CN109541542A - Base station networking calculation method, system and base station group network system - Google Patents
Base station networking calculation method, system and base station group network system Download PDFInfo
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- CN109541542A CN109541542A CN201811250355.0A CN201811250355A CN109541542A CN 109541542 A CN109541542 A CN 109541542A CN 201811250355 A CN201811250355 A CN 201811250355A CN 109541542 A CN109541542 A CN 109541542A
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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
- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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Abstract
This application involves a kind of base station networking calculation method, system and base station group network systems.The described method includes: the equipment for obtaining benchmark station equipment observes data, data are observed according to equipment and base station net obtains the equipment positioning coordinate of benchmark station equipment, base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate, networking resolving is carried out to benchmark station equipment according to the base station net after addition benchmark station equipment, and sends the data after networking resolves to flowing station equipment.After the equipment observation data for obtaining benchmark station equipment using this method, and coordinate is positioned according to the equipment that base station net obtains benchmark station equipment, improve equipment positioning coordinate accuracy, base station net is added in benchmark station equipment after accurate positionin, base station net is encrypted, it carries out grid-connected resolving and the data after grid-connected resolving is transferred to benchmark station equipment, the accuracy of the data after improving grid-connected resolving, in order to improve the positioning accuracy for flowing station equipment in benchmark station equipment and institute's coverage area.
Description
Technical field
This application involves space geodesy technique fields, more particularly to a kind of base station networking calculation method, benchmark
It stands networking resolving system, base station group network system, computer equipment and storage medium.
Background technique
Single base station network RTK sits the positioning for flowing base station by 1 moving base station of temporary erection, by communication link
Mark sends control centre's server to, and control centre's server passes through communication link again and corrects to the flowing station equipment broadcast of user
Item information.
When carrying out operation using list base station network RTK, increase with user's rover station to base station distance, moving base station
Weaken with the flowing station equipment atmosphere errors spatial coherence of user, mobile base can not be effectively eliminated by the method for difference between station
Most of error between quasi- station and the flowing station equipment of user causes the positioning accuracy of the flowing station equipment of user low.
Summary of the invention
Based on this, it is necessary to for the low problem of the positioning accuracy of the flowing station equipment of above-mentioned user, provide a kind of benchmark
It stands networking calculation method, system and base station group network system.
A kind of base station networking calculation method, comprising the following steps:
The equipment for obtaining benchmark station equipment observes data；
Data are observed according to equipment and base station net obtains the equipment positioning coordinate of benchmark station equipment；
Base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate, according to the benchmark after addition benchmark station equipment
Net of standing carries out networking resolving to benchmark station equipment, and sends the data after networking resolves to flowing station equipment.
In one embodiment, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate it
Afterwards, further comprising the steps of:
Pass through the first preset time, receives the real-time observed data of benchmark station equipment；
According to the real-time positioning coordinate of real-time observed data and base station net calculating benchmark station equipment；
When being greater than preset threshold at a distance from positioning coordinate in real time is between equipment positioning coordinate, coordinate work will be positioned in real time
Coordinate is positioned for equipment.
In one embodiment, the step of equipment for obtaining benchmark station equipment observes data, comprising the following steps:
It receives benchmark station equipment one-to-one equipment under multiple moment and observes data；
The step of positioning coordinate according to the equipment that equipment observation data and base station net obtain benchmark station equipment, including it is following
Step:
Data are observed according to each equipment and base station net calculates positioning coordinate data；
When positioning coordinate data is convergence, coordinate data will be positioned as the equipment of benchmark station equipment and position coordinate.
In one embodiment, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate it
Before, it is further comprising the steps of:
Judge whether benchmark station equipment meets the networking condition of base station net；
When benchmark station equipment meets the networking condition of base station net, executes and set the corresponding base station of equipment positioning coordinate
Standby the step of base station net is added；
When benchmark station equipment is unsatisfactory for the networking condition of base station net, equipment observation data are broadcast.
In one embodiment, the data after networking resolves include Atmospheric effects correction data, and Xiang Liudong station equipment is sent
Networking resolve after data the step of, comprising the following steps:
Obtain the position data of flowing station equipment, wherein flowing station equipment is the end in the coverage area of benchmark station equipment
End equipment；
Atmospheric effects correction data are calculated according to the position data of base station net and flowing station equipment；
Atmospheric effects correction data are sent to flowing station equipment.
In one embodiment, base station networking calculation method, further comprising the steps of:
When benchmark station equipment is unsatisfactory for the networking condition of base station net and base station net has been added in benchmark station equipment, by base
Quasi- station equipment is deleted from base station net.
