CN109597099A - Judge method, OEM board and receiver that whether reference receiver moves - Google Patents
Judge method, OEM board and receiver that whether reference receiver moves Download PDFInfo
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- CN109597099A CN109597099A CN201811602860.7A CN201811602860A CN109597099A CN 109597099 A CN109597099 A CN 109597099A CN 201811602860 A CN201811602860 A CN 201811602860A CN 109597099 A CN109597099 A CN 109597099A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
Abstract
The present invention discloses OEM board, receiver and judges the method whether reference receiver moves.This method comprises: S1, reception satellite-signal, processing satellite-signal obtains the positioning result of epoch and the difference of the positioning result between adjacent epoch, the reference receiver also generate differential data；S2, judge whether the difference is greater than threshold value, in the case where the difference is greater than threshold value, the reference receiver generates alarm signal and is sent out the alarm signal, and in the case where the difference is not more than threshold value, the reference receiver is sent out differential data.The present invention can accurately judge whether reference receiver is moved with seldom equipment.
Description
Technical field
The present invention relates to high-precision navigation fields (GNSS), more particularly to judge the side whether reference receiver moves
Method, OEM board and the receiver with this OEM board.
Background technique
In the prior art, the equipment for realizing high-precision navigation generally includes base station and movement station.Base station receives satellite
Signal resolves satellite-signal to obtain differential data, including reference receiver and its related accessory.These differential datas pass through
Network or radio station are sent to movement station.Movement station obtains the position of movement station according to the differential data and received satellite-signal
Information.In this way, positioning accuracy can achieve Centimeter Level.
In the above method, it is desirable that reference receiver remain stationary state in measurement process, still, due to base station
It is erected at field, inevitably influenced by extraneous factor (wind, animal touching etc.) and position change occurs.These positions
Setting change includes that base station (reference receiver) is moved, tilts or shaken.The change of position will lead to movement station
The differential corrections for receiving mistake influence positioning accuracy in turn.Judge whether reference receiver moves therefore, it is necessary to a kind of
Dynamic method to know whether reference receiver moves in time, in turn, it is ensured that the positioning accuracy of high-precision navigation system.
Shanghai Hua Ce airmanship limited liability company applied " one kind based on RTK base station posture monitoring system and its
Monitoring method ", Publication No. 107991694A, the applying date are on November 24th, 2017.It should be based on RTK base station attitude monitoring
System includes two RTK receivers, and one of RTK receiver is as base station, another RTK receiver is as movement station.
The RTK receiver includes host, control handbook and bracket.The bracket of the first RTK receiver is equipped with horizontal bubble,
The host is equipped with the standard value and the real-time electronics bubble of acquisition that electronics bubble module is used to record electronics bubble, and
Electronics bubble information after operation is sent to the 2nd RTK receiver.The 2nd RTK receiver receives electronics bubble information
Electronics bubble information is screened afterwards, the electronics bubble information distribution that will deviate from standard is received to handbook, the 2nd RTK is controlled
The control handbook of machine is for alarming.Hereby it is achieved that monitoring the appearance of base station in real time when doing high-acruracy survey using RTK
State prevents in measurement process, since under unknown situation, influence of the artificial or non-artificial factor to base station leads to base
Quasi- station changes in spatial position.
In the above method, need two RTK receivers, control handbook and horizontal bubble etc. that can just monitor base station in sky
Between the changed purpose in position, equipment is more.
Summary of the invention
Problems solved by the invention is the problem more than the judgment method equipment whether existing reference receiver moves.
To solve the above problems, the present invention provides a kind of method for judging reference receiver and whether moving.This method packet
Include following steps: S1, the reference receiver receive satellite-signal, and processing satellite-signal obtains the positioning result of epoch, difference
The difference of positioning result between divided data and adjacent epoch, the reference receiver also generate differential data；S2, the benchmark
Receiver of standing judges whether the difference is greater than threshold value, in the case where the difference is greater than threshold value, is sent out alarm signal,
In the case where the difference is not more than threshold value, the reference receiver is sent out the differential data.
In a kind of scheme, the method also includes obtaining the speed of reference receiver, the threshold value includes the first threshold
Value and second threshold, it is described to judge whether the difference is greater than threshold value, in the case where the difference is greater than threshold value, the benchmark
It includes: to judge whether the speed is greater than first threshold that receiver of standing, which generates alarm signal and is sent out the alarm signal,
In the case that speed is greater than first threshold, generates the first alarm signal and be sent out first alarm signal, be less than in speed
In the case where first threshold, judge whether the difference is greater than threshold value, in the case where the difference is greater than threshold value, the benchmark
Receiver of standing generates the second alarm signal and is sent out second alarm signal, the case where the difference is not more than threshold value
Under, the reference receiver is sent out differential data.
