 | 成都国星通信有限公司 | A kind of high-accuracy position system applied to rail traffic |
| CN110979398A (en) * | 2019-11-28 | 2020-04-10 | 天津津辆实业公司 | Safety protection system for train inspection operation |
| CN113433564A (en) * | 2020-03-06 | 2021-09-24 | 上海禾赛科技有限公司 | Laser radar and method for measuring distance by using laser radar |
| CN113433564B (en) * | 2020-03-06 | 2023-05-23 | 上海禾赛科技有限公司 | Laser radar and method for ranging using laser radar |
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Application publication date: 20180814 |