CN109283560B - Positioning system and positioning method for RTK (real-time kinematic) solution at server side - Google Patents
Positioning system and positioning method for RTK (real-time kinematic) solution at server side Download PDFInfo
- Publication number
- CN109283560B CN109283560B CN201811126699.0A CN201811126699A CN109283560B CN 109283560 B CN109283560 B CN 109283560B CN 201811126699 A CN201811126699 A CN 201811126699A CN 109283560 B CN109283560 B CN 109283560B
- Authority
- CN
- China
- Prior art keywords
- positioning
- server
- resolving
- data
- station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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 provides a positioning system and a positioning method for RTK (real-time kinematic) solution by a server side, belonging to the technical field of high-precision positioning. The system of the invention comprises: a rover station, a reference station and a server; the mobile station comprises an active antenna, a positioning module, an embedded processor and a communication module; the server comprises a data distribution component, a resolving pool and a database; the method specifically comprises the following steps: the data distribution assembly receives the configuration file and the correction data sent by the reference station and the converted observation information sent by each rover, forwards the received data to a corresponding resolving pool according to the ID of the rover, and sends the positioning result returned by the resolving pool to the corresponding rover and the database; if the satellite signal quality is poor or the reference station connection is lost, the server can request the rover station to upload NMEA information as a resolving result. The invention solves the problems of large size and high power consumption of the conventional RTK positioning technology rover station. The invention can be used in RTK positioning technology.
Description
Technical Field
The invention relates to an RTK resolving positioning system and a positioning method, and belongs to the technical field of high-precision positioning.
Background
An RTK (Real-time kinematic) carrier phase differential technology is one of satellite technologies such as Beidou and GPS (global positioning system), is a Real-time kinematic positioning technology based on carrier phase observation values, can provide a three-dimensional positioning result of an observation station in an appointed coordinate system in Real time, and achieves centimeter-level precision. In a traditional RTK positioning process, differential data (pseudo-range observation values, phase observation values and ephemeris data) of a reference station are transmitted to a rover station through a network, and the rover station performs RTK resolving by using the transmitted data of the reference station and data obtained by self observation to obtain a high-precision position of the rover station. Because the solution process is performed in the rover, in order to support the solution process, the hardware design of the rover is necessarily complex, large in size and high in power consumption, and the requirement that the rover needs to be moved or carried is not met.
Disclosure of Invention
The invention provides a positioning system and a positioning method for RTK solution at a server end, aiming at solving the problems of large size and high power consumption of a mobile station in the existing RTK positioning technology.
The positioning system for the server side to perform RTK resolving comprises the following components: a rover station, a reference station and a server;
the mobile station comprises an active antenna, a positioning module, an embedded processor and a communication module; the server comprises a data distribution component, a resolving pool and a database;
the active antenna is used for receiving observation signals from a navigation satellite and transmitting the observation signals to the positioning module;
the positioning module is used for converting the observation signals from the navigation satellite into an RTCM or BINEX format, performing autonomous positioning by using the observation signals, and transmitting the converted observation signals and NMEA data obtained by the autonomous positioning to the embedded processor;
the embedded processor is used for receiving and transmitting the converted observation information and NMEA data sent by the positioning module to the communication module, receiving the information returned by the communication module and controlling the receiving and sending of the information of the communication module;
the communication module is used for sending the converted observation information and NMEA data transmitted by the embedded processor to the server, receiving the information sent by the server and transmitting the information to the embedded processor;
the reference station is used for transmitting a configuration file and correction data to a server;
the data distribution assembly is responsible for receiving configuration files and correction data sent by a reference station, converted observation information and NMEA data sent by communication modules of all the mobile stations, forwarding the received data to corresponding resolving pools according to IDs of the mobile stations, and sending differential positioning results, namely positioning coordinates, returned by the resolving pools to the corresponding mobile stations respectively;
the resolving pool is responsible for resolving converted observation information, configuration files and correction data transmitted by the data distribution assembly and transmitting a differential positioning result obtained by resolving to the database and the data distribution assembly;
the database is used for storing the obtained differential positioning result according to the ID number of the rover station;
the resolving pool and the database of the server are positioned in an intranet, and the data distribution assembly is positioned in the DMZ and is communicated with the Internet through a specific port.
