CN109541542B - Reference station networking resolving method and system and reference station networking system - Google Patents
Reference station networking resolving method and system and reference station networking system Download PDFInfo
- Publication number
- CN109541542B CN109541542B CN201811250355.0A CN201811250355A CN109541542B CN 109541542 B CN109541542 B CN 109541542B CN 201811250355 A CN201811250355 A CN 201811250355A CN 109541542 B CN109541542 B CN 109541542B
- Authority
- CN
- China
- Prior art keywords
- reference station
- equipment
- networking
- data
- network
- 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
- 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
Abstract
The application relates to a reference station networking resolving method and system and a reference station networking system. The method comprises the following steps: the method comprises the steps of obtaining equipment observation data of reference station equipment, obtaining equipment positioning coordinates of the reference station equipment according to the equipment observation data and a reference station network, adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network, carrying out networking calculation on the reference station equipment according to the reference station network after the reference station equipment is added, and sending data after the networking calculation to the mobile station equipment. After the method is adopted to obtain the equipment observation data of the reference station equipment, the equipment positioning coordinates of the reference station equipment are obtained according to the reference station network, the accuracy of the equipment positioning coordinates is improved, the accurately positioned reference station equipment is added into the reference station network, namely, the reference station network is encrypted, grid-connected calculation is carried out, the data after grid-connected calculation is transmitted to the reference station equipment, the accuracy of the data after grid-connected calculation is improved, and therefore the positioning accuracy of the reference station equipment and the positioning accuracy of the flow station equipment in the coverage area are improved.
Description
Technical Field
The application relates to the technical field of space geodetic surveying, in particular to a reference station networking calculation method, a reference station networking calculation system, a reference station networking system, computer equipment and a storage medium.
Background
The single base station network RTK temporarily erects 1 mobile reference station, the communication link transmits the positioning coordinate of the mobile reference station to the control center server, and the control center server broadcasts correction item information to the mobile station equipment of the user through the communication link.
When a single base station network RTK is used for operation, as the distance from a user rover to a reference station increases, the spatial correlation of atmospheric errors of the mobile reference station and rover equipment of the user is weakened, most errors between the mobile reference station and the rover equipment of the user cannot be effectively eliminated through an inter-station difference method, and the positioning accuracy of the rover equipment of the user is low.
Disclosure of Invention
In view of the above, it is necessary to provide a reference station networking solution method, a system and a reference station networking system for solving the problem of low positioning accuracy of the user's rover equipment.
A reference station networking resolving method comprises the following steps:
acquiring equipment observation data of reference station equipment;
acquiring equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network;
and adding the reference station equipment corresponding to the equipment positioning coordinates into a reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending data after networking calculation to the mobile station equipment.
In one embodiment, after the step of adding the reference station device corresponding to the device positioning coordinate into the reference station network, the method further includes the following steps:
receiving real-time observation data of the reference station equipment after a first preset time;
calculating real-time positioning coordinates of the reference station equipment according to the real-time observation data and the reference station network;
and when the distance between the real-time positioning coordinate and the equipment positioning coordinate is greater than a preset threshold value, taking the real-time positioning coordinate as the equipment positioning coordinate.
In one embodiment, the step of obtaining device observations of the reference station device comprises the steps of:
receiving equipment observation data corresponding to the reference station equipment at a plurality of moments one by one;
the method comprises the following steps of obtaining the equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network:
calculating positioning coordinate data according to the observation data of each device and the reference station network;
and when the positioning coordinate data is convergent, taking the positioning coordinate data as the equipment positioning coordinate of the reference station equipment.
In one embodiment, before the step of adding the reference station device corresponding to the device positioning coordinate into the reference station network, the method further includes the following steps:
judging whether the reference station equipment meets the networking conditions of the reference station network;
when the reference station equipment meets the networking conditions of the reference station network, adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network;
and when the reference station equipment does not meet the networking conditions of the reference station network, broadcasting equipment observation data.
In one embodiment, the networking resolved data includes atmospheric error correction data, and the step of sending the networking resolved data to the rover device includes the steps of:
acquiring position data of the rover station equipment, wherein the rover station equipment is terminal equipment in the coverage range of the reference station equipment;
calculating atmospheric error correction data according to the position data of the reference station network and the rover station equipment;
atmospheric error correction data is sent to the rover device.
In one embodiment, the reference station networking solution method further includes the following steps:
and when the reference station equipment does not meet the networking conditions of the reference station network and the reference station equipment is added into the reference station network, deleting the reference station equipment from the reference station network.
A reference station networking solution system comprising:
the device observation data acquisition module is used for acquiring device observation data of the reference station device;
the equipment positioning coordinate acquisition module is used for acquiring the equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network;
and the networking calculation module is used for adding the reference station equipment corresponding to the equipment positioning coordinates into a reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending networking calculated data to the mobile station equipment.