It include first threshold and second threshold the method also includes the threshold value in a kind of scheme, it is described described
In the case that difference is greater than threshold value, being sent out alarm signal includes: to obtain the speed of the reference receiver；It is described fixed to judge
Whether position result is reliable, in the insecure situation of positioning result, is not sent out the differential data and continues to judge newly to produce
Raw positioning result determines whether speed is greater than first threshold and positioning result in the reliable situation of the positioning result
Difference whether be greater than second threshold, it is described in the case where speed is greater than first threshold and the difference and is greater than second threshold
Reference receiver is sent out the alarm signal；It is not more than in speed and/or the difference is no more than the second threshold
In the case where, reference receiver is sent out the differential data, alternatively, judging whether the positioning result is reliable, fixed
In the insecure situation of result of position, it is not sent out the differential data and continues to judge newly generated positioning result, described
In the reliable situation of positioning result, judge whether speed is greater than first therewith and the difference is greater than second threshold, it is big in speed
In first threshold and the difference is greater than second threshold, is greater than first threshold in speed and is the difference no more than second threshold
Or in the case where speed is no more than first threshold and the difference is greater than second threshold, the reference receiver generates report
Alert signal is simultaneously sent out the alarm signal；It is not more than the first threshold in speed and the difference is not more than second threshold
Value or in the case where, reference receiver is sent out differential data.
In a kind of scheme, processing satellite-signal obtains the positioning result of epoch and includes the following steps: S11) utilize pseudorange
Broadcast ephemeris in observed quantity and navigation message carries out pseudorange One-Point Location, obtains receiver coordinate and clock deviation valuation；S12) sharp
Carrier cycle slip detection is carried out with pseudorange and carrier observations amount；S13 receiver coordinate and clock deviation valuation and corresponding priori) are utilized
Precision carries out the update of state vector and its covariance；S14 pseudorange) is separately constituted using corresponding function model and carrier wave is seen
Equation is surveyed, residual vector, coefficient matrix and observed quantity variance matrix are obtained；S15 EKF filtering) is carried out；S16 EKF output) is utilized
It tests rear residual error and carries out Detection of Gross Errors, in the case where there is rough error, excluding gross error, return step S14；S17), export updated
State vector continues the resolving of next epoch.
Another aspect of the present invention discloses a kind of OEM board.The board includes RF front-end module, baseband digital signal processing
Module, processor and sending module, wherein the RF front-end module receives satellite-signal, and processing satellite-signal obtains number
Intermediate-freuqncy signal；The baseband digital signal processing module handles the digital medium-frequency signal and obtains observation data, the OEM board
Also generate differential data.The processing module handles the observation data and obtains the positioning result of the epoch, obtains between adjacent epoch
The difference of positioning result, judges whether the difference is greater than threshold value, and in the case where being greater than threshold value, generation alarm signal is simultaneously outside
The alarm signal is sent, in the case where the difference is not more than threshold value, transmission differential data gives the sending module.The hair
Module is sent to be sent out the alarm signal or the differential data.
In a kind of scheme, the processor also obtains the speed of reference receiver, and the threshold value includes first threshold
And second threshold, the processor include first processing module and Second processing module, wherein described in first processing module judgement
Whether speed is greater than first threshold, in the case where speed is greater than first threshold, generates the first trigger signal；In speed less than
In the case where one threshold value, the second trigger signal is generated；The Second processing module is triggered by the first trigger signal and generates first
Alarm signal is simultaneously sent out first alarm signal；Judge whether the difference is greater than threshold by the triggering of the second trigger signal
Value generates the second alarm signal and is sent out second alarm signal, described in the case where the difference is greater than threshold value
In the case that difference is not more than threshold value, controls the sending module and be sent out differential data.
In a kind of scheme, the processor includes location navigation computing module and processing module, wherein the positioning is led
Shipping calculates the resume module observation data and obtains the positioning result of the epoch, also generates the differential data；The processing module
The difference for obtaining positioning result between adjacent epoch, judges whether the difference is greater than threshold value, is greater than the feelings of threshold value in the difference
Under condition, sentences and generate alarm signal and be transferred to alarm signal to the sending module, the case where the difference is not more than threshold value
Under, transmission differential data gives the sending module.