A kind of base station networking resolving system, comprising:
Equipment observes data acquisition module, and the equipment for obtaining benchmark station equipment observes data；
Equipment positions coordinate obtaining module, for obtaining setting for benchmark station equipment according to equipment observation data and base station net
Standby positioning coordinate；
Networking resolves module, for base station net to be added in the corresponding benchmark station equipment of equipment positioning coordinate, according to addition
Base station net after benchmark station equipment carries out networking resolving to benchmark station equipment, and to after flowing station equipment transmission networking resolving
Data.
A kind of base station group network system, including benchmark station equipment, server and flowing station equipment；
Benchmark station equipment and flowing station equipment are connect with server respectively, and benchmark station equipment is set by server and rover station
It is standby to be communicated；
Benchmark station equipment is used to measure and obtain the equipment observation data of benchmark station equipment, observes to server sending device
Data；
Server is used to execute the base station networking calculation method of above-mentioned any one；
Flowing station equipment is for receiving the Atmospheric effects correction data that server is broadcast.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
Computer program, processor perform the steps of when executing computer program
The equipment for obtaining benchmark station equipment observes data；
Data are observed according to equipment and base station net obtains the equipment positioning coordinate of benchmark station equipment；
Base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate, according to the benchmark after addition benchmark station equipment
Net of standing carries out networking resolving to benchmark station equipment, and sends the data after networking resolves to flowing station equipment.
A kind of computer readable storage medium is stored thereon with computer program, when computer program is executed by processor
It performs the steps of
The equipment for obtaining benchmark station equipment observes data；
Data are observed according to equipment and base station net obtains the equipment positioning coordinate of benchmark station equipment；
Base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate, according to the benchmark after addition benchmark station equipment
Net of standing carries out networking resolving to benchmark station equipment, and sends the data after networking resolves to flowing station equipment.
Said reference station networking calculation method, system, base station group network system, computer equipment and storage medium obtain
After the equipment observation data of benchmark station equipment, and coordinate is positioned according to the equipment that base station net obtains benchmark station equipment, improved
Equipment positions coordinate accuracy, and base station net is added in the benchmark station equipment after accurate positionin, i.e., is encrypted to base station net,
Carry out it is grid-connected resolving and the data after grid-connected resolving are transferred to flowing station equipment, the data after improving grid-connected resolving it is accurate
Property, in order to improve the positioning accuracy for flowing station equipment in benchmark station equipment and institute's coverage area.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of base station group network system in one embodiment；
Fig. 2 is the flow chart of base station networking calculation method in one embodiment；
Fig. 3 is the structural schematic diagram of base station networking resolving system in one embodiment；
Fig. 4 is the structural schematic diagram of base station group network system in another embodiment；
Fig. 5 is the flow chart of base station subsystem function in another embodiment；
Fig. 6 is the flow chart of differential service system function in another embodiment；
Fig. 7 is the flow chart of user subsystem function in another embodiment；
Fig. 8 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Quasi- station networking calculation method provided by the present application, can be applied in application environment as shown in Figure 1, Fig. 1 mono-
The structural schematic diagram of base station group network system in a embodiment.Wherein, benchmark station equipment 120 and flowing station equipment 130 respectively with
Server 110 communicates.Flowing station equipment 130 can be, but not limited to be various GNSS receivers, and flowing station equipment 130 can be base
GNSS receiver in quasi- 120 coverage area of station equipment.Server 110 can use independent server either multiple servers
The server cluster of composition is realized.
In one embodiment, as shown in Fig. 2, Fig. 2 is the flow chart of base station networking calculation method in one embodiment,
A kind of base station networking calculation method is provided in the present embodiment, is applied to be said for the server in Fig. 1 in this way
It is bright, comprising the following steps:
Step S210: the equipment for obtaining benchmark station equipment observes data.
In this step, benchmark station equipment can measure and generating device observation data.Such as benchmark station equipment can will be set
The real-time binary data stream that standby observation data are converted into RTCM data format is transmitted, and the real-time binary data stream is received
And carry out data decoding can obtain equipment observation data.
Step S220: data are observed according to equipment and base station net obtains the equipment positioning coordinate of benchmark station equipment.
In this step, grid-connected resolving is carried out in base station net, is resolved equipment positioning corresponding to equipment observation data and is sat
Mark observes data according to equipment and base station net is filtered resolving and the equipment for obtaining benchmark station equipment positions coordinate, equipment
Equipment positioning coordinate corresponding to observation data is the equipment positioning coordinate of benchmark station equipment.Ground strengthening system
The benchmark station equipment of base station net can be right in (Continuously Operating Reference Stations, CORS)
Satellite is observed continuously for a long time and obtains observation data.Grid-connected resolving position coordinates are carried out in base station net, use length
Time Continuous observes resulting observation data and is filtered resolving.The high position of available accuracy is resolved by filtering to sit
Mark, therefore grid-connected resolving equipment positioning coordinate is carried out in base station net, the accuracy of equipment positioning coordinate can be greatly improved.