A reference station networking system includes a reference station device, a server, and a rover device;
the base station equipment and the rover station equipment are respectively connected with the server, and the base station equipment is communicated with the rover station equipment through the server;
the reference station equipment is used for measuring and obtaining equipment observation data of the reference station equipment and sending the equipment observation data to the server;
the server is used for executing the reference station networking calculation method;
the rover station is used for receiving the atmospheric error correction data broadcasted by the server.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring equipment observation data of reference station equipment;
acquiring equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network;
and adding the reference station equipment corresponding to the equipment positioning coordinates into a reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending data after networking calculation to the mobile station equipment.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring equipment observation data of reference station equipment;
acquiring equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network;
and adding the reference station equipment corresponding to the equipment positioning coordinates into a reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending data after networking calculation to the mobile station equipment.
According to the method and the system for calculating the reference station networking, the computer equipment and the storage medium, after the equipment observation data of the reference station equipment is obtained, the equipment positioning coordinates of the reference station equipment are obtained according to the reference station network, the accuracy of the equipment positioning coordinates is improved, the accurately positioned reference station equipment is added into the reference station network, namely the reference station network is encrypted, the grid-connected calculation is carried out, the data after the grid-connected calculation is transmitted to the mobile station equipment, the accuracy of the data after the grid-connected calculation is improved, and therefore the positioning accuracy of the reference station equipment and the mobile station equipment in the coverage area is improved.
Drawings
FIG. 1 is a diagram illustrating the architecture of a system of networking of reference stations in one embodiment;
FIG. 2 is a flow diagram of a reference station networking solution in one embodiment;
FIG. 3 is a schematic structural diagram of a reference station networking solution system in one embodiment;
fig. 4 is a schematic structural diagram of a reference station networking system in another embodiment;
FIG. 5 is a flow diagram of the reference station subsystem functionality in another embodiment;
FIG. 6 is a flow diagram of differentiated services system functionality in another embodiment;
FIG. 7 is a flow diagram of user subsystem functionality in another embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The quasi-station networking solution method provided by the application can be applied to an application environment shown in fig. 1, and fig. 1 is a schematic structural diagram of a reference station networking system in one embodiment. Wherein the reference station apparatus 120 and the rover apparatus 130 communicate with the server 110, respectively. The rover device 130 may be, but is not limited to, various GNSS receivers and the rover device 130 may be a GNSS receiver within the coverage of the reference station device 120. The server 110 may be implemented as a stand-alone server or as a server cluster comprising a plurality of servers.
In an embodiment, as shown in fig. 2, fig. 2 is a flowchart of a reference station networking solution method in an embodiment, and the embodiment provides a reference station networking solution method, which is described by taking an example that the method is applied to a server in fig. 1, and includes the following steps:
step S210: and acquiring equipment observation data of the reference station equipment.
In this step, the reference station device may measure and generate device observation data. For example, the reference station device may convert the device observation data into a real-time binary data stream in an RTCM data format for transmission, and receive and decode the real-time binary data stream to obtain the device observation data.
Step S220: and acquiring the equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network.
In the step, grid-connected calculation is carried out in the reference station network, the equipment positioning coordinates corresponding to the equipment observation data are calculated, filtering calculation is carried out according to the equipment observation data and the reference station network, and the equipment positioning coordinates of the reference station equipment are obtained, wherein the equipment positioning coordinates corresponding to the equipment observation data are the equipment positioning coordinates of the reference station equipment. Reference station equipment of a Reference station network in a ground based augmentation system (CORS) can Continuously observe a satellite for a long time and obtain observation data. And performing grid-connected calculation on the position coordinates in the reference station network, and performing filtering calculation by using observation data obtained by long-time continuous observation. The position coordinate with high accuracy can be obtained through filtering calculation, so that the equipment positioning coordinate is calculated in a grid-connected mode in a benchmark station network, and the accuracy of the equipment positioning coordinate can be greatly improved.
Step S230: and adding the reference station equipment corresponding to the equipment positioning coordinates into a reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending data after networking calculation to the mobile station equipment.
In the step, the reference station equipment is added into the reference station network, so that the distribution of the reference stations of the CORS can be encrypted, the accurate positioning and calculating performance of the CORS is improved, and the accuracy of networking calculation is improved.
According to the method for calculating the networking of the reference station, after the equipment observation data of the reference station equipment is obtained, the equipment positioning coordinates of the reference station equipment are obtained according to the reference station network, the accuracy of the equipment positioning coordinates is improved, the accurately positioned reference station equipment is added into the reference station network, namely, the reference station network is encrypted, the grid-connected calculation is carried out, the data after the grid-connected calculation is transmitted to the mobile station equipment, the accuracy of the data after the grid-connected calculation is improved, and therefore the positioning accuracy of the reference station equipment and the mobile station equipment in the coverage area is improved.
In one embodiment, after the step of adding the reference station device corresponding to the device positioning coordinate into the reference station network, the method further includes the following steps:
and receiving real-time observation data of the reference station equipment after the first preset time.
In the step, after a first preset time, the device observation data of the reference station device at the actual time is received in real time, and the device observation data at the actual time is used as the real-time observation data, so that the reference station device can be monitored in real time.
And calculating the real-time positioning coordinates of the reference station equipment according to the real-time observation data and the reference station network.