In a kind of scheme, the threshold value includes first threshold and second threshold, and the processing module includes that speed obtains
Module, positioning result judgment module and difference judgment module, wherein the positioning result judgment module judges that the positioning result is
It is no reliable, in reliable situation, generates trigger signal and control the sending module not to outgoing in insecure situation
It send differential data and continues to judge newly generated positioning result；The speed obtaining unit obtains the speed of reference receiver,
The difference processing module handles the positioning result between adjacent epoch and obtains the difference of positioning result, is touched by the trigger signal
It sends out and judges whether the speed is greater than first threshold and whether the difference is greater than second threshold, it is described to be greater than in the difference
Alarm signal is generated in the case where threshold value is included in speed greater than first threshold and in the case that the difference is greater than second threshold,
The alarm signal is generated, in the case where speed is not more than the second threshold no more than first threshold and/or the difference,
Differential data is transmitted to the sending module, alternatively, the difference processing module is greater than first threshold and the difference in speed
Greater than second threshold, it is greater than first threshold in speed and is that the difference is not more than second threshold or in speed no more than first
In the case that threshold value and the difference are greater than second threshold, the reference receiver generates alarm signal and is sent out the report
Alert signal；Speed no more than the first threshold and the difference no more than the second threshold or in the case where, control
Sending module is sent out differential data.
In a kind of scheme, the location navigation computing module includes pseudorange One-Point Location module, Detection of Cycle-slip module, fortune
Calculate module, EKF module and Detection of Gross Errors module, wherein the pseudorange One-Point Location module utilizes pseudo range observed quantity and broadcast star
It goes through progress pseudorange One-Point Location and obtains Primary Location result and clock deviation valuation；The Detection of Cycle-slip module is fixed in the pseudorange single-point
In the effective situation of positioning result of position module output, carrier cycle slip detection is carried out using pseudorange and carrier observations amount；The fortune
The update that module carries out state vector and covariance using receiver coordinate, clock bias estimation value, priori precision is calculated, and using accordingly
Function model separately constitute pseudorange and carrier observations equation and obtain residual vector, coefficient matrix and observed quantity variance matrix；It is described
EKF module is filtered the output result of the computing module；The Detection of Gross Errors module to the output result of EKF module into
Row Detection of Gross Errors, in the case where no rough error, output state vector and obtain the positioning result of epoch to processing module, it is thick having
In the case where difference, returns to the computing module and continue to calculate using the observational equation of the module.
Another aspect of the present invention discloses a kind of receiver, which includes OEM board described in aforementioned any one.
Storage medium is also disclosed in another aspect of the present invention.The storage medium is stored with program code, which is transporting
When row, the step of executing any one of preceding method the method.
Compared with prior art, the present invention has at least the following advantages:
1, the present invention is compared by the difference of the positioning result between adjacent epoch with threshold value, is greater than in the difference
In the case where threshold value, determine that the reference receiver occurs mobile and generates alarm signal, is not more than threshold value in the difference
In the case where, judge that the reference receiver does not move outward and send differential data, therefore, with No. CN107991694A
Patent is compared, and present invention only requires a stage fiducial station receiver it may determine that whether reference receiver moves out, is also not required to
Electronics bubble etc. is wanted, so, equipment is few, further, since using the difference of the positioning result between adjacent epoch compared with threshold value
Mode, wherein the difference of the positioning result between adjacent epoch, which is stablized, (is especially carrying out conventional pseudo away from One-Point Location basis
On, joined carrier observations amount and be filtered, the difference of the positioning result between adjacent epoch in this mode is stablized), if
Reference receiver has movement, will destroy this stabilization and the difference can be made significantly to change, so, this judgement side
Formula can improve judgement precision.
2, due to the method pass through judge speed and first threshold and compared with positioning result between epoch difference
Judge whether reference receiver moves with both means of second threshold, because if reference receiver moves,
Velocity variations meeting it is obvious that so, by Rule of judgment of increasing speed can be further improved judgement precision.
Detailed description of the invention
Fig. 1 is the flow chart for judging method that whether reference receiver moves of first embodiment of the invention；
Fig. 2 is the process that the present invention judge method of acquisition positioning result in method that whether reference receiver moves
Figure；
Fig. 3 is the flow chart for the method second embodiment that the present invention judges whether reference receiver moves；
Fig. 4 is the structural schematic diagram of the first embodiment of OEM board of the present invention；
Fig. 5 is the structural schematic diagram of the second embodiment of OEM board of the present invention.
Specific embodiment
By the technology contents that the present invention will be described in detail, construction feature, reached purpose and efficacy, below in conjunction with embodiment
And attached drawing is cooperated to be described in detail.
