CN109669193B - GNSS virtual reference station manual station setting method and system - Google Patents

GNSS virtual reference station manual station setting method and system Download PDF

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Publication number
CN109669193B
CN109669193B CN201910152635.6A CN201910152635A CN109669193B CN 109669193 B CN109669193 B CN 109669193B CN 201910152635 A CN201910152635 A CN 201910152635A CN 109669193 B CN109669193 B CN 109669193B
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virtual reference
reference station
data
gnss
gnss virtual
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CN109669193A (en
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冯威
刘玺
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Liu Xi
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Chengdu Beidou Yixun Technology Co ltd
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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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a method for manually setting a GNSS virtual reference station, which comprises the following steps: s1, manually setting a position, acquiring position information, converting the position information into data in a format required by a server for establishing a GNSS virtual reference station, and sending the data to the server; and S2, receiving the GNSS virtual reference station differential data returned by the server side, and sending the GNSS virtual reference station differential data to the demand side. The system comprises: the system comprises a manual station setting module, a GNSS virtual reference station setting module and a GNSS virtual reference station setting module, wherein the manual station setting module is used for manually setting a position, acquiring position information and converting the position information into data in a format required by the GNSS virtual reference station established by a server; and the data transmission module is used for sending the data to the server, receiving the GNSS virtual reference station differential data returned by the server and sending the data to the demand end. The invention can realize that one GNSS virtual reference station provides enhanced position service for a plurality of mobile stations in a certain small range area, utilizes the GNSS virtual reference station differential data resource, is beneficial to reducing the cost of the enhanced position service and meeting the application requirement of diversified position service.