Step S230: base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate, is set according to base station is added
Base station net after standby carries out networking resolving to benchmark station equipment, and sends the data after networking resolves to flowing station equipment.
In this step, benchmark station equipment is added in base station net, the distribution of the base station of encryption CORS can be played, mentioned
The performance of high CORS precise positioning and calculating improves the accuracy that networking resolves.
Said reference station networking calculation method, after the equipment for obtaining benchmark station equipment observes data, and according to base station net
The equipment for obtaining benchmark station equipment positions coordinate, improves equipment positioning coordinate accuracy, the base station after accurate positionin is set
It is standby that base station net is added, i.e., base station net is encrypted, carries out grid-connected resolving and the data after grid-connected resolving are transferred to stream
Dynamic station equipment, the accuracy of the data after improving grid-connected resolving flow in order to improve in benchmark station equipment and institute's coverage area
The positioning accuracy of station equipment.
In one embodiment, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate it
Afterwards, further comprising the steps of:
Pass through the first preset time, receives the real-time observed data of benchmark station equipment.
In this step, by the first preset time, the equipment that real-time reception benchmark station equipment is inscribed when practical observes number
According to the equipment observation data inscribed when will be practical are as real-time observed data, it can real-time monitoring benchmark station equipment.
According to the real-time positioning coordinate of real-time observed data and base station net calculating benchmark station equipment.
In this step, resolving, the reality that calculating benchmark station equipment is inscribed when practical are filtered according to real-time observed data
Shi Dingwei coordinate, the position of real-time monitoring benchmark station equipment.
When being greater than preset threshold at a distance from positioning coordinate in real time is between equipment positioning coordinate, coordinate work will be positioned in real time
Coordinate is positioned for equipment.
In this step, when being greater than preset threshold at a distance from positioning coordinate in real time is between equipment positioning coordinate, equipment is fixed
The position of position coordinate has biggish offset relative to the position of real-time positioning coordinate, i.e. the position of benchmark station equipment becomes
Change, equipment positioning coordinate becomes inaccuracy, and the equipment for needing to update benchmark station equipment in base station net positions coordinate.
Networking calculation method in said reference station inscribes the real-time observed data and meter of base station equipment when by obtaining practical
Positioning coordinate in real time is calculated, coordinate is positioned in order to timely update benchmark station equipment in the equipment of base station net, improves base station and set
The standby real-time in base station net, improves the real-time accuracy of base station net, while also avoiding the equipment due to benchmark station equipment
The accuracy of positioning coordinate is not high and causes the Baselines in base station net unsuccessful.
In one embodiment, the step of equipment for obtaining benchmark station equipment observes data, comprising the following steps:
It receives benchmark station equipment one-to-one equipment under multiple moment and observes data.
In this step, benchmark station equipment in time of measuring length range, inscribed when multiple measure and obtain it is more
One-to-one equipment observes data under a moment, at the time of multiple moment is in time of measuring length range.
The step of positioning coordinate according to the equipment that equipment observation data and base station net obtain benchmark station equipment, including it is following
Step:
Data are observed according to each equipment and base station net calculates positioning coordinate data.
In this step, data are observed according to each equipment and base station net calculates one-to-one seat in real time under each moment
Data are marked, and accurately positioning is sat in time of measuring length according to the analysis of multiple real-time coordinates data and calculating benchmark station equipment
Data are marked, i.e., obtain the convergent of positioning coordinate data after resolving by repeatedly filtering.
When positioning coordinate data is convergence, coordinate data will be positioned as the equipment of benchmark station equipment and position coordinate.
In this step, if the positioning coordinate data after calculating is convergence, that is, the positioning coordinate data after calculating is when having solution,
The difference of the positioning coordinate data at former and later two moment after calculating is less than the threshold value of setting, i.e. acquisition benchmark station equipment is measuring
The positioning coordinate data of present position in time range, and the equipment of benchmark station equipment positioning coordinate is updated to positioning number of coordinates
According to.
Networking calculation method in said reference station can receive in time of measuring length one-to-one equipment under multiple moment
Data are observed, avoid benchmark station equipment from directly measuring and calculate equipment positioning coordinate, while decreasing and waiting benchmark station equipment
Generating device positions the time of coordinate, decreases the human cost of monitoring benchmark station equipment generating device positioning coordinate.And
The accurate coordinates that benchmark station equipment is calculated according to the long-time continuous observation data filtering of benchmark station equipment, avoid passing through RTK
The low problem of base station device coordinate precision that obtains of operation mode measurement, reduce to measure by artificial RTK and obtain benchmark
The human cost of station equipment coordinate.