Fig. 1 and Fig. 2 are please referred to, the method that the present invention judges whether reference receiver moves includes the following steps:
1S1, satellite-signal is received, the positioning result and the positioning knot between adjacent epoch that processing satellite-signal obtains epoch
The difference of fruit, reference receiver also generate differential data.
In this step, belong to the prior art as how reference receiver generates differential data, repeat no more.Benchmark
The positioning result that receiver of standing handles satellite-signal acquisition epoch can also use RTK mode or PPP technology, only this side
Formula needs external equipment input data to reference receiver.It does not need external equipment input data in order to reach and can be determined
The purpose of position result, present embodiment use following scheme, as shown in Fig. 2, obtaining the positioning result between adjacent epoch includes such as
Lower step:
S11, pseudorange One-Point Location is carried out using the broadcast ephemeris in pseudo range observed quantity and navigation message, obtains receiver and sits
Mark and clock deviation valuation；After obtaining pseudorange One-Point Location result, judge whether the One-Point Location result is effective, if effectively, entered
Step S12, if in vain, into next epoch.
S12, carrier cycle slip detection is carried out using pseudorange and carrier observations amount；
S13, using receiver coordinate and clock deviation valuation and corresponding priori precision, carry out state vector and its covariance
Update；
S14, pseudorange and carrier observations equation are separately constituted using corresponding function model, obtain residual vector, coefficient square
Battle array and observed quantity variance matrix；
S15, EKF filtering is carried out；
S16, Detection of Gross Errors is carried out using the rear residual error of testing of EKF filtering mode output, in the case where there is rough error, rejected thick
Difference, return step S14；
S17, the updated state vector of output, continue the resolving of next epoch.
1S2, judge whether the difference is greater than threshold value, in the case where the difference is greater than threshold value, the base station is connect
Receipts machine generates alarm signal and is sent out the alarm signal, in the case where the difference is not more than threshold value, the base station
Receiver is sent out differential data.
In this step, after the positioning result for obtaining epoch, then the difference of the positioning result between adjacent epoch is obtained,
Compare the difference and threshold value.By counting to the positioning result between ideal conditions lower epoch as difference, position between epoch is obtained
The value is amplified the threshold value judged after reasonable multiple as final change in location by the maximum changing value of difference.It is rationally several again
Depending on demand, for example, 2-3 times.
In this step, in the case where judging that reference receiver moves, alarm signal is generated.The alarm signal
It is sent to related personnel by network, for example, the memory in the reference receiver stores contact method.Contact method is micro-
At least one of signal, cell-phone number, E-mail address.In the case where generating the alarm signal, reference receiver is from storage
The contact method is read in device, and the alarm signal is then sent to the corresponding personnel of contact method.Certainly, in another kind side
In formula, in the case where judging that reference receiver moves, reference receiver can also be sent to movement station
Flag bit (flag bit is it is also assumed that be a kind of alarm signal) is set in data, mobile station receiver parses data, from solution
The flag bit is obtained in analysis result, and knows that the data that reference receiver is sent are that mobile feelings occur in reference receiver
It is issued under condition, it is not possible to use.
In this step, if the difference is not more than threshold value, show that the reference receiver does not move, it is such
In the case of, reference receiver works normally, and differential data is sent to movement station, certainly, can be with other than differential data
Other data needed including rover station.
In conclusion the present invention is compared by the difference of the positioning result between adjacent epoch with threshold value, described
It in the case that difference is greater than threshold value, generates alarm signal and is sent out the alarm signal, in the difference no more than threshold value
In the case of, judge that the reference receiver does not occur mobile and is sent out data, compared with CN107991694, it is only necessary to
One stage fiducial station receiver can be completed, and electronics bubble etc. is not needed yet, so, equipment is few, further, since being gone through using adjacent
Whether the difference of the positioning result between member is greater than the mode of threshold value, wherein the difference of the positioning result between adjacent epoch is stablized (special
It is not the mode being then filtered again to pseudorange One-Point Location result using pseudorange One-Point Location, the positioning result between epoch
Difference stablize), so, if reference receiver send it is mobile will destroy this stabilization and can be apparent reflect benchmark
Movement has occurred in receiver of standing, so, this judgment mode can improve judgement precision.Also based on the difference of the positioning result between epoch
Value is stable and reference receiver is in case of movement will destroy this stable technical thought, and technical staff is appreciated that
Any positioning result obtained between epoch the and stable method of the difference for making positioning result between epoch can be applied to this
Invention, for example, RTK method above-mentioned or PPP method.