The positioning method for RTK resolving by the server side is realized by the following technical scheme:
the positioning module of the rover station converts the observation signals from the navigation satellite into an RTCM or BINEX format, performs autonomous positioning by using the observation signals, and transmits the converted observation signals and NMEA data obtained by the autonomous positioning to the embedded processor;
the embedded processor receives the converted observation information and NMEA data sent by the positioning module, sends the converted observation information to the communication module, and controls the communication module to transmit the converted observation information to the server;
the reference station transmits the configuration file and the correction data to the server;
a data distribution component of the server simultaneously receives the configuration file and the correction data sent by the reference station and the converted observation information sent by the communication modules of the various rover stations, and forwards the received data to a corresponding resolving pool according to the ID of the rover station;
the resolving pool resolves the converted observation information, configuration files and correction data transmitted by the data distribution assembly;
if the resolving pool is resolved correctly, transmitting a differential positioning result obtained by resolving, namely a positioning coordinate to the database and the data distribution assembly; the data distribution component sends the result back to the corresponding rover station, and the database stores the obtained differential positioning result according to the ID number of the rover station;
if the resolving pool is wrong in resolving, the server sends a request for uploading NMEA information to the mobile station, and a communication module of the mobile station receives the request sent by the server and transmits the request to the embedded processor; the embedded processor transmits NMEA data to the communication module, controls the communication module to send the NMEA data to the data distribution component of the server, and prompts a user to enter a low-precision state; the data distribution component passes the received NMEA data to the database as a result; the database stores the obtained result according to the ID number of the rover.
The most prominent characteristics and remarkable beneficial effects of the invention are as follows:
in the positioning system and the positioning method for RTK calculation at the server side, observation information of a reference station is uploaded to a server through a data chain, a configuration file and collected correction data are uploaded to the server by a rover station, and the server utilizes RTKLIB (Tokyo University of Marine Science and Technology), which is developed by Tokyo University of Marine Science and Technology in Japan, to process differential data of RTKLIB and RTKLIB for standard and accurate GNSS global navigation satellite system application. The invention can save the hardware investment of the rover station for RTK solution, and the rover station is only responsible for uploading the acquired self position data to the server, thereby reducing the size of the rover station and the power consumption of the rover station. Compared with the conventional rover station of the RTK resolving and positioning system which needs to be provided with a large-size high-power high-performance processor to process differential data, the rover station disclosed by the invention has the advantages that the size is reduced to 40mm multiplied by 33mm multiplied by 6mm, the power consumption is reduced to 200mW, and the application field of the rover station is expanded. The server may perform RTK solutions for 1000 rovers concurrently.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a circuit diagram of a positioning module;
FIG. 3 is a circuit diagram of a communication module;
FIG. 4 is a circuit diagram of a wireless charging portion of a power module;
fig. 5 is a circuit diagram of a power management portion of the power supply module.
Detailed Description
The first embodiment is as follows: in the embodiment, the positioning system for performing RTK calculation at a server according to the embodiment is described with reference to fig. 1, and includes: a rover station, a reference station and a server;
the mobile station comprises an active antenna, a positioning module, an embedded processor and a communication module; the server comprises a data distribution component, a resolving pool and a database, wherein the data distribution component, the resolving pool and the database can be operated independently under the same or different servers so as to balance load after later scale expansion;
the active antenna is used for receiving an observation signal (namely a radio frequency signal of a navigation satellite) from the navigation satellite and transmitting the observation signal to the positioning module in a unidirectional mode;
the positioning module is used for converting the observation signals from the navigation satellite into formats such as RTCM (real time modulation) or BINEX (real time modulation) and the like (RTCM is a universal format of differential navigation global satellite system data proposed by the international maritime industry radio technical committee, BINEX is a format for storing observation data in a binary mode, the size of a file can be reduced as far as possible by the ingenious structure of the format, autonomous positioning is carried out by utilizing the observation signals, and the converted observation signals and NMEA data obtained by the autonomous positioning are transmitted to the embedded processor; in this embodiment, the UM220H chip is used as the positioning module, as shown in fig. 2; the GNSS1TX is used for outputting NMEA data and RTCM data, and is connected to a communication port of the embedded processor, the TX1 is not used, the GNSS1RX indicates a control output and is connected to the embedded processor, the GND indicates ground, the GNSSRST indicates that the reset positioning module is controlled by the embedded processor, the Inductor indicates an Inductor, the Ant indicates an active antenna, and the pin RF _ IN No. 11 of the UM220H chip is connected to the active antenna.