Description

GNSS virtual reference station manual station setting method and system
Technical Field
The invention relates to the technical field of GNSS/Beidou CORS network enhanced position service, in particular to a method and a system for manually setting a GNSS virtual reference station.
Background
The Beidou third generation satellite in China starts to provide position service for the whole world, and the Beidou/GNSS position service technology has wide application prospect, and particularly, the high-precision position enhancing service based on the CORS network. The Virtual Reference Station (VRS) technology is a CORS network enhanced location service technology which is widely applied at present. In general, in the VRS location service process, a service end generates a virtual reference station around the mobile station according to location information of the mobile station, and then sends data of the virtual reference station to the mobile station, and after receiving the data of the virtual reference station, the mobile station combines its own positioning module to implement enhanced location service. Although this mode can provide the enhanced location service for the rover, the location of the virtual reference station only takes into account the location information of a corresponding rover, and the location of the rover is controlled by the server. This server-controlled virtual reference station set-up mode results in the following disadvantages when the virtual reference station provides location services: 1) The station setting position of the virtual reference station does not consider the application condition that a plurality of mobile station ends in a certain area share the same virtual reference station, which is not beneficial to the full utilization of the virtual reference station resources; 2) The virtual reference station setting position is generated by the server side according to the position of the specific rover, and the virtual reference station setting cannot be conveniently and quickly carried out at the specific position in the mode, so that the method is not beneficial to technically meeting diversified application requirements.
Disclosure of Invention
In order to solve the technical problem that the station setting position of the virtual reference station cannot be conveniently and quickly set at a specific position in the prior art, the invention aims to provide a method and a system for manually setting the GNSS virtual reference station so as to realize position service with wider application range.
The technical scheme adopted by the invention is as follows:
the method for manually setting the GNSS virtual reference station comprises the following steps:
s1, manually setting a position, acquiring position information, converting the position information into data in a format required by a server for establishing a GNSS virtual reference station, and sending the converted data to the server;
and S2, receiving the GNSS virtual reference station differential data returned by the server side, and sending the received GNSS virtual reference station differential data to the demand side.
On the basis of the technical scheme, the method for manually setting the GNSS virtual reference station further comprises the following steps: and the server generates a GNSS virtual reference station according to the received data and returns the differential data of the GNSS virtual reference station.
On the basis of the above technical solution, in S1, manually setting a position and acquiring the position information includes: and manually setting a point location on the map, and acquiring the coordinate information of the point after the point location is determined.
On the basis of the above technical solution, in S1, manually setting a position and acquiring the position information includes: the coordinate value of a position is manually set and acquired.
On the basis of the above technical solution, in S1, manually setting a position and acquiring the position information includes: and manually setting the text description of a position, and acquiring the coordinate information of the position.
On the basis of the above technical solution, in S1, converting the location information into data in a format required by the server to establish the GNSS virtual reference station includes: and converting the acquired coordinate information into coordinate information of a coordinate system supported by the server, and converting the coordinate information into data in a format required by the server for establishing the GNSS virtual reference station.
On the basis of the technical scheme, the demand side comprises a plurality of rover stations connected with the GNSS virtual reference station.
The system of the GNSS virtual reference station manual station setting method comprises a manual station setting module and a data transmission module;
the system comprises a manual station setting module, a GNSS virtual reference station setting module and a GNSS virtual reference station setting module, wherein the manual station setting module is used for manually setting a position, acquiring the position information and converting the position information into data in a format required by the GNSS virtual reference station established by a server;
and the data transmission module is used for sending the data after the data format conversion to the server, receiving the GNSS virtual reference station differential data returned by the server, and sending the received GNSS virtual reference station differential data to the demand end.
On the basis of the above technical solution, the system of the GNSS virtual reference station manual station setting method further includes: and the server is used for receiving the data after the data format conversion transmitted by the data transmission module, generating a GNSS virtual reference station according to the received data, and returning differential data of the GNSS virtual reference station to the data transmission module.
On the basis of the technical scheme, manually setting a position and acquiring the position information comprises the following steps: manually setting a point location on a map, and acquiring coordinate information of the point after the point location is determined;
or manually setting the text description of a position to acquire the coordinate information of the position;
or manually setting a coordinate value of a position to acquire the coordinate value.
On the basis of the technical scheme, when a point location is manually set on the map and is determined, the coordinate information of the point is obtained, and the system of the method for manually setting the GNSS virtual reference station further comprises: and the map module is used for providing the geographic position information.
The invention has the beneficial effects that:
according to the method, the position of the GNSS virtual reference station is manually set, the GNSS virtual reference station can be set and generated at the designated position, and the differential data of the position can be obtained, and due to the correlation of GNSS positioning space errors, the differential data of the GNSS virtual reference station can provide enhanced position service for the mobile stations in a certain area range of the GNSS virtual reference station, so that the method can realize the function of providing the enhanced position service for all the mobile stations in a certain small area by one GNSS virtual reference station, further fully utilizes the differential data resources of the GNSS virtual reference station, is beneficial to reducing the cost of the enhanced position service, is also beneficial to meeting diversified position service application requirements due to the fact that the position of the GNSS virtual reference station is manually set, is particularly suitable for providing the GNSS high-precision enhanced position service for a plurality of positioning terminals in a certain fixed small range.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention.
FIG. 2 is a diagram illustrating the determination of the position of a GNSS virtual reference station from a center position of a particular work area range in accordance with an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Example 1:
as shown in fig. 1, the method for manually setting the GNSS virtual reference station of the present embodiment includes the following steps:
the method comprises the steps of manually setting a position and acquiring position information, converting the position information into data in a format required by a server side for establishing a GNSS virtual reference station, and sending the converted data to the server side.
One way to manually set a location and obtain the location information is to: manually setting a point location on the map, and acquiring the coordinate information of the point after the point location is determined.
Another implementation is: and manually setting a coordinate value of a position, and acquiring the coordinate value.
Another implementation is: and manually setting the text description of a position, and acquiring the coordinate information of the position.
Converting the position information into data in a format required by a server side to establish a GNSS virtual reference station comprises the following steps: and converting the acquired coordinate information into a coordinate system to obtain coordinate information of the coordinate system supported by the server, and converting the coordinate information into data in a format required by the server for establishing the GNSS virtual reference station.
And secondly, the server side generates a GNSS virtual reference station according to the received data and returns the differential data of the GNSS virtual reference station.
In this embodiment, the server is an enhanced location server.
And thirdly, receiving the GNSS virtual reference station differential data returned by the server side, and sending the received GNSS virtual reference station differential data to the demand side.
In this embodiment, the requesting end includes a plurality of rovers connected to the GNSS pseudo-reference station.
The embodiment takes the CORS network RTK virtual reference station location service as an example to describe the technical solution related to the present invention, but is not limited to the CORS network RTK virtual reference station location service.
In a traditional network RTK virtual reference station position service mode, each rover station directly sends own position information to a server side in an NMEA format, the server side provides virtual reference station difference data corresponding to each rover station according to the position of each rover station, and the position of the virtual reference station used by the rover station is determined by the server side according to the position information of the rover station. It can be seen that in the conventional mode, the position of the virtual reference station only takes into account a certain corresponding rover station.
According to the method, the GNSS virtual reference station is manually set at a specific position according to actual needs to obtain position information, and the position of the GNSS virtual reference station is not determined according to the position of the rover station.
For example, at a certain range of the working area, as shown by the range of the dotted line in fig. 2, one or more rover stations (6 in the figure) need the network RTK positioning service. The method comprises the steps of firstly selecting a central position of a working area range as a GNSS virtual reference station setting point position, obtaining coordinate information of the point after the point position is determined, then carrying out coordinate system conversion on the obtained coordinate information to obtain coordinate information of a coordinate system supported by an enhanced position server, converting the coordinate information into NMEA format coordinate data required by the enhanced position server for establishing the GNSS virtual reference station, sending the converted data to the enhanced position server, generating a GNSS virtual reference station by the enhanced position server according to the received NMEA format coordinate data, returning differential data of the GNSS virtual reference station, receiving the differential data of the GNSS virtual reference station returned by the enhanced position server, sending the received GNSS virtual reference station differential data to a mobile station connected with the GNSS virtual reference station, and thus realizing network RTK positioning of the mobile station in the area range.
It can be seen from the technical solution disclosed in this embodiment that, in addition to the position service of the conventional network RTK virtual reference station, the differential data of a virtual reference station shared by multiple rover stations in a small area can be realized, and the utilization rate of the virtual reference station is improved. The method is particularly suitable for providing GNSS high-precision enhanced position service for a plurality of positioning terminals in a fixed small area range.
Example 2:
as shown in fig. 1, the method for manually setting the GNSS virtual reference station of the present embodiment includes the following steps:
the method comprises the steps of manually setting a position and acquiring position information, converting the position information into data in a format required by a server side for establishing a GNSS virtual reference station, and sending the converted data to the server side.
One way to manually set a location and obtain the location information is to: manually setting a point location on the map, and acquiring the coordinate information of the point after the point location is determined.
Another implementation is: and manually setting a coordinate value of a position, and acquiring the coordinate value.
Another implementation is: and manually setting the text description of a position, and acquiring the coordinate information of the position.
Converting the position information into data in a format required by a server side to establish a GNSS virtual reference station comprises the following steps: and converting the acquired coordinate information into a coordinate system to obtain coordinate information of the coordinate system supported by the server, and converting the coordinate information into data in a format required by the server for establishing the GNSS virtual reference station.
And secondly, the server side generates a GNSS virtual reference station according to the received data and returns the differential data of the GNSS virtual reference station.
In this embodiment, the server is an enhanced location server.
And thirdly, receiving the GNSS virtual reference station differential data returned by the server side, and sending the received GNSS virtual reference station differential data to the demand side.
In this embodiment, the requesting end includes a plurality of rovers connected to the GNSS pseudo-reference station.
The GNSS virtual reference station manual station setting system comprises a manual station setting module and a data transmission module;
the system comprises a manual station setting module, a GNSS virtual reference station setting module and a GNSS virtual reference station setting module, wherein the manual station setting module is used for manually setting a position, acquiring the position information and converting the position information into data in a format required by the GNSS virtual reference station established by a server;
the data transmission module is used for sending the data after the data format conversion to the server, receiving the GNSS virtual reference station differential data returned by the server and sending the received GNSS virtual reference station differential data to the demand end;
and the server is used for receiving the data after the data format conversion transmitted by the data transmission module, generating a GNSS virtual reference station according to the received data, and returning the differential data of the GNSS virtual reference station.
Manually setting a position and acquiring the position information as follows: manually setting a point location on a map, and acquiring coordinate information of the point after the point location is determined;
or manually setting the text description of a position to acquire the coordinate information of the position;
or manually setting a coordinate value of a position to acquire the coordinate value.
When a point location is manually set on the map and the point location is determined, coordinate information of the point is obtained, and the GNSS virtual reference station manual station setting system further comprises: and the map module is used for providing the geographic position information.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.