Referring to Fig. 3, reference receiver in actual use, judge by accident in order to prevent, the method in addition to judgement
Outside the difference of positioning result between epoch, it is unchanged also to judge that the speed of reference receiver has.The speed of reference receiver
Prior art can be used, is repeated no more.The method of the second embodiment is specific as follows: the threshold value include first threshold and
Second threshold.The first threshold can be determining according to the reasonable multiple of the calculated velocity error of reference receiver, for example,
Velocity error is 0.05, and reasonable multiple is determined as 4, then, and first threshold 0.2.The method of determination of the second threshold and first
Embodiment is identical, repeats no more.This method further includes following steps:
2S2: the speed of carrier is obtained；In this step, the speed for how obtaining carrier can use the prior art, than
Such as, reference receiver can calculate speed during calculating the positioning result using satellite-signal.
2S3, judge whether the positioning result is reliable, in the insecure situation of the positioning result, be not sent out
The differential data simultaneously continues to judge newly generated positioning result；In the reliable situation of the positioning result, judge that speed is
Whether the no difference greater than first threshold and positioning result is greater than second threshold, is greater than first threshold and positioning result in speed
In the case that difference is greater than second threshold, determine that the reference receiver occurs mobile and generates alarm signal (in order to the
The alarm signal of one embodiment distinguishes, and the alarm signal in such embodiment is known as the second alarm signal), generate report
After alert signal, it is sent out the alarm signal.Alarm signal is not generated at following three kinds and is sent out data: 1) being existed
Speed is greater than first threshold and the difference is not more than second threshold；2) speed is less than the first threshold and the difference is greater than
Second threshold；3) speed is less than first threshold and the difference is greater than second threshold.By judging the positioning between epoch again
As a result it also increases speed outside difference and the mode of threshold value (second threshold) this Rule of judgment, in this way, speed is greater than the first threshold
Value shows that movement has occurred in receiver, so, further improve judgement precision.It is of course also possible to be the preferential of setting speed
Grade is higher than the priority of the difference of the positioning result between adjacent epoch, that is to say, that sends report as long as speed is greater than its threshold value
Alert signal, only just sends differential data in the case where speed and the difference are less than respective threshold value, and such scheme is specifically such as
Under: speed be greater than first threshold and the difference be greater than second threshold, speed be greater than first threshold and be the difference not
Greater than second threshold or in the case where speed is no more than first threshold and the difference is greater than second threshold, the base station
Receiver generates alarm signal and is sent out the alarm signal；It is not more than the first threshold in speed and the difference is little
In the case where the second threshold, it is sent out differential data.
Based on above-mentioned thinking, there are also a kind of implementation is as follows: judging whether the speed is greater than first threshold, in speed
In the case where first threshold, generates the first alarm signal and be sent out first alarm signal, in speed less than first
In the case where threshold value, judge whether the difference is greater than threshold value, in the case where the difference is greater than threshold value, the base station is connect
Receipts machine generates the second alarm signal and is sent out second alarm signal, in the case where the difference is not more than threshold value, institute
It states reference receiver and is sent out differential data.
According to the technical thought of the above method, invention additionally discloses a kind of OEM boards.The board structure was as shown in figure 4, should
OEM board includes RF front-end module 1, baseband digital signal processing module 2, processor 3 and sending module.Processor 3 includes
Location navigation computing module 31 and processing module 32.The RF front-end module 1, baseband digital signal processing module 2, processor
3 and sending module be integrated in one piece of pcb board, in this way, unified layout, signal are not easy to interfere with each other on hardware, no
Plug connector is needed again, also the size without increasing circuit plate and does not generate interference between each other.The RF front-end module 1 receives
Satellite-signal, processing satellite-signal obtain digital medium-frequency signal.The baseband digital signal processing module 2 is handled in the number
Frequency signal obtains observation data.The location navigation computing module 31 handles the observation data and obtains the positioning result of the epoch.