The embedded processor is used for receiving and transmitting the converted observation information and NMEA data sent by the positioning module to the communication module, receiving the information returned by the communication module and controlling the receiving and sending of the information of the communication module; the embedded processor can be of various models, and in the embodiment, the embedded processor adopts an STM32L071 series chip processor.
The communication module is used for sending the converted observation information and NMEA data transmitted by the embedded processor to the server, receiving the information sent by the server and transmitting the information to the embedded processor; in the embodiment, the communication module adopts an ESP-12, as shown in FIG. 3; wherein, COMRX represents communication data input, COMTX represents communication data output, and both are connected with the communication port of the embedded processor.
The reference station is used for transmitting a configuration file and correction data to a server;
the data distribution assembly is responsible for receiving configuration files and correction data sent by a reference station, converted observation information and NMEA data (which are in a standard format established by National Marine Electronics Association) sent by communication modules of all the mobile stations, forwarding the received data to corresponding resolving pools according to IDs (abbreviations and identification numbers) of the mobile stations, and respectively sending differential positioning results (positioning coordinates) returned in the resolving pools to the corresponding mobile stations;
the resolving pool is responsible for resolving converted observation information, configuration files and correction data transmitted by the data distribution assembly and transmitting a high-precision differential positioning result obtained by resolving to the database and the data distribution assembly;
and the database is used for storing the obtained differential positioning result according to the ID number of the rover station, so that related personnel can check historical inquiry immediately.
The resolving pool and the database of the server are positioned in an intranet to prevent attacks, and the data distribution component is positioned in a DMZ (discrete Zone isolation Zone) and is communicated with the rover station and the reference station through a specific port. The server utilizes port multiplexing to access multiple rovers to facilitate the configuration of the peripheral firewall, i.e. the server only opens one or a few TCP ports to receive the data of a large number of different rovers.
The second embodiment is as follows: the difference between the present embodiment and the first embodiment is that the rover station further comprises a power supply module; the power supply module provides power for each module of the rover station. The power supply module adopted in the present embodiment includes a wireless charging section (XC9236 chip) shown in fig. 4 and a power management section (IP5305 chip) shown in fig. 5; the power management part adopts 4 LEDs to display the electric quantity of the battery, and enters a sleep mode when the current is less than 45mA and is unloaded for 32 seconds; when the current is more than 45mA, the device is awakened; FIG. 5 is input from pin 1 Vin of IP5305 chip and output from pin Vout 8; the input of the XC9236 chip No. 1 pin VIN in FIG. 4 is from the output of the IP5305 chip No. 8 pin, and the power supply input from the No. 1 pin VIN in FIG. 4 is adjusted from 5V to 3.3V in a PFM/PWM automatic mode.
Other steps and parameters are the same as those in the first embodiment.
The third concrete implementation mode: the second difference between this embodiment and the second embodiment is that the power supply module of the mobile station is charged in a wireless charging manner.
Other steps and parameters are the same as those in the second embodiment.