In one embodiment, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate it
Before, it is further comprising the steps of:
Judge whether benchmark station equipment meets the networking condition of base station net；
In this step, networking condition is for judging that the judgment basis of base station net can be added in benchmark station equipment.For example,
When other benchmark station equipments are all far in base station net for benchmark station equipment, and the networking calculation accuracy after networking is reached
When less than requiring, i.e., the distance is more than the distance range of default, and benchmark station equipment is with regard in base station net unsuitable for addition.
When benchmark station equipment meets the networking condition of base station net, executes and set the corresponding base station of equipment positioning coordinate
Standby the step of base station net is added；
In this step, when benchmark station equipment meets the networking condition of base station net, base station net is added in benchmark station equipment,
It may insure that the precision that networking resolves reaches requirement, improve positioning accuracy.And after the encryption of base station net, composition base can be shortened
The baseline length of quasi- station net, improves the initialization speed and calculation accuracy of Baselines.
When benchmark station equipment is unsatisfactory for the networking condition of base station net, equipment observation data are broadcast.
In this step, when benchmark station equipment is unsatisfactory for the networking condition of base station net, benchmark station equipment is not added
Base station net does not need networking and resolves Atmospheric effects correction data, can control server and only broadcasts equipment observation data, so as to
The operation of original positioning function is carried out in control benchmark station equipment.
Said reference station networking calculation method, when benchmark station equipment meets the networking condition of base station net, by base station
Base station net is added in equipment, can carry out networking resolving, improves positioning accuracy, is unsatisfactory for the group of base station net in benchmark station equipment
When net condition, then the operation that benchmark station equipment carries out original positioning function is controlled, guarantees that benchmark station equipment can complete positioning function
Can, while can flexibly resolve in networking and rationally switch between original positioning function, according to the actual situation as much as possible
Improve positioning accuracy.Moreover, carrying out networking resolving, shortens the baseline length of composition base station net, improve the initial of Baselines
Change speed and calculation accuracy.
In one embodiment, the data after networking resolves include Atmospheric effects correction data, and Xiang Liudong station equipment is sent
Networking resolve after data the step of, comprising the following steps:
Obtain the position data of flowing station equipment, wherein flowing station equipment is the end in the coverage area of benchmark station equipment
End equipment.
In this step, the position data that station equipment uploads can be moved by benchmark station equipment receiving stream.
Atmospheric effects correction data are calculated according to the position data of base station net and flowing station equipment.
Wherein, Atmospheric effects correction data include ionosphere correcting information and troposphere correcting information.
Atmospheric effects correction data are sent to flowing station equipment.
In this step, Atmospheric effects correction data can be sent to flowing station equipment by server, such as can control
Server broadcasts differential correcting data and Atmospheric effects correction data, in order to the RTK operation in benchmark station equipment spread scope
Flowing station equipment can receive Atmospheric effects correction data, and flow station equipment carried out according to Atmospheric effects correction data it is quasi-
True positioning.And after encrypting the distribution of base station of CORS, baseline in CORS can also be improved and initialize speed, be conducive to essence
Atmospheric effects correction data are really calculated, and after playing Atmospheric effects correction data to flowing station equipment, improve flowing station equipment
Job area and positioning accuracy.
Said reference station networking calculation method, flowing station equipment can obtain Atmospheric effects correction data, it is possible to provide change
The type of correction data is more, in order to the subsequent setting accuracy for improving flowing station equipment.And base station net is encrypted, into
The grid-connected resolving of row simultaneously broadcasts the Atmospheric effects correction data after grid-connected resolving to station equipment is flowed, and improves user and flows station equipment
Job area and positioning accuracy.
In addition, benchmark station equipment can also send the observation data of benchmark station equipment to flowing station equipment, in order in base
Quasi- equipment guarantees the positioning function of flowing station equipment, base station networking calculation method at this time when base station net can not be added
In, the networking of CORS resolves the differential correcting data that can also obtain general single base station RTK network query function, ensures flowing station equipment
Positioning function.
In one embodiment, base station networking calculation method, further comprising the steps of:
When benchmark station equipment is unsatisfactory for the networking condition of base station net and base station net has been added in benchmark station equipment, by base
Quasi- station equipment is deleted from base station net.
Networking calculation method in said reference station is unsatisfactory for the networking condition of base station net in benchmark station equipment, by base station
Equipment is deleted from base station net, and it is provisional to guarantee that benchmark station equipment can have, improves the flexibility of base station equipment network,
Also the resource of base station net is activated, significantly in order to improve the efficiency of networking resolving.
It should be understood that although each step in the flow chart of Fig. 2 is successively shown according to the instruction of arrow, this
A little steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these steps
It executes there is no the limitation of stringent sequence, these steps can execute in other order.Moreover, at least part in Fig. 2
Step may include that perhaps these sub-steps of multiple stages or stage are executed in synchronization to multiple sub-steps
It completes, but can execute at different times, the execution sequence in these sub-steps or stage, which is also not necessarily, successively to be carried out,
But it can be executed in turn or alternately at least part of the sub-step or stage of other steps or other steps.