The OEM board also generates differential data, belongs to the prior art as how OEM board generates differential data, repeats no more,
In a kind of embodiment, which includes pseudorange One-Point Location module 311, Detection of Cycle-slip module 312, fortune
Calculate module 313, EKF module 314 and Detection of Gross Errors module 315.The pseudorange One-Point Location module 311 using pseudo range observed quantity and
Broadcast ephemeris carries out pseudorange One-Point Location and obtains receiver coordinate (Primary Location result) and clock deviation valuation.The Detection of Cycle-slip mould
Block 312 utilizes pseudorange and carrier observations amount in the effective situation of positioning result that the pseudorange One-Point Location module 311 exports
Carry out carrier cycle slip detection.The computing module 313 using receiver coordinate, clock bias estimation value, priori precision carry out state to
The update of amount and covariance, and residual vector, coefficient are obtained using corresponding observation model and the state vector and covariance
Matrix and observed quantity variance matrix.The EKF module 314 is filtered the output result of the computing module 313.The rough error
Detecting module 315 Detection of Gross Errors, in the case where no rough error, output state vector carried out to the output result of EKF module 314 and
The positioning result of epoch is obtained to processing module 32, in the case where there is rough error, the computing module 313 is returned and utilizes and be somebody's turn to do
The observational equation of module continues to calculate.The processing module 32 obtains the positioning result of epoch, and compares the positioning between epoch
As a result the difference of the positioning result between adjacent epoch is obtained, judges whether the difference is greater than threshold value, in the feelings for being greater than threshold value
Under condition, determine that the reference receiver occurs mobile generation alarm signal and the alarm signal is sent to the transmission mould
Block, in the case where the difference is not more than threshold value, judge the reference receiver do not occur mobile transmission positioning result to
The sending module.The sending module is sent out alarm signal or the differential data.
Referring to Fig. 5, invention additionally discloses the OEM board of second of embodiment, the OEM board and first embodiment
The OEM board is compared, and the threshold value includes first threshold and second threshold and the processing module 32 is obtained including speed
Module 321, positioning result judgment module 322 and difference processing module 323.The speed obtains the acquisition base station of module 321 and connects
The speed of receipts machine.The positioning result judgment module 322 judges whether the positioning result is reliable, generates in reliable situation
Trigger signal, in the insecure situation of positioning result, be not sent out the differential data and continue to judge it is newly generated fixed
Position result.The difference processing module 323 handles the positioning result between adjacent epoch and obtains the difference of positioning result, by described
Trigger signal triggers and judges whether the speed is greater than the first threshold and whether the difference is greater than second threshold.?
Speed is greater than in the case that the first threshold and the difference be greater than the second threshold, generate the alarm signal and to
Outer transmission alarm signal.Alarm signal is not generated at following three kinds and is sent out data: 1) being greater than the in speed
One threshold value and the difference are not more than second threshold；2) speed is less than the first threshold and the difference is greater than second threshold；
3) speed is less than first threshold and the difference is greater than second threshold, alternatively, the difference processing module is greater than in speed
First threshold and the difference be greater than second threshold, be greater than first threshold in speed and be the difference no more than second threshold or
For person in the case where speed is no more than first threshold and the difference is greater than second threshold, the reference receiver generates alarm
Signal is simultaneously sent out the alarm signal；It is not more than the first threshold in speed and the difference is not more than the second threshold
In the case where or, control sending module is sent out differential data.
As another implementation, the processor also obtains the speed of reference receiver, and the threshold value includes the
One threshold value and second threshold, the processor include first processing module and Second processing module, wherein first processing module is sentenced
Whether the speed of breaking is greater than first threshold, in the case where speed is greater than first threshold, generates the first trigger signal；In speed
In the case where first threshold, the second trigger signal is generated；The Second processing module is triggered by the first trigger signal and is produced
Raw first alarm signal is simultaneously sent out first alarm signal；Whether the difference is judged by the triggering of the second trigger signal
Greater than threshold value, in the case where the difference is greater than threshold value, generates the second alarm signal and is sent out second alarm signal,
In the case where the difference is not more than threshold value, controls the sending module and be sent out differential data.
It will be understood by those skilled in the art that being based on above-mentioned technical thought, invention additionally discloses a kind of receivers.The reception
Machine includes the OEM board of aforementioned any structure.How it to be assembled into receiver as OEM board, the prior art can be used,
Details are not described herein.
It will be understood by those skilled in the art that being based on above-mentioned technical thought, invention additionally discloses a kind of storage mediums.This is deposited
Computer program code is stored on storage media.The code executes the step of the method in the process of running to judge the base
Whether quasi- station receiver moves.
In conclusion method, OEM board, receiver and storage that the present invention judges whether reference receiver moves are situated between
Matter at least has the advantages that
1, the present invention is compared by the difference of the positioning result between adjacent epoch with threshold value, is greater than in the difference
In the case where threshold value, determine that the reference receiver occurs mobile and generates alarm signal, is not more than threshold value in the difference
In the case where, judge that the reference receiver does not move and be sent out data, therefore, specially with No. CN107991694A
Benefit is compared, and present invention only requires a stage fiducial station receivers to complete, and does not also need electronics bubble etc., so, equipment is few,
Further, since using the positioning result between adjacent epoch difference compared with threshold value by the way of, wherein determine between adjacent epoch
The difference of position result stablize (especially with pseudorange One-Point Location, side that then pseudorange One-Point Location result is filtered again
The difference of the positioning result that formula obtains, the positioning result between adjacent epoch in this mode is stablized), if reference receiver
It moves, this stabilization will be destroyed and make the difference of the positioning result between adjacent epoch that significant change occur, so, it is this
Judgment mode can improve judgement precision.
