CN110007320A - Network RTK calculation method - Google Patents
Network RTK calculation method Download PDFInfo
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- CN110007320A CN110007320A CN201910291020.1A CN201910291020A CN110007320A CN 110007320 A CN110007320 A CN 110007320A CN 201910291020 A CN201910291020 A CN 201910291020A CN 110007320 A CN110007320 A CN 110007320A
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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
- G01S19/235—Calibration of receiver components
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- 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
- G01S19/37—Hardware or software details of the signal processing chain
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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)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of network RTK calculation method, by general networks RTK technology Baselines module and atmospheric model module be combined together Combined Calculation, i.e., all baseline parameters and Atmospheric models parameter are carried out while being estimated with same filter；Just directly force the constraint of double difference integer ambiguity close ring when Combined Calculation simultaneously.This method can improve the accuracy and reliability that baseline double difference integer ambiguity is fixed in network RTK, solve the problem of that some areas baseline fuzziness fixed rate is not high so as to cause the decline of network RTK performance.
Description
The application is application No. is CN201710237878.0, and the applying date is on April 12nd, 2017, and invention and created name is
The divisional application of " network RTK calculation method ".
Technical field
The present invention relates to a kind of location technology more particularly to a kind of network RTK calculation methods, to improve in network RTK
Baseline integer ambiguity fixed accuracy and reliability, solution some areas baseline integer ambiguity fixed rate is not high, thus
The problem of causing the performance of network RTK to decline.
Background technique
Global Navigation Satellite System (Global Navigation Satellite System, GNSS) is in satellite positioning side
One main error source in face is exactly additional due to caused by atmospheric refraction when satellite-signal is propagated from satellite to receiver
Atmosphere delay, atmosphere delay mainly includes the ionosphere delay due to caused by ionosphere and troposphere and tropospheric delay.One
The path that receiver similar in two geographical locations of satellite-signal arrival that a satellite launch comes out is passed through is substantially similar, thus
Atmosphere delay caused by atmospheric refraction is largely eliminated after also differing.Difference relative positioning technology utilizes two phase proximities
Observation after receipts machine difference can accurately determine the relative position between them, if the absolute position of a receiver
Accurately know, then can accurately determine the position of another receiver.The receiver of known location is commonly referred to as reference station,
The receiver of position to be asked generally is rover station or mobile users.
Real time kinematic survey system (Real-time kinematic, RTK) technology based on carrier phase observation data is one
Kind can provide the relative positioning technology of real-time high-precision (Centimeter Level), and basic principle is that carrier phase difference divides relative positioning skill
High-precision carrier phase observation data is mainly utilized in art, to reach the relative positioning of Centimeter Level.Conventional RTK technology it is main
Be limited in that, with the distance between base station and mobile users increase, due to propagation path it is similar and offset it is smaller and smaller,
So as to cause positioning precision variation, the operating radius of generally conventional RTK is limited within 10 kilometers.In order to increase routine
The job area of RTK technology formed a base station network using multiple base stations, for the network coverage before and after 2000
Interior rover station provides high-precision difference and corrects data, to realize the high accuracy positioning of rover station, as technology of network RTK.
The coordinate of GNSS Fiducial station of the network is under a coordinate frame it is known that can be extrapolated by certain data and physical model at this
Atmospheric models corrected value in GNSS reference station, is broadcast the rover station into the network coverage, utilizes difference
Principle is assured that high-precision coordinate of the rover station under same coordinate frame.
GNSS base station or GNSS reference station, commonly referred to as GNSS CORS tracking station usually have known seat
Mark (under certain coordinate frame), there is good peripheral environment, mainly around without physically and electrically magnetic disturbance (such as
Tree, metal, electromagnetic jammer etc.), and it is equipped with high-performance geodesic survey type GNSS double frequency (or multifrequency) receiver.