In the step, filtering calculation is carried out according to real-time observation data, real-time positioning coordinates of the reference station equipment at the actual moment are calculated, and the position of the reference station equipment is monitored in real time.
And when the distance between the real-time positioning coordinate and the equipment positioning coordinate is greater than a preset threshold value, taking the real-time positioning coordinate as the equipment positioning coordinate.
In this step, when the distance between the real-time positioning coordinate and the device positioning coordinate is greater than the preset threshold, the position of the device positioning coordinate has a large offset relative to the position of the real-time positioning coordinate, that is, the position of the reference station device changes, the device positioning coordinate becomes inaccurate, and the device positioning coordinate of the reference station device in the reference station network needs to be updated.
According to the method for calculating the reference station networking, the real-time observation data of the reference station equipment at the actual moment are obtained and the real-time positioning coordinate is calculated, so that the equipment positioning coordinate of the reference station equipment in the reference station network is updated in time, the real-time performance of the reference station equipment in the reference station network is improved, the real-time accuracy of the reference station network is improved, and meanwhile, the base line calculation in the reference station network is prevented from being unsuccessful due to the fact that the equipment positioning coordinate of the reference station equipment is not high in accuracy.
In one embodiment, the step of obtaining device observations of the reference station device comprises the steps of:
and receiving the equipment observation data which correspond to the reference station equipment one by one at a plurality of moments.
In this step, the reference station device performs measurement at multiple times within the measurement time length range to obtain device observation data corresponding to each other at the multiple times, where the multiple times are within the measurement time length range.
The method comprises the following steps of obtaining the equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network:
and calculating positioning coordinate data according to the observation data of each device and the reference station network.
In this step, real-time coordinate data corresponding to each time at one-to-one correspondence is calculated according to each device observation data and the reference station network, and accurate positioning coordinate data of the reference station device in the measurement time length is analyzed and calculated according to the plurality of real-time coordinate data, that is, the convergence condition of the positioning coordinate data is obtained after multiple times of filtering and resolving.
And when the positioning coordinate data is convergent, taking the positioning coordinate data as the equipment positioning coordinate of the reference station equipment.
In this step, if the calculated positioning coordinate data is convergent, that is, if the calculated positioning coordinate data has a solution, the difference between the calculated positioning coordinate data at the previous time and the calculated positioning coordinate data at the next time is smaller than a set threshold, that is, the positioning coordinate data of the position of the reference station device within the measurement time range is obtained, and the device positioning coordinate of the reference station device is updated to the positioning coordinate data.
The reference station networking resolving method can receive the one-to-one corresponding device observation data at a plurality of moments within the measurement time length, avoids direct measurement of the reference station device and calculation of the device positioning coordinate, reduces the time for waiting for the reference station device to generate the device positioning coordinate, and reduces the labor cost for monitoring the reference station device to generate the device positioning coordinate. And the accurate coordinate of the reference station equipment is calculated through filtering according to the long-time continuous observation data of the reference station equipment, so that the problem of low coordinate accuracy of the reference station equipment obtained through measurement in an RTK operation mode is solved, and the labor cost for obtaining the coordinate of the reference station equipment through manual RTK measurement is reduced.
In one embodiment, before the step of adding the reference station device corresponding to the device positioning coordinate into the reference station network, the method further includes the following steps:
judging whether the reference station equipment meets the networking conditions of the reference station network;
in this step, the networking condition is a judgment basis for judging that the reference station device can join the reference station network. For example, when the reference station equipment is far away from other reference station equipment in the reference station network and the networking calculation accuracy after networking is not up to the requirement, that is, the distance exceeds the distance range set by the system, the reference station equipment is not suitable to be added into the reference station network.
When the reference station equipment meets the networking conditions of the reference station network, adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network;
in the step, when the reference station equipment meets the networking conditions of the reference station network, the reference station equipment is added into the reference station network, so that the accuracy of networking calculation can be ensured to meet the requirement, and the positioning accuracy is improved. And after the base station network is encrypted, the length of the base lines forming the base station network can be shortened, and the initialization speed and the calculation precision of base line calculation are improved.
And when the reference station equipment does not meet the networking conditions of the reference station network, broadcasting equipment observation data.
In the step, when the reference station equipment does not meet the networking conditions of the reference station network, the reference station equipment is not added into the reference station network, the networking is not needed for resolving the atmospheric error correction data, and the server can be controlled to only broadcast the equipment observation data so as to control the reference station equipment to perform the operation of the original positioning function.
According to the method for calculating the reference station networking, when the reference station equipment meets the networking conditions of the reference station network, the reference station equipment is added into the reference station network, the networking calculation can be performed, the positioning accuracy is improved, when the reference station equipment does not meet the networking conditions of the reference station network, the reference station equipment is controlled to perform the operation of the original positioning function, the positioning function of the reference station equipment can be guaranteed to be completed, meanwhile, the networking calculation and the original positioning function can be flexibly and reasonably switched, and the positioning accuracy is improved as much as possible according to actual conditions. And networking calculation is carried out, the length of a base line forming a base station network is shortened, and the initialization speed and the calculation precision of the base line calculation are improved.