2, due to the present invention by judge speed and first threshold and compared with positioning result between epoch difference and the
Both means of two threshold values judge whether reference receiver moves, because if reference receiver moves, speed
Change meeting it is obvious that so, by Rule of judgment of increasing speed, further improve the precision of judgement.
Claims (11)
1. judging the method whether reference receiver moves, characterized in that this method comprises the following steps:
S1, the reference receiver receive satellite-signal, the positioning result of processing satellite-signal acquisition epoch and adjacent epoch
Between positioning result difference, the reference receiver also generates differential data；
S2, the reference receiver judge whether the difference is greater than threshold value, in the case where the difference is greater than threshold value, institute
Reference receiver is stated to generate alarm signal and be sent out the alarm signal, in the case where the difference is not more than threshold value,
The reference receiver is sent out differential data.
2. the method according to claim 1 for judging reference receiver and whether moving, characterized in that the method is also wrapped
The speed for obtaining reference receiver is included, the threshold value includes first threshold and second threshold,
It is described to judge whether the difference is greater than threshold value, in the case where the difference is greater than threshold value, the reference receiver
It generates alarm signal and is sent out the alarm signal and include:
Judge whether the speed is greater than first threshold, in the case where speed is greater than first threshold, generates the first alarm signal
And it is sent out first alarm signal, in the case where speed is less than first threshold, judge whether the difference is greater than threshold value,
In the case where the difference is greater than threshold value, the reference receiver generates the second alarm signal and is sent out second report
Alert signal, in the case where the difference is not more than threshold value, the reference receiver is sent out differential data.
3. the method according to claim 1 for judging reference receiver and whether moving, characterized in that the threshold value includes
First threshold and second threshold, it is described in the case where the difference is greater than threshold value, it generates alarm signal and is sent out alarm
Signal includes:
Obtain the speed of the reference receiver；
Judge whether the positioning result is reliable, in the reliable situation of the positioning result, determines whether speed is greater than first
Whether threshold value and the difference of positioning result are greater than second threshold, are greater than first threshold in speed and the difference is greater than the second threshold
In the case where value, the reference receiver generates alarm signal and is sent out the alarm signal；Be not more than in speed and/or
The difference be not more than the second threshold in the case where, reference receiver is sent out differential data, positioning result not
In reliable situation, it is not sent out the differential data and continues to judge newly generated positioning result；
Alternatively,
Judge whether the positioning result is reliable, in the reliable situation of the positioning result, judges whether speed is greater than first
Therewith and the difference is greater than second threshold, is greater than first threshold and the difference in speed and is greater than second threshold, big in speed
It in first threshold and is the difference no more than second threshold or speed is no more than first threshold and the difference is greater than the
In the case where two threshold values, the reference receiver generates alarm signal and is sent out the alarm signal；It is not more than in speed
The first threshold and the difference no more than the second threshold or in the case where, reference receiver is sent out difference
Data are not sent out the differential data and continue to judge newly generated positioning knot in the insecure situation of positioning result
Fruit.
4. the method according to claim 1 for judging reference receiver and whether moving, characterized in that the processing satellite
Signal obtain epoch positioning result include:
S11) using in pseudo range observed quantity and navigation message broadcast ephemeris carry out pseudorange One-Point Location, obtain receiver coordinate and
Clock deviation valuation；
S12) carrier cycle slip detection is carried out using pseudorange and carrier observations amount；
S13) using receiver coordinate and clock deviation valuation and corresponding priori precision, state vector and its covariance are carried out more
Newly；
S14 pseudorange and carrier observations equation) are separately constituted using corresponding function model, obtain residual vector, coefficient matrix and
Observed quantity variance matrix；
S15 EKF filtering) is carried out；
S16 Detection of Gross Errors) is carried out using the rear residual error of testing of EKF output, in the case where there is rough error, excluding gross error, return step
S14；
S17), updated state vector is exported, the resolving of next epoch is continued.