Multiple physically adjacent GNSS base stations, which connect together, just constitutes a GNSS reference station.One GNSS
Reference station generally has minimum 3 GNSS base stations.The distance between GNSS base station station is 70 kilometers or so (middle latitudes
The typical range in area；In low latitudes, station spacing averagely should be closer, substantially at 50-60 kilometers or so；Middle high latitude station
Spacing can be more a little bigger), it covers certain area (one or more administrative region), the GNSS reference station of multiple regions
Bigger GNSS reference station can be formed by connecting together, and cover a city, one or more province can be extended to complete
State or multiple countries, or even form the GNSS reference station of a Global coverage.
According to the Atmospheric models that GNSS base station data and GNSS reference station resolve, VRS virtual reference can be generated
The observation data stood.Coordinate of the initial coordinate of rover station as virtual reference station is chosen, under normal circumstances to ensure virtually to join
It is shorter to examine the parallax range that station and rover station are formed.When rover station is more than a certain range apart from the station current VRS, then regenerate
One station VRS closer to rover station is for users to use.Rover station receives the VRS observation data that GNSS reference station is broadcast
Afterwards, the GNSS error of the overwhelming majority can be eliminated by difference, such as atmosphere delay, satellite orbit and clock deviation error, satellite hardware are prolonged
Late etc., to obtain the real-time high-precision coordinate of rover station.
Conventional technology of network RTK scheme Baselines module and atmospheric model module is carried out in two steps.First to each
Baseline individually carries out float-solution resolving, is scanned for the fuzziness float-solution calculated and fixes the mould of every baseline respectively
Paste degree.After fixed integer ambiguity, then all Baselines result modeling regional atmospheric corrections in comprehensive GNSS base station net.Solution
The detailed step of calculation is as follows:
1) Baselines (single baseline)
Respectively to each baseline in GNSS base station net, double difference floating-point mould is calculated with double difference carrier phase observation data
Paste degree and double difference atmosphere (ionosphere and troposphere) delay.
2) searching for integer cycle and fixation (single baseline)
The double difference integer ambiguity float-solution estimated according to previous step, to every baseline respectively in fuzziness candidate's range
It inside scans for, and fixed integer ambiguity.Since double difference integer ambiguity has stronger correlation, decorrelation is generally used
Property method (such as: LAMBDA) algorithm carries out drop relevant treatment, to reduce search range.
3) (single baseline) is constrained with fixed integer ambiguity
Using the integer ambiguity after fixation as constraint condition, more accurate single baseline double difference atmosphere (electricity is calculated again
Absciss layer and troposphere) delay correction.
4) atmosphere (ionosphere and troposphere) Models computed
Comprehensively consider all baseline double difference atmosphere (ionosphere and troposphere) delay calculation results in GNSS reference station,
Atmosphere (ionosphere and troposphere) delay of the regional scope is modeled with region gradient model.Atmosphere (electricity after resolving
Absciss layer and troposphere) model for rover station atmosphere (ionosphere and troposphere) delay correction, improve positioning accuracy.
5) generation of VRS virtual observation station data
Choosing a GNSS base station is reference base station, according to the virtual station coordinates of VRS and the atmosphere (ionosphere calculated
And troposphere) model to reference base station observation data be modified, generate VRS station observation data, real-time broadcasting is to user.
The shortcomings that prior art and limitation essentially consist in, in the fixation of integer ambiguity and atmosphere (ionosphere and convection current
Layer) during Models computed, do not make full use of more baseline closure conditions to optimize the fixation of integer ambiguity.Single baseline complete cycle
The fixed situation of fuzziness mistake is difficult to be found.Atmosphere (ionosphere and convection current are carried out using the fixed integer ambiguity of mistake
Layer) solution to model calculation, it can directly reduce the positioning accuracy of rover station.
Summary of the invention
It is an object of the present invention to provide a kind of network RTK calculation method, it is whole to improve baseline double difference in network RTK
All fuzzinesses fixed accuracy and reliability, solve the problems, such as that some areas baseline double difference integer ambiguity fixed rate is not high.
It is another object of the present invention to provide a kind of network RTK calculation method, it is to improve (the ionization of double difference atmosphere
Layer and troposphere) delay model accuracy, thus the more preferable more stable positioning accuracy for ensuring rover station.