In one embodiment, the networking resolved data includes atmospheric error correction data, and the step of sending the networking resolved data to the rover device includes the steps of:
position data of a rover device is acquired, wherein the rover device is a terminal device within the coverage of a reference station device.
In this step, the position data uploaded by the rover station may be received by the reference station device.
Atmospheric error correction data is calculated from the position data of the network of reference stations and the rover station apparatus.
Wherein the atmospheric error correction data includes ionosphere correction information and troposphere correction information.
Atmospheric error correction data is sent to the rover device.
In this step, the atmospheric error correction data may be sent to the rover station device through the server, for example, the server may be controlled to broadcast the difference correction data and the atmospheric error correction data, so that the rover station device for RTK operation in the propagation range of the base station device may receive the atmospheric error correction data, and the rover station device may perform accurate positioning according to the atmospheric error correction data. And after the distribution of the reference stations of the CORS is encrypted, the baseline initialization speed in the CORS can be increased, the accurate calculation of the atmospheric error correction data is facilitated, and the operation range and the positioning accuracy of the rover equipment are improved after the atmospheric error correction data is played to the rover equipment.
According to the reference station networking calculation method, the rover equipment can obtain the atmospheric error correction data, and the correction data can be provided in various types, so that the positioning accuracy of the rover equipment can be improved subsequently. And the reference station network is encrypted, grid-connected calculation is carried out, and the atmospheric error correction data after the grid-connected calculation is broadcasted to the rover equipment, so that the operation range and the positioning precision of the user rover equipment are improved.
In addition, the reference station equipment can also send observation data of the reference station equipment to the rover equipment so as to ensure the positioning function of the rover equipment when the reference equipment cannot be added to a reference station network.
In one embodiment, the reference station networking solution method further includes the following steps:
and when the reference station equipment does not meet the networking conditions of the reference station network and the reference station equipment is added into the reference station network, deleting the reference station equipment from the reference station network.
According to the reference station networking calculation method, when the reference station equipment does not meet the networking conditions of the reference station network, the reference station equipment is deleted from the reference station network, so that the reference station equipment can have the temporality, the networking flexibility of the reference station equipment is improved, and the resources of the reference station network are also greatly activated, so that the networking calculation efficiency is improved.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In an embodiment, as shown in fig. 3, fig. 3 is a schematic structural diagram of a reference station networking solution system in an embodiment, and this embodiment provides a reference station networking solution system, which includes an apparatus observation data obtaining module 310, an apparatus positioning coordinate obtaining module 320, and a networking solution module 330, where:
and a device observation data obtaining module 310, configured to obtain device observation data of the reference station device.
The reference station device may measure and generate device observation data. For example, the reference station device may convert the device observation data into a real-time binary data stream in an RTCM data format for transmission, and receive and decode the real-time binary data stream to obtain the device observation data.
The device positioning coordinate acquisition module 320 is configured to acquire a device positioning coordinate of the reference station device according to the device observation data and the reference station network;
the device positioning coordinate obtaining module 320 performs grid-connected calculation in the reference station network, calculates a device positioning coordinate corresponding to the device observation data, performs filter calculation according to the device observation data and the reference station network, and obtains a device positioning coordinate of the reference station device, where the device positioning coordinate corresponding to the device observation data is the device positioning coordinate of the reference station device. The reference station equipment of the reference station network in the ground-based augmentation system can continuously observe the satellite for a long time and obtain observation data. And performing grid-connected calculation on the position coordinates in the reference station network, and performing filtering calculation by using observation data obtained by long-time continuous observation. The position coordinate with high accuracy can be obtained through filtering calculation, so that the equipment positioning coordinate is calculated in a grid-connected mode in a benchmark station network, and the accuracy of the equipment positioning coordinate can be greatly improved.
And the networking calculation module 330 is configured to add the reference station equipment corresponding to the equipment positioning coordinates into a reference station network, perform networking calculation on the reference station equipment according to the reference station network after the reference station equipment is added, and send networking calculated data to the mobile station equipment.
The networking calculating module 330 adds the reference station equipment into the reference station network, so that the distribution of the reference stations of the CORS can be encrypted, the accurate positioning and calculating performance of the CORS is improved, and the networking calculating accuracy is improved.
According to the reference station networking calculation system, after the equipment observation data of the reference station equipment is obtained, the equipment positioning coordinates of the reference station equipment are obtained according to the reference station network, the equipment positioning coordinate accuracy is improved, the accurately positioned reference station equipment is added into the reference station network, namely, the reference station network is encrypted, grid-connected calculation is carried out, the data after grid-connected calculation is transmitted to the mobile station equipment, the accuracy of the data after grid-connected calculation is improved, and therefore the positioning accuracy of the reference station equipment and the mobile station equipment in the coverage area is improved.