In one embodiment, as shown in figure 3, the structure that Fig. 3 is base station networking resolving system in one embodiment is shown
It is intended to, present embodiments provides a kind of base station networking resolving system, including equipment observation data acquisition module 310, equipment is fixed
Position coordinate obtaining module 320 and networking resolve module 330, in which:
Equipment observes data acquisition module 310, and the equipment for obtaining benchmark station equipment observes data.
Benchmark station equipment can measure and generating device observation data.Such as equipment can be observed data by benchmark station equipment
The real-time binary data stream for being converted into RTCM data format is transmitted, and is received the real-time binary data stream and is carried out data
Decoding can obtain equipment observation data.
Equipment positions coordinate obtaining module 320, for observing data and base station net acquisition benchmark station equipment according to equipment
Equipment position coordinate；
Equipment positioning coordinate obtaining module 320 carries out grid-connected resolving in base station net, and it is right to resolve equipment observation data institute
The equipment positioning coordinate answered, the equipment for being filtered resolving according to equipment observation data and base station net and obtaining benchmark station equipment
Coordinate is positioned, equipment positioning coordinate corresponding to equipment observation data is the equipment positioning coordinate of benchmark station equipment.Ground increases
The benchmark station equipment of base station net in strong system can observe satellite continuously for a long time and obtain observation data.Base
Grid-connected resolving position coordinates are carried out in the net of quasi- station, are filtered resolving using the resulting observation data of long-time continuous observation.It is logical
It crosses filtering and resolves the high position coordinates of available accuracy, therefore carry out grid-connected resolving equipment positioning in base station net and sit
Mark can greatly improve the accuracy of equipment positioning coordinate.
Networking resolves module 330, for base station net to be added in the corresponding benchmark station equipment of equipment positioning coordinate, according to adding
Base station net after entering benchmark station equipment carries out networking resolving to benchmark station equipment, and to after flowing station equipment transmission networking resolving
Data.
Networking resolves module 330 and benchmark station equipment is added in base station net, can play the base station of encryption CORS
Distribution improves the performance of CORS precise positioning and calculating, improves the accuracy that networking resolves.
Said reference station networking resolving system, after the equipment for obtaining benchmark station equipment observes data, and according to base station net
The equipment for obtaining benchmark station equipment positions coordinate, improves equipment positioning coordinate accuracy, the base station after accurate positionin is set
It is standby that base station net is added, i.e., base station net is encrypted, carries out grid-connected resolving and the data after grid-connected resolving are transferred to stream
Dynamic station equipment, the accuracy of the data after improving grid-connected resolving flow in order to improve in benchmark station equipment and institute's coverage area
The positioning accuracy of station equipment.
Specific restriction about base station networking resolving system may refer to above for base station networking calculation method
Restriction, details are not described herein.Modules in said reference station networking resolving system can be fully or partially through software, hard
Part and combinations thereof is realized.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment,
It can also be stored in a software form in the memory in computer equipment, execute the above modules in order to which processor calls
Corresponding operation.
In one embodiment, as shown in Figure 1, providing a kind of base station group network system, including benchmark in the present embodiment
Station equipment 120, server 110 and flowing station equipment 130；Benchmark station equipment 120 and flowing station equipment 130 respectively with server
110 connections, benchmark station equipment 120 are communicated by server 110 with flowing station equipment 130.
Benchmark station equipment 120 is used to measure and obtain the equipment observation data of benchmark station equipment 120, sends out to server 110
Equipment is sent to observe data.
Benchmark station equipment 120 can measure and generating device observation data.Such as benchmark station equipment 120 can see equipment
The real-time binary data stream that measured data is converted into RTCM data format is transmitted, and server 110 receives the real-time binary system
Data flow and carry out data decoding can obtain equipment observation data；Similarly between benchmark station equipment 120 and server 110
Real-time observed data can be transmitted.
Server 110 is used to execute the base station networking calculation method of above-mentioned any one.
Flowing station equipment 130 is for receiving the Atmospheric effects correction data that server 110 is broadcast.Flow station equipment 130 also
It can be used for receiving the equipment observation data for the benchmark station equipment 120 that server 110 is broadcast.
Data and Atmospheric effects correction data progress Difference Calculation can be observed according to equipment by flowing station equipment 130, and real
Existing positioning function, improves the accuracy of positioning.
In addition, benchmark station equipment 120 can be also used for the real-time observation number inscribed when uploading practical in real time to server 110
According to server 110 broadcasts real-time observed data to flowing station equipment 130 in real time, and flowing station equipment can also be according to real-time observation
Data and Atmospheric effects correction data carry out Difference Calculation and realize positioning function, improve the accuracy of positioning.