A kind of network RTK calculation method utilizes reference station double difference integer ambiguity float ambiguities close ring condition
It constrains integer ambiguity float ambiguities solution, the precision of integer ambiguity float ambiguities can be improved.
During integer ambiguity is fixed, reinforce integer ambiguity close ring constraint condition to choose integer ambiguity
Fixed solution.
The fixed accuracy of the integer ambiguity of all baselines is also promoted simultaneously, and then improves atmosphere (ionosphere and convection current
Layer) Models computed precision, more reliable network RTK atmosphere (ionosphere and troposphere) corrected value is provided.
The stochastic model constraint of atmosphere (ionosphere and troposphere) delay is added in the baseline combined solution stage, helps to mention
The precision of high integer ambiguity float-solution and atmosphere (ionosphere and troposphere) model.
Another network RTK calculation method, comprising:
Step 1: according to atmosphere (ionosphere and troposphere) scale factor, to the baseline and atmosphere being related in GNSS network
(ionosphere and troposphere) delay model parameter carries out Combined Calculation,
To the parameter for being formed by various baselines between the base station in network RTK, (such as: receiver clock-offsets and carrier wave are fuzzy
Degree), double difference atmosphere (ionosphere and troposphere) delay model parameter carries out Combined Calculation, i.e., with same filter to all baselines
Parameter and atmosphere delay model parameter carry out and meanwhile estimate.The initial value of the model parameter of atmosphere (ionosphere and troposphere) is
It is arranged according to historical experience.In addition, with ionosphere scale factor and troposphere scale factor respectively to ionosphere delay and convection current
Layer delay carries out stochastic model constraint；
Step 2: the constraint of float ambiguities close ring
Double difference float ambiguities close ring constraint condition, i.e., the double difference floating ambiguity of each baseline in reference station is added
The mis-tie misclosure theoretical value of degree is set as zero, to improve more baseline float ambiguities estimate on solutions precision, be searching for integer cycle with
And the fixed better primary condition of offer；
Step 3: search complete cycle double difference fuzziness
The float ambiguities of baseline each in reference station are subjected to searching for integer cycle together, since fuzziness is deposited
Calculation amount is reduced in order to reduce search range in strong correlation, is dropped using most popular LAMBDA algorithm by fuzziness
Associated change reduces the correlation between fuzziness, further according to its search range, generates integer ambiguity candidate subset；
Step 4: integer ambiguity close ring inspection
To all candidates in integer ambiguity candidate subset, the inspection of fuzziness close ring is carried out, fuzziness residual error is minimum,
And all satellites all meet the integer ambiguity candidate set of close ring inspection and are then selected as final ambiguity fixed solution；
Step 5: constraint integer ambiguity solves atmosphere (ionosphere and troposphere) delay model parameter
Double difference atmosphere (troposphere and the ionization of each satellite pair of every baseline are solved using ambiguity fixed solution as constraint condition
Layer) delay, and establish atmosphere (ionosphere and troposphere) using double difference atmosphere (the ionosphere and troposphere) delay solved and prolong
Slow model；
It also with by epoch Real-time solution atmosphere scale factor, and feeds back and is updated to step 1, for next epoch
It is constrained in baseline combined solution as atmosphere delay stochastic model；Such as；By each satellite pair of the every baseline solved
Double difference atmosphere delay calculates and updates atmosphere scale factor, continues the baseline combined solution in next epoch in this, as step 1
It is middle to be constrained as atmosphere delay stochastic model；
Step 6: virtual reference station VRS (Virtual Reference Stations, VRS), which stands, observes data generation
Choosing a GNSS base station is reference base station, according to the virtual station coordinates of VRS and the atmosphere (ionosphere calculated
And troposphere) delay model to reference base station observation data be modified, generate VRS station observation data, real-time broadcasting to use
Family.
Technical solution of the present invention, by general networks RTK technology Baselines module and atmospheric model module be incorporated in
Combined Calculation together is carried out while being estimated to all baseline parameters and Atmospheric models parameter with same filter；Joining simultaneously
Close the constraint for just directly forcing double difference integer ambiguity close ring when resolving；And increase the random of double difference atmosphere delay model
Model constraint；And it uses by epoch Real-time solution atmosphere scale factor, and feed back and arrive next epoch.Double difference integral circumference ambiguity in this way
The resolving of degree is relatively reliable, the atmosphere delay model calculated, and is capable of providing according to the atmosphere delay model more reliable
Network RTK differential correcting data, allow mobile users that will have better user experience (precision and reliability).
