CN109143297A - A kind of real-time network RTK localization method of compatible geoid model - Google Patents
A kind of real-time network RTK localization method of compatible geoid model Download PDFInfo
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- CN109143297A CN109143297A CN201811059559.6A CN201811059559A CN109143297A CN 109143297 A CN109143297 A CN 109143297A CN 201811059559 A CN201811059559 A CN 201811059559A CN 109143297 A CN109143297 A CN 109143297A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000004807 localization Effects 0.000 title claims abstract description 10
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims abstract description 39
- 238000012545 processing Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- LIWAQLJGPBVORC-UHFFFAOYSA-N ethylmethylamine Chemical compound CCNC LIWAQLJGPBVORC-UHFFFAOYSA-N 0.000 claims 1
- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 abstract description 9
- 238000012360 testing method Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000012805 post-processing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of real-time network RTK localization methods of compatible geoid model, first, the longitude and latitude and geodetic height provided according to GGA, obtain the general location of user's rover station, the heart in data handling, according to geodetic coordinates B, the L of user's general location, the height anomaly and normal height of user's general location are calculated using quasigeoid Grid square and height anomaly interpolating function；The coordinate of virtual reference station is subtracted into the coordinate difference generated by height sequences, is sent to user's rover station, user's rover station carries out RTK relative positioning, obtains comprising normal high geodetic coordinates.The present invention makes full use of CORS system and high-precision geoid model, and user's rover station can obtain effectively improving engineering efficiency comprising normal high high-precision geodetic coordinates, reducing workload in real time.
Description
Technical field
The present invention relates to a kind of multisystems to merge navigator fix technology, in particular to a kind of compatible geoid model
Real-time network RTK localization method, belong to GNSS (Global Navigation Satellite System) positioning and navigation
Technical field.
Background technique
Ground point is known as normal height along the distance of plumb line to quasigeoid, and geoid model generally passes through
The authentic data that high-precision GPS measurement is obtained with the measurement of the level is fitted.General network RTK is (built-in in a region
Found multiple GPS reference stations, netted covering constituted to the region, and calculated on the basis of one or more of these base stations and
Broadcast GPS correcting information, so that the positioning method for carrying out real-time correction to the GPS user in this area is known as GPS network network RTK)
In measurement, due to the missing of geoid model, user can only obtain geodetic height rather than for the normal of production practices
It is high.
CORS (Continuously Operating Reference Stations, continuous operation satellite positioning clothes at present
Business) system and geoid model in practical applications on still keep mutually indepedent, substantially using post-processing or quasi-
The mode handled in real time completes the conversion of GPS elevation.
CORS network be capable of providing centimetre class precision WGS84 (World Geodetic System 1984, be GPS it is complete
Ball positioning system uses and the coordinate system of foundation) real-time three-dimensional coordinate, but the normal height of observation point cannot be provided in real time, if
The high-precision that observation point can be obtained in real time is normally high, will greatly improve engineering efficiency.Pass through CORS system and seemingly big ground level
The integrated application of surface model can achieve this purpose.
Summary of the invention
To solve the above problems, the invention discloses a kind of real-time network RTK of compatible geoid model positioning
Method, in VRS (virtual reference station) technical foundation, according to the longitude and latitude in GGA, using quasigeoid Grid square into
Row interpolation obtains the height anomaly of user's rover station, and the rectangular space coordinate of virtual reference station is subtracted due to height sequences
The rectangular space coordinate difference of generation is sent to user's rover station, and it is as normal that user's rover station carries out the elevation that relative positioning obtains
Height, the present invention make full use of CORS system and high-precision geoid model, and user's rover station can be included in real time
Normal high high-precision geodetic coordinates, effectively improves engineering efficiency, reduces workload.
In order to achieve the above objectives, technical scheme is as follows:
A kind of real-time network RTK localization method of compatible geoid model, comprising the following steps:
Step 1, the warp provided according to GGA (Global Positioning System Fix Data, GPS positioning information)
Latitude and geodetic height obtain the general location of user's rover station, in data handling the heart, are sat according to the earth of user's general location
B, L are marked, the elevation of user's general location is calculated using quasigeoid Grid square and height anomaly interpolating function
It is abnormal and normal high；
Step 2, the coordinate of nearest (virtual) reference station is subtracted into the coordinate difference generated by height sequences, be sent to
User's rover station, user's rover station carry out RTK (Real-time kinematic, real time kinematic survey system) relative positioning, obtain
To including normal high geodetic coordinates.