Said reference station group network system after the equipment for obtaining benchmark station equipment 120 observes data, and is obtained according to base station net
The equipment for taking benchmark station equipment 120 positions coordinate, improves equipment positioning coordinate accuracy, the base station after accurate positionin is set
Standby 120 are added base station net, i.e., encrypt to base station net, improve the flexibility of base station net encryption, carry out grid-connected resolving
And the data after grid-connected resolving are transferred to flowing station equipment 130, the accuracy of the data after improving grid-connected resolving, in order to propose
The positioning accuracy of high benchmark station equipment 120 and the positioning accuracy of flowing station equipment 130, improve the service of the unserviceable area CORS
It can be with the precision and job area of the RTK measurement of the flowing station equipment 130 of user.
In another embodiment, as shown in figure 4, the structure that Fig. 4 is base station group network system in another embodiment is shown
It is intended to.Base station group network system is by the data back of the benchmark station equipment in the region of the base station net of CORS to CORS server
Grid-connected resolving is carried out, and completes the calculating work of the accurate coordinates of moving base station in server end, avoids artificial coordinate
The purpose of automatic encryption CORS net is realized in data acquisition.On the other hand, using list base station network RTK positioning when, due to
The distance of rover station to base station increases, and atmosphere errors spatial coherence weakens, using single base station Differential positioning mode, it is long away from
It is difficult to meet high-precision requirement from the case where.If by the grid-connected resolving of single base station data, so that it may be provided for user original
Except differential data, corresponding Atmospheric effects correction data can also be provided, base station accurate coordinates is resolved, encrypts the benchmark of CORS
Stand net, increase the flowing station equipment in benchmark station equipment coverage area can job area, while also enhancing in the region
The service performance of CORS.
Base station group network system includes single base station system, base station subsystem, differential service subsystem, user subsystem.
Wherein, single base station system includes benchmark station equipment, and user subsystem includes flowing station equipment, and flowing station equipment is benchmark station equipment
Receiver in spread scope.
Single base station sub-system, that is, single base station operation benchmark station equipment, including antenna, receiver, base station communication network
Network etc. is responsible for " base station subsystem " and provides the real-time binary data stream of RTCM data format, can support market institute at present
Have a Mainstream sink machine parsing of the data stream, including Tian Bao, come card, Nore are safe, open up Pu Kang and core star it is logical, than inferior, compass in ancient China etc..
Base station subsystem mainly includes following functions, as shown in figure 5, Fig. 5 is base station subsystem in another embodiment
The flow chart for function of uniting.
(1) it is soft to be linked into server Caster data forwarding with Ntrip agreement by single base station for the observation data of RTCM format
Part.
(2) base station data is forwarded to CORS system by Caster software.
(3) CORS real time data decodes, resolves new access base station coordinate, again networking resolving, the extraction of baseline atmosphere errors.
(4) differential correcting data are sent to differential service subsystem.
Difference subsystem includes following functions, as shown in fig. 6, Fig. 6 is differential service system function in another embodiment
Flow chart.
(1) user logs in Caster software verification.
(2) Caster software broadcasts differential data.
User subsystem includes following functions, as shown in fig. 7, Fig. 7 is user subsystem function in another embodiment
Flow chart.
(1) differential service subsystem is logged in by network.
(2) the base station sight data in the binary data stream that differential service subsystem is broadcast are obtained.
(3) decoding differential service subsystem is broadcast base station sight data, ionosphere correcting information, troposphere correction letter
Breath, and carry out Difference Solution calculation.
(4) calculation result is exported.
Said reference station group network system, firstly, can be connect moving base station data automatically using Ntrip communication protocol
Enter to CORS designated port, base station is distinguished by source node title (generally base station receiver instrument number), CORS passes through solution
The real-time stream of code base station RTCM format obtains base station sight data, creates base according to base station instrument number and observation data
It stands, networking resolves.
Moreover, moving base station accurate coordinates do not need long-time static data translocation, does not need outdoor workers yet and pass through
Network RTK measurement obtains, it is only necessary to bring base station into CORS filtering and resolve coordinate, when coordinate converges to certain threshold value
Think that base station coordinates are accurate enough, shortens the moving base station grid-connected time.
In addition, single base station user only needs that base station data are uploaded to server by Caster data forwarding software,
And Differential positioning service is obtained from server, server broadcasts differential correcting data according to the grid-connected resolving situation of moving base station.
If net resolves initialization and do not complete, master reference station observation data are only broadcast；If net resolves initialization and completes, broadcast original
Base station observes data and Atmospheric effects correction number.Network RTK flowing end subscriber is not needed to do any operation and can be got greatly
Gas Correction of Errors number can greatly increase the sphere of action and positioning accuracy at flowing end.