Detailed description of the invention
Fig. 1 is inventive network RTK calculation method flow chart.
Specific embodiment
Inventive network RTK calculation method is described in further detail with reference to the accompanying drawing.
Fig. 1 is inventive network RTK calculation method flow chart, as shown in Figure 1, this example network RTK calculation method includes:
Step 1: according to atmosphere (ionosphere and troposphere) scale factor, to baseline involved in GNSS network and atmosphere
(ionosphere and troposphere) delay model parametric joint resolves,
To being formed by the parameter of various baselines between the base station in network RTK (such as: receiver clock-offsets and carrier phase mould
Paste degree), double difference atmosphere (current sheet and troposphere) delay model parameter carries out Combined Calculation, i.e., with same filter to all bases
Line parameter and atmospheric parameter are carried out while being estimated.According to current epoch, with ionosphere and troposphere scale factor respectively to electricity
Fluid layer and tropospheric delay carry out stochastic model constraint, and the ionosphere scale factor and troposphere scale factor of first epoch is
It is arranged according to historical experience；
Step 2: the constraint of float ambiguities close ring,
Double difference float ambiguities close ring constraint condition, i.e., the double difference floating ambiguity of each baseline in reference station is added
The mis-tie misclosure theoretical value of degree is set as zero, is searching for integer cycle to improve more baseline float ambiguities estimate on solutions precision
And the fixed better primary condition of offer；
Step 3: search complete cycle double difference fuzziness,
The float ambiguities of baseline each in reference station are subjected to searching for integer cycle together, it is most wide using use
General LAMBDA algorithm carries out decorrelation reason to float ambiguities, according to search range, generates integer ambiguity candidate subset；
Step 4: integer ambiguity close ring inspection,
To all candidates in integer ambiguity candidate subset, the inspection of fuzziness close ring is carried out, fuzziness residual error is minimum,
And all satellites all meet the integer ambiguity candidate set of close ring inspection and are then selected as final ambiguity fixed solution；
Step 5: constraint integer ambiguity solves Atmospheric models
Double difference atmosphere (troposphere and the ionization of each satellite pair of every baseline are solved using ambiguity fixed solution as constraint condition
Layer) delay, and atmosphere (ionosphere and troposphere) mould is established using double difference atmosphere (the ionosphere and troposphere) delay solved
Type；
Also the double difference atmosphere (troposphere and ionosphere) of each satellite pair of every baseline of solution is postponed, is calculated and more
New atmosphere (ionosphere and troposphere) scale factor joins for updating the atmosphere scale factor of step 1 in the baseline of next epoch
It closes in resolving as atmosphere (ionosphere and troposphere) delay stochastic model constraint；
Step 6: observation data in the station virtual reference station VRS generate
Choosing a GNSS base station is reference base station, according to the virtual station coordinates of VRS and the atmosphere (ionosphere calculated
And troposphere) delay model to reference base station observation data be modified, generate VRS station observation data, real-time broadcasting to use
Family.
The preferred embodiment of the present invention has been described in detail above, but the invention be not limited to it is described
Embodiment, those skilled in the art can also make various equivalent on the premise of not violating the inventive spirit of the present invention
Variation or replacement, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of network RTK calculation method characterized by comprising
According to atmosphere scale factor, the baseline and atmosphere delay model parameter that are related in GNSS reference station are combined
It resolves；
Double difference float ambiguities close ring constraint condition is set；
The float ambiguities of baseline each in the reference station are subjected to searching for integer cycle together, generate integral circumference ambiguity
Spend candidate subset；
To all candidates in the integer ambiguity candidate subset, the inspection of fuzziness close ring is carried out, by fuzziness residual error
The integer ambiguity candidate that minimum and all satellites all meet close ring inspection is selected as final ambiguity fixed solution；
The double difference atmosphere delay of each satellite pair of every baseline is solved using the ambiguity fixed solution as constraint condition, and is utilized
The double difference atmosphere delay of solution establishes atmosphere delay model；
VRS phantom station observation data are generated according to the atmosphere delay model calculated.