The fourth concrete implementation mode: the present embodiment is described with reference to fig. 1, and the positioning method for performing RTK solution by a server according to the present embodiment specifically includes:
the positioning module of the rover station converts the observation signals from the navigation satellite into formats such as RTCM or BINEX and the like, performs autonomous positioning by using the observation signals, and transmits the converted observation signals and NMEA data obtained by the autonomous positioning to the embedded processor;
the embedded processor receives the converted observation information and NMEA data sent by the positioning module, sends the converted observation information to the communication module, and controls the communication module to transmit the converted observation information to the server;
the reference station transmits the configuration file and the correction data to the server;
a data distribution component of the server simultaneously receives the configuration file and the correction data sent by the reference station and the converted observation information sent by the communication modules of the various rover stations, and forwards the received data to a corresponding resolving pool according to the ID of the rover station; the server distinguishes data of different rovers by judging the access address and port of the remote rovers.
The resolving pool resolves the converted observation information, configuration files and correction data transmitted by the data distribution assembly;
the resolving pool can run on a plurality of groups of servers, and can automatically create a new RTK resolving instance according to the rover station transmitted by the data distribution assembly; the resolving example is responsible for specific RTK resolving, one example is only responsible for resolving of one rover, and the resolving pool can automatically generate the resolving example after data access; the data distribution component copies a plurality of correction data of the reference station access server and respectively calculates the correction data for the solution examples in different solution pools;
the resolving pool can return the occupation condition of the system resources to the data distribution assembly, so that the data distribution assembly can conveniently schedule the computing resources.
If the resolving pool is used for resolving correctly, transmitting a high-precision differential positioning result (namely positioning coordinates with the precision of 2-3cm) obtained by resolving to a database and a data distribution component; the data distribution component sends the result back to the corresponding rover (in the embodiment, the rover adopts a liquid crystal display to display the result), and the database stores the obtained differential positioning result according to the ID number of the rover for relevant personnel to check the history query in real time;
if the satellite signal quality is poor or the reference station connection is lost, so that the resolving pool is resolved wrongly, the server sends a request for uploading NMEA information to the mobile station, and a communication module of the mobile station receives the request sent by the server and transmits the request to the embedded processor; the embedded processor transmits NMEA data to the communication module, controls the communication module to send the NMEA data to the data distribution component of the server, and prompts a user to enter a low-precision state; the data distribution component passes the received NMEA data to the database as a result; and the database stores the obtained result according to the ID number of the rover, so that related personnel can check historical queries immediately.
The server can simultaneously receive data of a plurality of rovers, perform RTK settlement on the data and obtain coordinates respectively. When the RTK solution is obtained due to poor common satellite signals or the loss of the data connection of the reference station, the NMEA positioning information of the rover station is used as a positioning result. The server also issues instructions to the rover station so as to read the ID information, the battery level, the firmware upgrading and other operations of the rover station.
The fifth concrete implementation mode: the fourth difference between this embodiment and the specific embodiment is that the communication mode between the rover station, the reference station and the server is TCP connection, which ensures stability and prevents packet loss.
Other steps and parameters are the same as those in the fourth embodiment.
The sixth specific implementation mode: the difference between this embodiment and the fifth embodiment is that the data link between the reference station and the rover station is in WIFI or operator 4G, NB-IOT network.
Other steps and parameters are the same as those in the fourth or fifth embodiment.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.