For specific limitations of the reference station networking solution system, reference may be made to the above limitations of the reference station networking solution method, and details are not described here. All or part of each module in the reference station networking resolving system can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 1, the present embodiment provides a reference station networking system including a reference station apparatus 120, a server 110, and a rover apparatus 130; the reference station apparatus 120 and the rover apparatus 130 are respectively connected to the server 110, and the reference station apparatus 120 communicates with the rover apparatus 130 through the server 110.
The reference station device 120 is configured to measure and obtain device observation data of the reference station device 120, and send the device observation data to the server 110.
The reference station device 120 may measure and generate device observation data. For example, the reference station device 120 may convert the device observation data into a real-time binary data stream in an RTCM data format for transmission, and the server 110 may receive the real-time binary data stream and perform data decoding to obtain the device observation data; similarly, real-time observation data may be transmitted between the reference station device 120 and the server 110.
The server 110 is configured to perform any one of the above-described reference station networking solutions.
The rover device 130 is for receiving the atmospheric error correction data broadcast by the server 110. The rover device 130 may also be used to receive the device observation data for the reference station device 120 as broadcast by the server 110.
The rover device 130 may perform a difference calculation based on the device observation data and the atmospheric error correction data, and implement a positioning function to improve positioning accuracy.
In addition, the reference station device 120 may also be configured to upload real-time observation data at an actual time to the server 110 in real time, and the server 110 broadcasts the real-time observation data to the rover device 130 in real time, and the rover device may also perform differential calculation according to the real-time observation data and the atmospheric error correction data and implement a positioning function, thereby improving positioning accuracy.
The base station networking system acquires the equipment observation data of the base station equipment 120, acquires the equipment positioning coordinate of the base station equipment 120 according to the base station network, improves the accuracy of the equipment positioning coordinate, adds the accurately positioned base station equipment 120 into the base station network, namely encrypts the base station network, improves the encryption flexibility of the base station network, performs grid-connected calculation and transmits the data after the grid-connected calculation to the rover equipment 130, improves the accuracy of the data after the grid-connected calculation, so that the positioning accuracy of the base station equipment 120 and the positioning accuracy of the rover equipment 130 are improved, and the service performance of a CORS service blind area and the RTK measurement accuracy and the operation range of the rover equipment 130 of a user are improved.
In another embodiment, as shown in fig. 4, fig. 4 is a schematic structural diagram of a networking system of a reference station in another embodiment. The reference station networking system transmits data of reference station equipment in the area of the reference station network of the CORS back to the CORS server for grid-connected calculation, and the calculation work of the accurate coordinates of the mobile reference station is completed at the server side, so that the manual coordinate data acquisition is avoided, and the purpose of automatically encrypting the CORS network is realized. On the other hand, when using single base station network RTK positioning, since the atmospheric error spatial correlation weakens as the rover station to base station distance increases, it is difficult to meet the requirement of high accuracy in the case of long distance using the single base station differential positioning mode. If single base station data are subjected to grid-connected calculation, besides original differential data, corresponding atmospheric error correction data can be provided for users, accurate coordinates of the base stations are calculated, a reference station network of the CORS is encrypted, the operable range of the rover equipment within the coverage range of the reference station equipment is enlarged, and meanwhile the service performance of the CORS in the area is enhanced.
The reference station networking system comprises a single base station system, a reference station subsystem, a differential service subsystem and a user subsystem. The single base station system comprises a reference station device, the user subsystem comprises a mobile station device, and the mobile station device is a receiver in the propagation range of the reference station device.
The reference station equipment for single base station subsystem, i.e. single reference station operation, comprises an antenna, a receiver, a reference station communication network and the like, is responsible for providing a real-time binary data stream in an RTCM data format for the reference station subsystem, and can support the data stream analysis of all mainstream receivers in the market at present, including Tianbao, Leica, Nolita, Topocon, Hexingtong, Bison, Senan and the like.
The reference station subsystem mainly includes the following functions, as shown in fig. 5, and fig. 5 is a flowchart of the functions of the reference station subsystem in another embodiment.
(1) And the single base station accesses the observation data in the RTCM format to the server Caster data forwarding software by an Ntrip protocol.
(2) The Caster software forwards the base station data to the CORS system.
(3) CORS real-time data decoding, calculating new access base station coordinates, re-networking and calculating, and extracting baseline atmospheric errors.
(4) And sending the differential correction data to the differential service subsystem.
The differentiated subsystem includes the following functions, as shown in fig. 6, and fig. 6 is a flow chart of the functions of the differentiated services system in another embodiment.
(1) The user logs in to the Caster software for verification.
(2) The Caster software broadcasts differential data.
The user subsystem includes the following functions, as shown in fig. 7, and fig. 7 is a flowchart of the functions of the user subsystem in another embodiment.
(1) Logging in the differentiated services subsystem through the network.
(2) And acquiring base station observation data in the binary data stream broadcasted by the differential service subsystem.
(3) And decoding the base station observation data, the ionosphere correction information and the troposphere correction information broadcasted by the differential service subsystem, and carrying out differential calculation.
(4) And outputting a resolving result.