As a further improvement of the present invention, step 1 specifically:
Step 11, user's rover station uploads NMEA (National Marine Electronics Association, GPS
The unified RTCM standard agreement of navigation equipment) format GGA to data processing centre；
Step 12, data processing centre uploads the longitude and latitude in GGA according to rover station in real time, utilizes quasigeoid lattice
Network data carries out interpolation and obtains the height anomaly ξ at user's rover station end；
Step 13, according to the height anomaly and original geodetic height H being calculated, normal high H '=H- of user location is obtained
ξ。
As a further improvement of the present invention, step 2 specifically:
Step 21, by geodetic coordinates (B, L, H) and (B, L, H ') be separately converted to rectangular space coordinate (X, Y, Z) with (X ',
Y ', Z '), the formula of coordinate conversion are as follows:
WhereinA, e is respectively the major semiaxis and the first eccentricity of WGS84 reference ellipsoid, a=
6378137.0m,e2=0.00669437999014132；
Step 22, the difference (Δ X, Δ Y, Δ Z) of rectangular space coordinate (X, Y, Z) Yu (X ', Y ', Z ') are sought:
Step 23, by (virtual) reference station coordinates (Xs,Ys,Zs) difference (Δ X, Δ Y, Δ Z) is subtracted, obtain (Xu,Yu,
Zu), user's rover station is sent to together with (virtual) observation:
Step 24, user's rover station end carries out RTK relative positioning, obtains geodetic coordinates (B, L, H '), and wherein H ' is to flow
The normal height at dynamic station.
The beneficial effects of the present invention are:
(1) present invention provides the high-precision of observation point using the integrated application of CORS system and geoid model in real time
Degree is normal high, overcomes the prior art and handles this shortcoming using post-processing or quasi real time to normal high solution；
(2) present invention while compatible multiple satellite navigation and location systems, compared with prior art, while improving engineering efficiency
It ensure that the precision of positioning.
Detailed description of the invention
Fig. 1 is a kind of process of the real-time network RTK localization method of compatible geoid model provided by the invention
Figure.
Fig. 2 is the positional accuracy test height anomaly map of known point.
Fig. 3 is dragon's pool test point RTK static state point accuracy test height anomaly map.
Fig. 4 is engineering institute's test point RTK static state point accuracy test height anomaly map.
Fig. 5 is the real-time setting-out test height anomaly map of RTK.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated, it should be understood that following specific embodiments are only
For illustrating the present invention rather than limiting the scope of the invention.
A kind of real-time network RTK localization method of compatible geoid model of the present invention, as shown in Figure 1,
The following steps are included:
Step 1, the longitude and latitude and the earth provided according to GGA (Global Positioning System Fix Data)
Height obtains the general location of user's rover station, in data handling the heart, according to geodetic coordinates B, the L of user's general location, utilizes
The height anomaly of user's general location and normal is calculated in quasigeoid Grid square and height anomaly interpolating function
It is high；
Step 2, the coordinate of nearest (virtual) reference station is subtracted into the coordinate difference generated by height sequences, be sent to
User's rover station, user's rover station carry out RTK (Real-time kinematic) relative positioning, obtain comprising normal high big
Ground coordinate.
In the step 1, the height anomaly of user's general location and it is normal high obtain the following steps are included:
Step 11, user's rover station uploads NMEA (National Marine Electronics Association) lattice
The GGA of formula is to data processing centre；
Step 12, data processing centre uploads the longitude and latitude in GGA according to step 11 rover station in real time, using like big ground water
Quasi- face Grid square carries out interpolation and obtains the height anomaly ξ at user's rover station end；
Step 13, the height anomaly and original geodetic height H being calculated according to step 12, obtain the normal height of user location
H '=H- ξ.
So far, the height anomaly of user's rover station general location and normal height have obtained.
In the step 2, comprising normal high Geodetic Coordinate Calculation the following steps are included:
Step 21, geodetic coordinates (B, L, H) and (B, L, H ') using formula (1) be separately converted to rectangular space coordinate (X, Y,
Z) with (X ', Y ', Z '):
WhereinA, e is respectively the major semiaxis and the first eccentricity of WGS84 reference ellipsoid, a=
6378137.0m,e2=0.00669437999014132.
Step 22, difference (Δ X, Δ Y, the Δ of rectangular space coordinate (X, Y, Z) Yu (X ', Y ', Z ') are sought using formula (2)
Z):
Step 23, according to formula (3), by (virtual) reference station coordinates (Xs,Ys,Zs) difference (Δ X, Δ Y, Δ Z) is subtracted, it obtains
To (Xu,Yu,Zu), user's rover station is sent to together with (virtual) observation:
Step 24, user's rover station end carries out RTK relative positioning, obtains geodetic coordinates (B, L, H '), and wherein H ' is to flow
The normal height at dynamic station.
So far, having passed through the correction of general location geoid model combines CORS system to be obtained in real time comprising normal high
High-precision geodetic coordinates.
Fig. 2 indicates the height anomaly map that rover station is tested in known point；Fig. 3 and Fig. 4 is dragon's pool test point and industry respectively
Institute's test point RTK static state point accuracy test height anomaly map；Fig. 5 is the real-time setting-out test height anomaly map of RTK.