5.OEM board, characterized in that the board includes RF front-end module, baseband digital signal processing module, processor and hair
Send module, wherein
The RF front-end module receives satellite-signal, and processing satellite-signal obtains digital medium-frequency signal；
The baseband digital signal processing module handles the digital medium-frequency signal and obtains observation data；
The processor handles the observation data and obtains the positioning result of the epoch, obtains the difference of positioning result between adjacent epoch
Value, judges whether the difference is greater than threshold value, generates alarm signal in the case where the difference is greater than threshold value, transmits the alarm
Signal gives the sending module, and in the case where the difference is not more than threshold value, transmission differential data gives the sending module, institute
It states OEM board and also generates differential data；
The sending module is sent out alarm signal or differential data.
6. OEM board according to claim 5, characterized in that the processor also obtains the speed of reference receiver,
The threshold value includes first threshold and second threshold, and the processor includes first processing module and Second processing module, wherein
First processing module judges whether the speed is greater than first threshold, in the case where speed is greater than first threshold, generates
First trigger signal；In the case where speed is less than first threshold, the second trigger signal is generated；
The Second processing module by the first trigger signal trigger and generate the first alarm signal and be sent out this first alarm
Signal；Judge whether the difference is greater than threshold value by the triggering of the second trigger signal, the case where the difference is greater than threshold value
Under, it generates the second alarm signal and is sent out second alarm signal, in the case where the difference is not more than threshold value, control
The sending module is sent out differential data.
7. OEM board according to claim 5, characterized in that the processor includes location navigation computing module and place
Manage module, wherein the location navigation computing module handles the observation data and obtains the positioning result of the epoch, also described in generation
Differential data；The processing module obtains the difference of positioning result between adjacent epoch, judges whether the difference is greater than threshold value,
The difference generates alarm signal in the case where being greater than threshold value and transmits the alarm signal to the sending module, in the difference
In the case where threshold value, transmission differential data gives the sending module.
8. OEM board according to claim 6, characterized in that the threshold value includes first threshold and second threshold, described
Processing module includes that speed obtains module, positioning result judgment module and difference processing module, wherein
The positioning result judgment module judges whether the positioning result is reliable, in reliable situation, generates trigger signal,
In insecure situation, controls the sending module and be not sent out differential data and continue to judge newly generated positioning result；
The speed obtaining unit obtains the speed of reference receiver；
The difference processing module handles the positioning result between adjacent epoch and obtains the difference of positioning result, is believed by the triggering
Number triggering and judge whether the speed is greater than first threshold and whether the difference is greater than second threshold, it is described in the difference
It includes being greater than the feelings of second threshold greater than first threshold and the difference in speed that alarm signal is generated in the case where greater than threshold value
Under condition, the alarm signal is generated, is not more than the feelings of the second threshold no more than first threshold and/or the difference in speed
Under condition, transmission differential data gives the sending module；
Alternatively,
The difference processing module is greater than first threshold and the difference in speed and is greater than second threshold, is greater than the first threshold in speed
It is worth and is the difference no more than second threshold or speed is no more than first threshold and the difference is greater than second threshold
In the case of, the reference receiver generates alarm signal and is sent out the alarm signal；It is not more than described first in speed
Threshold value and the difference no more than the second threshold or in the case where, control sending module is sent out differential data.
9. OEM board according to claim 6, characterized in that the location navigation computing module includes that pseudorange single-point is fixed
Position module, Detection of Cycle-slip module, computing module, EKF module and Detection of Gross Errors module, wherein
The pseudorange One-Point Location module carries out pseudorange One-Point Location using pseudo range observed quantity and broadcast ephemeris and obtains Primary Location
As a result with clock deviation valuation；
The Detection of Cycle-slip module utilizes pseudorange in the effective situation of positioning result that the pseudorange One-Point Location module exports
Carrier cycle slip detection is carried out with carrier observations amount；
The computing module carries out the update of state vector and covariance using receiver coordinate, clock bias estimation value, priori precision,
And pseudorange and carrier observations equation are separately constituted using corresponding function model, obtain residual vector, coefficient matrix and observed quantity
Variance matrix；
The EKF module is filtered the output result of the computing module；
The Detection of Gross Errors module carries out Detection of Gross Errors, in the case where no rough error, output state to the output result of EKF module
Vector and obtain the positioning result of epoch to processing module, in the case where there is rough error, return to the computing module and using should
The observational equation of module continues to calculate.
10. receiver, characterized in that including OEM board described in any one of claim 5 to 9.
11. storage medium, characterized in that the storage medium is stored with program code, the program code at runtime, perform claim
It is required that the step of any one of 1 to 4 the method.
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