Firstly, the mobile reference station data can be automatically accessed to a designated port of a CORS (reference station system) by adopting an Ntrip communication protocol, base stations are distinguished by source node names (generally, base station receiver instrument numbers), the CORS acquires base station observation data by decoding a real-time data stream in a base station RTCM (real time modulation code) format, a base station is newly built according to the base station instrument numbers and the observation data, and the networking is carried out for resolving.
Moreover, the accurate coordinates of the mobile reference station do not need to be measured jointly by long-time static data and obtained by a field worker through network RTK measurement, the reference station only needs to be brought into the CORS for filtering and resolving the coordinates, and when the coordinates converge to a certain threshold, the coordinates of the base station are considered to be accurate enough, so that the grid connection time of the mobile reference station is shortened.
In addition, a single base station user only needs to upload the data of the reference station to the server through the Caster data forwarding software, obtain the differential positioning service from the server, and the server broadcasts the differential correction data according to the grid-connected calculation condition of the mobile reference station. If the network resolving initialization is not completed, only the observation data of the original reference station is broadcast; and if the network resolving initialization is completed, broadcasting the observation data of the original reference station and the atmospheric error correction number. The network RTK mobile terminal user can obtain the atmospheric error correction number without any operation, and the action range and the positioning precision of the mobile terminal can be greatly increased.
And moreover, the mobile reference station does not need cooperative work of field workers and field workers, the network is debugged together, and the mobile reference station is manually brought into the reference station network of the conventional CORS for grid-connected calculation. The work of newly building a base station and networking calculation in the CORS can be automatically realized.
In addition, a special base station does not need to be erected by a specially-assigned person, the data of the base station in the coverage range of the CORS can be used for networking calculation as long as the base station broadcasts the data through server Caster software, the moving and temporary data information of the base station in the network of the CORS is greatly utilized, and the performance of RTK operation of a single-base-station network is improved while the network of the CORS is encrypted. In addition, a specially-erected base station is not needed, the labor input of a unit managed by the CORS can be saved, and the purpose of encrypting the reference station can be achieved.
In one embodiment, a computer device is provided, the computer device may be a server, the internal structure of which may be as shown in fig. 8, fig. 8 is an internal structure of the computer device in one embodiment. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a reference station networking solution method.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring equipment observation data of reference station equipment;
acquiring equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network;
and adding the reference station equipment corresponding to the equipment positioning coordinates into a reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending data after networking calculation to the mobile station equipment.
In one embodiment, after the step of joining the reference station device corresponding to the device location coordinates to the network of reference stations, the processor when executing the computer program further performs the steps of:
receiving real-time observation data of the reference station equipment after a first preset time; calculating real-time positioning coordinates of the reference station equipment according to the real-time observation data and the reference station network; and when the distance between the real-time positioning coordinate and the equipment positioning coordinate is greater than a preset threshold value, taking the real-time positioning coordinate as the equipment positioning coordinate.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
receiving equipment observation data corresponding to the reference station equipment at a plurality of moments one by one; calculating positioning coordinate data according to the observation data of each device and the reference station network; and when the positioning coordinate data is convergent, taking the positioning coordinate data as the equipment positioning coordinate of the reference station equipment.
In one embodiment, before the step of adding the reference station device corresponding to the device positioning coordinates to the network of reference stations, the processor when executing the computer program further performs the steps of:
judging whether the reference station equipment meets the networking conditions of the reference station network; when the reference station equipment meets the networking conditions of the reference station network, adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network; and when the reference station equipment does not meet the networking conditions of the reference station network, broadcasting equipment observation data.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring position data of the rover station equipment, wherein the rover station equipment is terminal equipment in the coverage range of the reference station equipment; calculating atmospheric error correction data according to the position data of the reference station network and the rover station equipment; atmospheric error correction data is sent to the rover device.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and when the reference station equipment does not meet the networking conditions of the reference station network and the reference station equipment is added into the reference station network, deleting the reference station equipment from the reference station network.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring equipment observation data of reference station equipment;
acquiring equipment positioning coordinates of the reference station equipment according to the equipment observation data and the reference station network;
and adding the reference station equipment corresponding to the equipment positioning coordinates into a reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending data after networking calculation to the mobile station equipment.
In one embodiment, after the step of joining the reference station device to the network of reference stations corresponding to the device location coordinates, the computer program when executed by the processor further performs the steps of:
receiving real-time observation data of the reference station equipment after a first preset time; calculating real-time positioning coordinates of the reference station equipment according to the real-time observation data and the reference station network; and when the distance between the real-time positioning coordinate and the equipment positioning coordinate is greater than a preset threshold value, taking the real-time positioning coordinate as the equipment positioning coordinate.
In one embodiment, the computer program when executed by the processor further performs the steps of:
receiving equipment observation data corresponding to the reference station equipment at a plurality of moments one by one; calculating positioning coordinate data according to the observation data of each device and the reference station network; and when the positioning coordinate data is convergent, taking the positioning coordinate data as the equipment positioning coordinate of the reference station equipment.