Also, moving base station does not need outdoor workers and surveyor work compound, together debugging network, will move manually
Dynamic base station brings grid-connected resolving in the base station net of existing CORS into.It can be realized automatically and create base station and networking in CORS
The work of resolving.
It goes to set up special base station in addition, moving base station does not need special messenger, the base station in CORS coverage area, only
If broadcasting the base station of data by server Caster software, data can all be used for networking resolving, greatly be utilized
Mobile and interim base station data information also improves while encrypting the base station net of CORS in the base station net of CORS
The performance of single base station network RTK operation.Furthermore, it is not necessary that the base station specially set up, can save the unit that CORS is managed
Human input, may also reach up encryption base station purpose.
In one embodiment, a kind of computer equipment is provided, which can be server, internal junction
Composition can using as shown in figure 8, Fig. 8 as the internal structure chart of computer equipment in one embodiment.The computer equipment includes logical
Cross processor, memory and the network interface of system bus connection.Wherein, the processor of the computer equipment is for providing calculating
And control ability.The memory of the computer equipment includes non-volatile memory medium, built-in storage.The non-volatile memories are situated between
Matter is stored with operating system and computer program.The built-in storage is operating system and computer in non-volatile memory medium
The operation of program provides environment.The network interface of the computer equipment is used to communicate with external terminal by network connection.It should
To realize a kind of base station networking calculation method when computer program is executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 8, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment is provided, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, processor perform the steps of when executing computer program
The equipment for obtaining benchmark station equipment observes data；
Data are observed according to equipment and base station net obtains the equipment positioning coordinate of benchmark station equipment；
Base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate, according to the benchmark after addition benchmark station equipment
Net of standing carries out networking resolving to benchmark station equipment, and sends the data after networking resolves to flowing station equipment.
In one embodiment, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate it
Afterwards, it is also performed the steps of when processor executes computer program
Pass through the first preset time, receives the real-time observed data of benchmark station equipment；According to real-time observed data and base
The real-time positioning coordinate of quasi- station net calculating benchmark station equipment；It is greater than at a distance from positioning coordinate in real time is between equipment positioning coordinate
When preset threshold, coordinate will be positioned in real time as equipment and positions coordinate.
In one embodiment, it is also performed the steps of when processor executes computer program
It receives benchmark station equipment one-to-one equipment under multiple moment and observes data；Data are observed according to each equipment
Positioning coordinate data is calculated with base station net；When positioning coordinate data is convergence, set using positioning coordinate data as base station
Standby equipment positions coordinate.
In one embodiment, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate it
Before, processor also performs the steps of when executing computer program
Judge whether benchmark station equipment meets the networking condition of base station net；Meet the group of base station net in benchmark station equipment
When net condition, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate is executed；Benchmark station equipment not
When meeting the networking condition of base station net, equipment observation data are broadcast.
In one embodiment, it is also performed the steps of when processor executes computer program
Obtain the position data of flowing station equipment, wherein flowing station equipment is the end in the coverage area of benchmark station equipment
End equipment；Atmospheric effects correction data are calculated according to the position data of base station net and flowing station equipment；To flowing station equipment hair
Send Atmospheric effects correction data.
In one embodiment, it is also performed the steps of when processor executes computer program
When benchmark station equipment is unsatisfactory for the networking condition of base station net and base station net has been added in benchmark station equipment, by base
Quasi- station equipment is deleted from base station net.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
The equipment for obtaining benchmark station equipment observes data；
Data are observed according to equipment and base station net obtains the equipment positioning coordinate of benchmark station equipment；
Base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate, according to the benchmark after addition benchmark station equipment
Net of standing carries out networking resolving to benchmark station equipment, and sends the data after networking resolves to flowing station equipment.
In one embodiment, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate it
Afterwards, it is also performed the steps of when computer program is executed by processor
Pass through the first preset time, receives the real-time observed data of benchmark station equipment；According to real-time observed data and base
The real-time positioning coordinate of quasi- station net calculating benchmark station equipment；It is greater than at a distance from positioning coordinate in real time is between equipment positioning coordinate
When preset threshold, coordinate will be positioned in real time as equipment and positions coordinate.
In one embodiment, it is also performed the steps of when computer program is executed by processor
It receives benchmark station equipment one-to-one equipment under multiple moment and observes data；Data are observed according to each equipment
Positioning coordinate data is calculated with base station net；When positioning coordinate data is convergence, set using positioning coordinate data as base station
Standby equipment positions coordinate.