High-precision geoid model is to obtain the normal high guarantee of high-precision.This method be based on CORS system with
Geoid model integrates, in VRS technical foundation, the latitude and longitude information in GGA uploaded according to user's rover station,
A virtual reference station is established near user's rover station, and according to the actual observation on all reference stations in each network around
Value calculates the dummy observation on the virtual reference station, then carries out interpolation using quasigeoid Grid square and obtains user
The height anomaly of rover station obtains the normal of user's general location according to the height anomaly and original geodetic height being calculated
Height, then rectangular space coordinate will be respectively converted into comprising geodetic height and normal high geodetic coordinates and seek the two difference, it will be virtual
After the rectangular space coordinate of reference station subtracts the two difference, user's flowing is sent to after carrying out RTCM coding together with dummy observation
It stands, end user's rover station and virtual reference station carry out the as normal height of elevation that relative positioning obtains.The present invention makes full use of
CORS system and high-precision geoid model, user's rover station can be obtained comprising normal high high-precision greatly in real time
Coordinate effectively improves engineering efficiency, reduces workload.
The technical means disclosed in the embodiments of the present invention is not limited only to technological means disclosed in above embodiment, further includes
Technical solution consisting of any combination of the above technical features.
Claims (3)
1. a kind of real-time network RTK localization method of compatible geoid model, which comprises the following steps:
Step 1, the longitude and latitude and geodetic height provided according to GGA, obtains the general location of user's rover station, in data handling
The heart utilizes quasigeoid Grid square and height anomaly interpolating function according to geodetic coordinates B, the L of user's general location
The height anomaly and normal height of user's general location is calculated；
Step 2, the coordinate of virtual reference station is subtracted into the coordinate difference generated by height sequences, is sent to user's flowing
It stands, user's rover station carries out RTK relative positioning, obtains comprising normal high geodetic coordinates.
2. a kind of real-time network RTK localization method of compatible geoid model according to claim 1, feature
It is, step 1 specifically:
Step 11, user's rover station uploads the GGA of NMEA format to data processing centre；
Step 12, data processing centre uploads the longitude and latitude in GGA according to rover station in real time, utilizes quasigeoid grid number
The height anomaly ξ at user's rover station end is obtained according to interpolation is carried out；
Step 13, according to the height anomaly and original geodetic height H being calculated, normal high H '=H- ξ of user location is obtained.
3. a kind of real-time network RTK localization method of compatible geoid model according to claim 2, feature
It is, step 2 specifically:
Step 21, by geodetic coordinates (B, L, H) and (B, L, H ') be separately converted to rectangular space coordinate (X, Y, Z) with (X ', Y ',
Z '), the formula of coordinate conversion are as follows:
WhereinA, e is respectively the major semiaxis and the first eccentricity of WGS84 reference ellipsoid, a=
6378137.0m,e2=0.00669437999014132；
Step 22, the difference (Δ X, Δ Y, Δ Z) of rectangular space coordinate (X, Y, Z) Yu (X ', Y ', Z ') are sought:
Step 23, by (virtual) reference station coordinates (Xs,Ys,Zs) difference (Δ X, Δ Y, Δ Z) is subtracted, obtain (Xu,Yu,Zu), even
User's rover station is sent to dummy observation:
Step 24, user's rover station end carries out RTK relative positioning, obtains geodetic coordinates (B, L, H '), and wherein H ' is rover station
Normal height.
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Cited By (5)
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|---|---|---|---|---|
| CN110596737A (en) * | 2019-08-24 | 2019-12-20 | 西南交通大学 | GNSS virtual reference station self-adaptive station building method |
| CN111161123A (en) * | 2019-12-11 | 2020-05-15 | 宝略科技(浙江)有限公司 | Decryption method and device for three-dimensional live-action data |
| CN114322926A (en) * | 2021-12-29 | 2022-04-12 | 湖南省测绘科技研究所 | CORS normal height positioning method and system |
| CN115112090A (en) * | 2022-06-29 | 2022-09-27 | 重庆市勘测院((重庆市地图编制中心)) | Mountain area digital elevation datum establishing method based on few GNSS leveling points |
| CN117055083A (en) * | 2023-10-13 | 2023-11-14 | 武汉大学 | Normal high-security service method, system and data broadcasting server |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596737A (en) * | 2019-08-24 | 2019-12-20 | 西南交通大学 | GNSS virtual reference station self-adaptive station building method |
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| CN115112090A (en) * | 2022-06-29 | 2022-09-27 | 重庆市勘测院((重庆市地图编制中心)) | Mountain area digital elevation datum establishing method based on few GNSS leveling points |
| CN117055083A (en) * | 2023-10-13 | 2023-11-14 | 武汉大学 | Normal high-security service method, system and data broadcasting server |
| CN117055083B (en) * | 2023-10-13 | 2024-01-02 | 武汉大学 | Normal high-security service method, system and data broadcasting server |
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