2. the method as described in claim 1, which is characterized in that the setting double difference float ambiguities close ring constraint condition,
Further comprise:
The mis-tie misclosure theoretical value of the double difference float ambiguities of baseline each in the reference station is set as zero.
3. the method as described in claim 1, which is characterized in that it is described according to atmosphere scale factor, to involved in GNSS network
When the baseline and atmosphere delay model parameter arrived carries out Combined Calculation, further includes:
The stochastic model of atmosphere delay is constrained with the atmosphere scale factor.
4. method as claimed in claim 3, which is characterized in that it is empty that the atmosphere delay model that the basis calculates generates VRS
Before quasi- station observation data, further includes:
Solve current epoch atmosphere scale factor, in a manner of by epoch Real-time Feedback with the atmosphere scale of the current epoch because
Son combines the baseline being related in GNSS reference station and atmosphere delay model parameter in the described of next epoch
When resolving, atmosphere delay stochastic model is constrained.
5. the method as described in claim 1, which is characterized in that it is described according to atmosphere scale factor, to GNSS reference station
In the baseline parameter that is related to and atmosphere delay model parameter carry out Combined Calculation, further comprise:
According to atmosphere scale factor, with same filter to all baseline parameters in GNSS reference station and atmosphere delay model
Parameter is carried out while being estimated.
6. the method as described in claim 1, which is characterized in that the floating-point mould by baseline each in the reference station
Paste degree carries out searching for integer cycle together, generates integer ambiguity candidate subset, further comprises:
The float ambiguities of baseline each in the reference station are subjected to searching for integer cycle together, are calculated using LAMBDA
Method carries out decorrelation processing to float ambiguities, according to search range, generates integer ambiguity candidate subset.
7. method as claimed in claim 4, which is characterized in that the initial value of the atmosphere delay model parameter is according to history
Experience setting.
8. the method as described in claim 1, which is characterized in that described to the baseline being related in GNSS reference station and big
Gas delay model parameter carries out Combined Calculation, further comprises:
To the parameter for being formed by various baselines between the base station in the reference station, double difference atmosphere delay model parameter into
Row Combined Calculation, wherein the parameter of the baseline includes receiver clock-offsets and carrier ambiguities.
9. the method as described in any one of claim 1-8, which is characterized in that the atmosphere is ionosphere and troposphere.
10. method as claimed in claim 9, which is characterized in that it is described with the atmosphere scale factor to atmosphere delay with
Machine model is constrained, and further comprises:
Stochastic model is carried out to current sheet delay and tropospheric delay respectively with ionosphere scale factor and troposphere scale factor
Constraint.
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| CN112099069A (en) * | 2020-08-31 | 2020-12-18 | 中国三峡建设管理有限公司 | RTK algorithm for correcting troposphere empirical model by actually measured meteorological parameters and application |
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| CN110907973B (en) * | 2018-09-14 | 2021-11-19 | 千寻位置网络有限公司 | Network RTK baseline double-difference ambiguity checking method, device and positioning method |
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| CN112684481B (en) * | 2019-10-18 | 2022-10-11 | 千寻位置网络有限公司 | Positioning calculation method and device and storage medium |
| CN111175796A (en) * | 2020-01-20 | 2020-05-19 | 桂林电子科技大学 | Method for rapidly resolving long baseline ambiguity in network RTK |
| CN112731512B (en) * | 2020-12-24 | 2022-11-22 | 千寻位置网络有限公司 | Ionized layer real-time map construction method, device, equipment and storage medium |
| CN115993620B (en) * | 2021-10-19 | 2024-03-15 | 千寻位置网络有限公司 | Ambiguity fixing method and system |
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| CN107422343A (en) | 2017-12-01 |
| CN107422343B (en) | 2019-09-10 |
| CN110007320B (en) | 2022-12-20 |
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