In one embodiment, prior to the step of joining the reference station device to the network of reference stations corresponding to the device location coordinates, the computer program when executed by the processor further performs the steps of:
judging whether the reference station equipment meets the networking conditions of the reference station network; when the reference station equipment meets the networking conditions of the reference station network, adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network; and when the reference station equipment does not meet the networking conditions of the reference station network, broadcasting equipment observation data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring position data of the rover station equipment, wherein the rover station equipment is terminal equipment in the coverage range of the reference station equipment; calculating atmospheric error correction data according to the position data of the reference station network and the rover station equipment; atmospheric error correction data is sent to the rover device.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and when the reference station equipment does not meet the networking conditions of the reference station network and the reference station equipment is added into the reference station network, deleting the reference station equipment from the reference station network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A reference station networking calculation method is characterized by comprising the following steps:
acquiring equipment observation data of reference station equipment;
carrying out filtering calculation according to the equipment observation data and a reference station network to obtain equipment positioning coordinates of the reference station equipment;
adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending networking calculated data to the mobile station equipment; the networking resolved data comprises atmospheric error correction data.
2. The method for calculating the reference station networking according to claim 1, further comprising, after the step of adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network, the steps of:
receiving real-time observation data of the reference station equipment after a first preset time;
calculating real-time positioning coordinates of the reference station equipment according to the real-time observation data and the reference station network;
and when the distance between the real-time positioning coordinate and the equipment positioning coordinate is greater than a preset threshold value, taking the real-time positioning coordinate as the equipment positioning coordinate.
3. The reference station networking solution method of claim 1, wherein the step of obtaining device observation data for the reference station devices comprises the steps of:
receiving device observation data corresponding to the reference station device at a plurality of moments one by one;
the step of obtaining the device positioning coordinates of the reference station device according to the device observation data and the reference station network comprises the following steps:
calculating positioning coordinate data according to the observation data of each device and a reference station network;
and when the positioning coordinate data is convergent, taking the positioning coordinate data as the equipment positioning coordinate of the reference station equipment.
4. The method for calculating the reference station networking according to claim 1, further comprising, before the step of adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network, the steps of:
judging whether the reference station equipment meets the networking conditions of the reference station network;
when the reference station equipment meets the networking condition of the reference station network, the step of adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network is executed;
and when the reference station equipment does not meet the networking conditions of the reference station network, broadcasting the equipment observation data.
5. The reference station networking solution method according to any one of claims 1 to 4, wherein the networking solution data comprises atmospheric error correction data, and the step of sending the networking solution data to the rover device comprises the steps of:
acquiring position data of the rover station equipment, wherein the rover station equipment is terminal equipment in the coverage range of the reference station equipment;
calculating the atmospheric error correction data from the position data of the network of reference stations and the rover station apparatus;
transmitting the atmospheric error correction data to the rover device.
6. The reference station networking solution method of claim 4, further comprising the steps of:
and when the reference station equipment does not meet the networking conditions of the reference station network and the reference station equipment is added into the reference station network, deleting the reference station equipment from the reference station network.
7. A reference station networking solution system, the system comprising:
the device observation data acquisition module is used for acquiring device observation data of the reference station device;
the equipment positioning coordinate acquisition module is used for carrying out filtering calculation according to the equipment observation data and a reference station network to acquire equipment positioning coordinates of the reference station equipment;
the networking calculation module is used for adding the reference station equipment corresponding to the equipment positioning coordinates into the reference station network, performing networking calculation on the reference station equipment according to the reference station network added with the reference station equipment, and sending networking calculated data to the mobile station equipment; the networking resolved data comprises atmospheric error correction data.
8. A reference station networking system is characterized by comprising a reference station device, a server and a rover station device;
the reference station equipment and the rover station equipment are respectively connected with the server, and the reference station equipment is communicated with the rover station equipment through the server;
the reference station equipment is used for measuring and obtaining equipment observation data of the reference station equipment and sending the equipment observation data to the server;
the server is used for executing the reference station networking solution method according to any one of claims 1 to 6;
the rover equipment is used for receiving the atmospheric error correction data broadcasted by the server.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the reference station networking solution method of any one of claims 1 to 6.