Claims (3)
1. The positioning method of the positioning system for RTK calculation by adopting the server side is characterized in that the positioning system comprises a rover station, a reference station and a server;
the mobile station comprises an active antenna, a positioning module, an embedded processor and a communication module; the server comprises a data distribution component, a resolving pool and a database;
the active antenna is used for receiving observation signals from a navigation satellite and transmitting the observation signals to the positioning module;
the positioning module is used for converting the observation signals from the navigation satellite into an RTCM or BINEX format, performing autonomous positioning by using the observation signals, and transmitting the converted observation signals and NMEA data obtained by the autonomous positioning to the embedded processor;
the embedded processor is used for receiving and transmitting the converted observation information and NMEA data sent by the positioning module to the communication module, receiving the information returned by the communication module and controlling the receiving and sending of the information of the communication module;
the communication module is used for sending the converted observation information and NMEA data transmitted by the embedded processor to the server, receiving the information sent by the server and transmitting the information to the embedded processor;
the reference station is used for transmitting a configuration file and correction data to a server;
the data distribution assembly is responsible for receiving configuration files and correction data sent by a reference station, converted observation information and NMEA data sent by communication modules of all the mobile stations, forwarding the received data to corresponding resolving pools according to IDs of the mobile stations, and sending differential positioning results, namely positioning coordinates, returned by the resolving pools to the corresponding mobile stations respectively;
the resolving pool is responsible for resolving converted observation information, configuration files and correction data transmitted by the data distribution assembly and transmitting a differential positioning result obtained by resolving to the database and the data distribution assembly;
the database is used for storing the obtained differential positioning result according to the ID number of the rover station;
the resolving pool and the database of the server are positioned in an intranet, and the data distribution assembly is positioned in a DMZ and is communicated with the Internet through a specific port;
the rover station further comprises a power supply module; the power supply module provides electric quantity for each module of the rover station;
the power supply module of the mobile station adopts a wireless charging mode to charge;
the positioning method specifically comprises the following steps:
the positioning module of the rover station converts the observation signals from the navigation satellite into an RTCM or BINEX format, performs autonomous positioning by using the observation signals, and transmits the converted observation signals and NMEA data obtained by the autonomous positioning to the embedded processor;
the embedded processor receives the converted observation information and NMEA data sent by the positioning module, sends the converted observation information to the communication module, and controls the communication module to transmit the converted observation information to the server;
the reference station transmits the configuration file and the correction data to the server;
a data distribution component of the server simultaneously receives the configuration file and the correction data sent by the reference station and the converted observation information sent by the communication modules of the various rover stations, and forwards the received data to a corresponding resolving pool according to the ID of the rover station;
the resolving pool resolves the converted observation information, configuration files and correction data transmitted by the data distribution assembly;
if the resolving pool is resolved correctly, transmitting a differential positioning result obtained by resolving, namely a positioning coordinate to the database and the data distribution assembly; the data distribution component sends the result back to the corresponding rover station, and the database stores the obtained differential positioning result according to the ID number of the rover station;
if the resolving pool is wrong in resolving, the server sends a request for uploading NMEA information to the mobile station, and a communication module of the mobile station receives the request sent by the server and transmits the request to the embedded processor; the embedded processor transmits NMEA data to the communication module, controls the communication module to send the NMEA data to the data distribution component of the server, and prompts a user to enter a low-precision state; the data distribution component passes the received NMEA data to the database as a result; the database stores the obtained result according to the ID number of the rover.
2. The method of claim 1, wherein the communication between the rover station, the reference station and the server is TCP connection.