In one embodiment, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate it
Before, it is also performed the steps of when computer program is executed by processor
Judge whether benchmark station equipment meets the networking condition of base station net；Meet the group of base station net in benchmark station equipment
When net condition, the step of base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate is executed；Benchmark station equipment not
When meeting the networking condition of base station net, equipment observation data are broadcast.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Obtain the position data of flowing station equipment, wherein flowing station equipment is the end in the coverage area of benchmark station equipment
End equipment；Atmospheric effects correction data are calculated according to the position data of base station net and flowing station equipment；To flowing station equipment hair
Send Atmospheric effects correction data.
In one embodiment, it is also performed the steps of when computer program is executed by processor
When benchmark station equipment is unsatisfactory for the networking condition of base station net and base station net has been added in benchmark station equipment, by base
Quasi- station equipment is deleted from base station net.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of base station networking calculation method, which comprises the following steps:
The equipment for obtaining benchmark station equipment observes data；
Data are observed according to the equipment and base station net obtains the equipment positioning coordinate of the benchmark station equipment；
The base station net is added in the corresponding benchmark station equipment of equipment positioning coordinate, according to the addition benchmark station equipment
Base station net afterwards carries out networking resolving to the benchmark station equipment, and sends the data after networking resolves to flowing station equipment.
2. base station networking calculation method according to claim 1, which is characterized in that sat in described position the equipment
It is further comprising the steps of after marking the step of base station net is added in corresponding benchmark station equipment:
Pass through the first preset time, receives the real-time observed data of the benchmark station equipment；
The real-time positioning coordinate of the benchmark station equipment is calculated according to the real-time observed data and the base station net；
It, will be described fixed in real time when being greater than preset threshold at a distance from the real-time positioning coordinate is between equipment positioning coordinate
Position coordinate positions coordinate as the equipment.
3. base station networking calculation method according to claim 1, which is characterized in that described to obtain setting for benchmark station equipment
The step of standby observation data, comprising the following steps:
Receive the benchmark station equipment one-to-one equipment observation data under multiple moment；
The step of equipment for obtaining the benchmark station equipment according to equipment observation data and base station net positions coordinate,
The following steps are included:
Positioning coordinate data is calculated according to each equipment observation data and base station net；
When the positioning coordinate data is convergence, positioned using the positioning coordinate data as the equipment of the benchmark station equipment
Coordinate.
4. base station networking calculation method according to claim 1, which is characterized in that sat in described position the equipment
It is further comprising the steps of before marking the step of base station net is added in corresponding benchmark station equipment:
Judge whether the benchmark station equipment meets the networking condition of the base station net；
When the benchmark station equipment meets the networking condition of the base station net, execute described by equipment positioning coordinate pair
The step of base station net is added in the benchmark station equipment answered；
When the benchmark station equipment is unsatisfactory for the networking condition of the base station net, the equipment observation data are broadcast.
5. base station networking calculation method according to any one of claims 1 to 4, which is characterized in that the networking solution
Data after calculation include Atmospheric effects correction data, described the step of sending the data after networking resolves to flowing station equipment, packet
Include following steps:
Obtain the position data of the flowing station equipment, wherein the flowing station equipment is the covering model of the benchmark station equipment
Enclose interior terminal device；
The Atmospheric effects correction data are calculated according to the position data of the base station net and the flowing station equipment；
The Atmospheric effects correction data are sent to the flowing station equipment.
6. base station networking calculation method according to claim 4, which is characterized in that further comprising the steps of:
The networking condition of the base station net is unsatisfactory in the benchmark station equipment and the base has been added in the benchmark station equipment
When the net of quasi- station, the benchmark station equipment is deleted from the base station net.
7. a kind of base station networking resolving system, which is characterized in that the system comprises:
Equipment observes data acquisition module, and the equipment for obtaining benchmark station equipment observes data；
Equipment positions coordinate obtaining module, for observing data and the base station net acquisition benchmark station equipment according to the equipment
Equipment position coordinate；
Networking resolves module, for the base station net to be added in the corresponding benchmark station equipment of equipment positioning coordinate, according to
Base station net after the benchmark station equipment is added carries out networking resolving to the benchmark station equipment, and sends to flowing station equipment
Data after networking resolving.
8. a kind of base station group network system, which is characterized in that including benchmark station equipment, server and flowing station equipment；
The benchmark station equipment and the flowing station equipment are connect with the server respectively, and the benchmark station equipment passes through described
Server is communicated with the flowing station equipment；
The benchmark station equipment is used to measure and obtain the equipment observation data of the benchmark station equipment, and Xiang Suoshu server is sent
The equipment observes data；
The server is used to execute the base station networking calculation method as described in claim 1 to 6 any one；
The flowing station equipment is for receiving the Atmospheric effects correction data that the server is broadcast.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any one of claims 1 to 6 institute when executing the computer program
The step of base station networking calculation method stated.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of base station networking calculation method described in any one of claims 1 to 6 is realized when being executed by processor.
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