10. A computer-readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the reference station networking solution method of any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811250355.0A CN109541542B (en) | 2018-10-25 | 2018-10-25 | Reference station networking resolving method and system and reference station networking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811250355.0A CN109541542B (en) | 2018-10-25 | 2018-10-25 | Reference station networking resolving method and system and reference station networking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109541542A CN109541542A (en) | 2019-03-29 |
| CN109541542B true CN109541542B (en) | 2020-12-29 |
Family
ID=65844896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811250355.0A Active CN109541542B (en) | 2018-10-25 | 2018-10-25 | Reference station networking resolving method and system and reference station networking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109541542B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110824519B (en) * | 2019-11-08 | 2022-09-02 | 东南大学 | Network element real-time automatic updating method applied to reference station network system |
| CN110687558B (en) * | 2019-12-11 | 2020-05-12 | 深圳微品致远信息科技有限公司 | Independent double-baseline calculation verification method based on Beidou dynamic positioning |
| CN113630829A (en) * | 2020-05-07 | 2021-11-09 | 中移智行网络科技有限公司 | Method, system, device and network equipment for terminal migration between reference stations |
| CN112153697B (en) * | 2020-09-03 | 2023-06-06 | 南方电网数字电网研究院有限公司 | CORS (coordinated rotation System) resolving method, broadcasting method and system under multi-base-station high concurrence scene and CORS system |
| CN112783981B (en) * | 2021-02-05 | 2022-04-08 | 腾讯科技（深圳）有限公司 | Method and device for processing and monitoring data in reference station network |
| CN114125699A (en) * | 2021-10-26 | 2022-03-01 | 广东省国土资源测绘院 | Network RTK service method for reconstruction by using virtual reference station |
| CN115484594A (en) * | 2022-11-11 | 2022-12-16 | 北京航天长城卫星导航科技有限公司 | Monitoring method and device for base station in network RTK center resolving software |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842117A (en) * | 2016-12-16 | 2017-06-13 | 中国电子科技集团公司第五十四研究所 | A kind of asynchronous MANET alignment system and localization method based on two-way precise distance measurement |
| CN108061910A (en) * | 2017-12-06 | 2018-05-22 | 广州极飞科技有限公司 | Network-building method, device and differential position system based on phase difference |
| CN108267762A (en) * | 2016-12-31 | 2018-07-10 | 华为技术有限公司 | Real-time dynamic positioning system virtualization reference station switching method and equipment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7392514B2 (en) * | 2003-06-26 | 2008-06-24 | Microsoft Corporation | Data flow chasing |
| CN102608633B (en) * | 2012-01-13 | 2014-06-04 | 中国测绘科学研究院 | Satellite locating pseudorange difference method |
| CN105607079A (en) * | 2016-01-19 | 2016-05-25 | 东南大学 | Method for positioning precision enhancement of GNSS, and GNSS positioning system |
| CN105717530A (en) * | 2016-02-19 | 2016-06-29 | 武汉大学 | Method for applying mobile base station to enhance positioning effect in network RTK |
| CN107064979B (en) * | 2017-01-19 | 2019-10-01 | 湖南北云科技有限公司 | A kind of packet type RTK localization method and system |
-
2018
- 2018-10-25 CN CN201811250355.0A patent/CN109541542B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842117A (en) * | 2016-12-16 | 2017-06-13 | 中国电子科技集团公司第五十四研究所 | A kind of asynchronous MANET alignment system and localization method based on two-way precise distance measurement |
| CN108267762A (en) * | 2016-12-31 | 2018-07-10 | 华为技术有限公司 | Real-time dynamic positioning system virtualization reference station switching method and equipment |
| CN108061910A (en) * | 2017-12-06 | 2018-05-22 | 广州极飞科技有限公司 | Network-building method, device and differential position system based on phase difference |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109541542A (en) | 2019-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109541542B (en) | Reference station networking resolving method and system and reference station networking system | |
| CN108353246B (en) | Positioning method, server, base station, mobile terminal and system in mobile network | |
| CN107426695B (en) | Broadcast-based gridding differential data broadcasting method, server and storage medium | |
| CN113075714B (en) | Auxiliary positioning method, device and equipment based on reference point position | |
| US10598792B2 (en) | Information processing device and positioning device | |
| US20180246218A1 (en) | Positioning method in mobile network, base station, and mobile terminal | |
| CN109548140B (en) | Position data acquisition method and device, computer equipment and storage medium | |
| US11460583B2 (en) | Method and apparatus for providing correction data for satellite navigation | |
| US8350755B2 (en) | Method and system for propagating GNSS assistance data among communication devices in a GNSS group | |
| CN110001712B (en) | Existing railway line control measurement system based on satellite navigation positioning reference station network | |
| CN113225360B (en) | User terminal positioning method, device and system | |
| US20100007553A1 (en) | Apparatus and method for sharing assistance data between a-gps terminal and gps terminal | |
| CN104749582B (en) | The sending method of differential data, the determination method and device of GPS location data | |
| CN110231631B (en) | Positioning method, terminal, network access device, electronic device and storage medium | |
| KR20080095042A (en) | Apparatus and method for positional configuration of compact base station using user input in a broadband wireless communication system | |
| CN111123313A (en) | Positioning method, device and system of Internet of things equipment | |
| CN110488332B (en) | Positioning information processing method and device based on network RTK technology | |
| CN112804748B (en) | Positioning method, positioning server, terminal, mobile base station and storage medium | |
| US20160313448A1 (en) | In-band pseudolite wireless positioning method, system and device | |
| CN110149592B (en) | Indoor positioning method, terminal, client front-end equipment and electronic equipment | |
| US20210063522A1 (en) | Client-based storing of tuning parameters for positioning services | |
| KR102545275B1 (en) | Apparatus and method for generating revising information of sattellite location coordinates using optimal information of virtual reference station | |
| CN111158027A (en) | Multi-terminal synchronization-based network RTK service testing method and device and testing system | |
| US11895562B2 (en) | Determining approximate position of a user machine based on inernet (IP) address | |
| CN114047527A (en) | Pseudo-range signal transmission method, pseudo-range signal transmission device, storage medium, and electronic device |
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 |