3. The method of claim 2, wherein the data link between the base station and the rover station is WIFI or operator 4G, NB-IOT network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811126699.0A CN109283560B (en) | 2018-09-26 | 2018-09-26 | Positioning system and positioning method for RTK (real-time kinematic) solution at server side |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811126699.0A CN109283560B (en) | 2018-09-26 | 2018-09-26 | Positioning system and positioning method for RTK (real-time kinematic) solution at server side |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109283560A CN109283560A (en) | 2019-01-29 |
| CN109283560B true CN109283560B (en) | 2021-02-26 |
Family
ID=65182392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811126699.0A Active CN109283560B (en) | 2018-09-26 | 2018-09-26 | Positioning system and positioning method for RTK (real-time kinematic) solution at server side |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109283560B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112711049A (en) * | 2020-12-15 | 2021-04-27 | 国网北京市电力公司 | Positioning system |
| CN116346205B (en) * | 2023-03-28 | 2023-10-24 | 北京讯腾智慧科技股份有限公司 | Satellite navigation positioning reference station data transmission system and method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102338632A (en) * | 2010-07-15 | 2012-02-01 | 中国地震局地震研究所 | Precise positioning method and device of array layout |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7020555B1 (en) * | 2003-12-23 | 2006-03-28 | Trimble Navigation Limited | Subscription GPS information service system |
| CN103364797A (en) * | 2013-06-25 | 2013-10-23 | 章迪 | GNSS (global navigation satellite system) differential signal broadcasting system and method combining internet and radio |
| CN205574230U (en) * | 2016-05-06 | 2016-09-14 | 浙大正呈科技有限公司 | AIS on -board terminal based on big dipper high accuracy |
| CN205656311U (en) * | 2016-05-24 | 2016-10-19 | 江苏北斗卫星应用产业研究院有限公司 | High accuracy position terminal based on big dipper ground reinforcing technique |
| CN108333607A (en) * | 2018-02-07 | 2018-07-27 | 重庆市地理信息中心 | Mobile intelligent terminal differential position system based on CORS enhancings |
| CN108508464B (en) * | 2018-05-18 | 2022-10-18 | 湖北智途北斗空间信息技术有限公司 | Intelligent Beidou RTK equipment based on TypeC + OTG and positioning method thereof |
| CN208847839U (en) * | 2018-09-26 | 2019-05-10 | 哈尔滨铁路科研所科技有限公司 | The positioning system of server end progress RTK resolving |
-
2018
- 2018-09-26 CN CN201811126699.0A patent/CN109283560B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102338632A (en) * | 2010-07-15 | 2012-02-01 | 中国地震局地震研究所 | Precise positioning method and device of array layout |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109283560A (en) | 2019-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106908824B (en) | Be applied to railway accurate positioning system | |
| CN103176197B (en) | Auxiliary Beidou satellite positioning system and positioning tracking terminal based on same | |
| CN109283560B (en) | Positioning system and positioning method for RTK (real-time kinematic) solution at server side | |
| US7855679B1 (en) | GPS system for tracking an object of interest and method for using the same | |
| CN105607079A (en) | Method for positioning precision enhancement of GNSS, and GNSS positioning system | |
| CN201638084U (en) | Fully automatic finder portable satellite communication station antenna control system | |
| CN203287531U (en) | Positioning and tracking terminal based on assistant Beidou satellite positioning system | |
| CN102062862A (en) | Method for selecting hybrid positioning or timing mode of navigational satellite | |
| CN209280930U (en) | A kind of patrol unmanned machine positioning system of converter station | |
| CN208847839U (en) | The positioning system of server end progress RTK resolving | |
| US20150084813A1 (en) | Gps positioning system | |
| KR102268380B1 (en) | Method for measuring distance between mobile station using precise position measurement and system and method for measuring distance between golfer and hole cup using the same | |
| CN205656311U (en) | High accuracy position terminal based on big dipper ground reinforcing technique | |
| CN114660627A (en) | Beidou positioning system and method | |
| CN204421956U (en) | A kind of beacon telemetering remote control terminal based on Beidou satellite navigation and system | |
| CN203287530U (en) | Assistant Beidou satellite positioning system | |
| CN202995030U (en) | Indoor personnel positioning device | |
| CN110208838A (en) | Portable runway calibration facility | |
| KR20210072406A (en) | System and Method for Correcting Location Using Satellite Based Augmentation System | |
| CN206235741U (en) | A kind of portable navigation positioning terminal and smart mobile phone for strengthening mobile phone positioning precision | |
| CN112904372B (en) | Auxiliary satellite navigation system and positioning method thereof | |
| CN212483875U (en) | RTK-based positioning equipment | |
| CN207782883U (en) | A kind of Big Dipper/GPS dual mode satellite orientation and communication mobile phones | |
| CN210923968U (en) | Positioning device based on Beidou RTK technology and GPRS communication | |
| CN208316706U (en) | A kind of multi-antenna set GNSS signal interchanger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 150000 building 35-2, high tech Industrial Development Zone, Nangang District, Harbin City, Heilongjiang Province Patentee after: Harbin guotie Technology Group Co.,Ltd. Address before: 150090 35-2 high tech Industrial Development Zone, Nangang District, Harbin, Heilongjiang Patentee before: HARBIN RAILWAY RESEARCH INSTITUTE TECHNOLOGY Co.,Ltd. |