Claims (10)

  1. The manual station setting method of the GNSS virtual reference station is characterized by comprising the following steps: the method comprises the following steps:
    s1, manually setting a position and acquiring the position information, converting the position information into data in a format required by a server side for establishing a GNSS virtual reference station, and sending the converted data to the server side;
    and S2, receiving the GNSS virtual reference station differential data returned by the server side, and sending the received GNSS virtual reference station differential data to the demand side.
  2. 2. The method of claim 1, wherein the GNSS virtual reference station is manually set up by: the GNSS virtual reference station manual station setting method further comprises the following steps: and the server generates a GNSS virtual reference station according to the received data and returns the differential data of the GNSS virtual reference station.
  3. 3. The method of claim 1, wherein the GNSS virtual reference station is manually set up by: in S1, manually setting a position and acquiring the position information includes: manually setting a point location on the map, and acquiring the coordinate information of the point after the point location is determined.
  4. 4. The method of claim 1, wherein the method further comprises: in S1, manually setting a position and acquiring the position information includes: and manually setting a coordinate value of a position, and acquiring the coordinate value.
  5. 5. The method of claim 1, wherein the GNSS virtual reference station is manually set up by: in S1, manually setting a position and acquiring the position information includes: and manually setting the text description of a position, and acquiring the coordinate information of the position.
  6. 6. The GNSS virtual reference station manual station setting method of claim 3, 4 or 5, wherein: in S1, converting the location information into data in a format required by the server to establish the GNSS virtual reference station includes: and converting the acquired coordinate information into a coordinate system to obtain coordinate information of the coordinate system supported by the server, and converting the coordinate information into data in a format required by the server for establishing the GNSS virtual reference station.
  7. 7. The system of the GNSS virtual reference station manual station setting method according to any of claims 1-6, characterized in that: the system comprises a manual station setting module and a data transmission module;
    the system comprises a manual station setting module, a GNSS virtual reference station setting module and a GNSS virtual reference station setting module, wherein the manual station setting module is used for manually setting a position, acquiring the position information and converting the position information into data in a format required by the GNSS virtual reference station established by a server;
    and the data transmission module is used for sending the data after the data format conversion to the server, receiving the GNSS virtual reference station differential data returned by the server, and sending the received GNSS virtual reference station differential data to the demand end.
  8. 8. The system of the method of manual station setting of a GNSS virtual reference station of claim 7, wherein: the system of the GNSS virtual reference station manual station setting method further comprises: and the server is used for receiving the data after the data format conversion transmitted by the data transmission module, generating a GNSS virtual reference station according to the received data, and returning differential data of the GNSS virtual reference station to the data transmission module.
  9. 9. The system of the method of claim 7, wherein: manually setting a position and obtaining the position information is: manually setting a point location on a map, and acquiring coordinate information of the point after the point location is determined;
    or manually setting the text description of a position to acquire the coordinate information of the position;
    or manually setting a coordinate value of a position to acquire the coordinate value.
  10. 10. The system of the method of claim 9, wherein: when a point location is manually set on the map and the point location is determined, coordinate information of the point is obtained, and the system of the method for manually setting the GNSS virtual reference station further comprises: and the map module is used for providing the geographic position information.
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Effective date of registration: 20230419

Address after: No. 12, 6th Floor, Unit 2, Building 10, No. 66 Qingyuan Road, Xindu District, Chengdu City, Sichuan Province, 610500

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Address before: No. 365, Floor 3, Unit 1, Building 4, No. 8, Anrong Road, Chadianzi, Jinniu District, Chengdu, Sichuan 610000

Patentee before: CHENGDU BEIDOU YIXUN TECHNOLOGY Co.,Ltd.

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