CN110118984A - It adjusts bandwidth frequency deviation parameter and improves the method and system of RTK host positioning accuracy - Google Patents
It adjusts bandwidth frequency deviation parameter and improves the method and system of RTK host positioning accuracy Download PDFInfo
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- CN110118984A CN110118984A CN201910328826.3A CN201910328826A CN110118984A CN 110118984 A CN110118984 A CN 110118984A CN 201910328826 A CN201910328826 A CN 201910328826A CN 110118984 A CN110118984 A CN 110118984A
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- frequency deviation
- bandwidth frequency
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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
- G01S19/38—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]
-
- 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
- G01S19/42—Determining position
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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)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the methods of adjustment bandwidth frequency deviation parameter, comprising the following steps: the center frequency point that RTK host radio station is arranged is consistent with the center frequency point of base radio；Bandwidth frequency deviation initial parameter value P is arranged in RTK host0, receive, parse differential data and record corresponding differential data quality information；Repeatedly adjust the bandwidth frequency deviation parameter Pn, receive, parse differential data and record corresponding differential data quality information；Compare bandwidth frequency deviation initial parameter value P0With multiple bandwidth frequency deviation parameter PnDifferential data quality, select optimum bandwidth frequency deviation parameter Pb.It also discloses the method for improving RTK host positioning accuracy and selects optimum bandwidth frequency deviation parameter by adjusting bandwidth frequency deviation parameter, optimize the reception ability in radio station, improve RTK host positioning accuracy.
Description
Technical field
The present invention relates to communication and survey fields, more particularly to adjustment bandwidth frequency deviation parameter and raising RTK host positioning accurate
The method and system of degree.
Background technique
RTK (Real-Time Kinematic real time dynamic differential method) host is a GNSS (Global
Navigation Satellite System Global Satellite Navigation System) host is the important instrument of current field of high-precision measurement
Device equipment.When single RTK host works independently, Real-Time Positioning is poor, is unable to satisfy the precision of survey field.Therefore, exist
When practical application, RTK host will reach real-time high-precision positioning, it is necessary to real-time reception to differential compensation data.
Nowadays RTK often passes through radio station real-time reception differential compensation data in actual job, and is resolved, and reaches high-precision
Degree positioning.The basic principle of this method is to set up bastion host within the scope of certain distance, and base station passes through radio station for difference number
Movement station RTK host is transferred to when factually.But it is more demanding to ambient enviroment when transmitting differential data by radio station.Work as environment
When more spacious, radio station transmission range is farther out and differential data quality is higher；Conversely, when environment is more severe, radio station transmission range
It is very limited, and the differential data quality received is irregular, the final positioning accuracy for influencing RTK host.
Summary of the invention
For overcome the deficiencies in the prior art, one of the objects of the present invention is to provide the sides of adjustment bandwidth frequency deviation parameter
Method compares its differential data quality, selects optimized parameter by the positive bandwidth frequency deviation parameter for adjusting radio station with negative sense.
The system that the second object of the present invention is to provide adjustment bandwidth frequency deviation parameter, passes through differential data parsing module meter
The differential data quality of different bandwidth frequency deviation parameter P is calculated, and is compared, judges that decision-making module selects optimum bandwidth frequency deviation
Parameter Pb。
The third object of the present invention is to provide the method for improving RTK host positioning accuracy, by constantly adjusting radio station
Bandwidth frequency deviation parameter, selects optimized parameter, and optimization radio station receives ability, improves RTK host positioning accuracy.
The fourth object of the present invention is to provide the system for improving RTK host positioning accuracy, by constantly adjusting radio station
Bandwidth frequency deviation parameter judges that decision-making module selects optimized parameter, and bandwidth frequency deviation parameter adjustment module is adjusted the band of radio station module
The inclined parameter of wideband is adjusted to optimum bandwidth frequency deviation parameter Pb, improve RTK host positioning accuracy.
An object of the present invention adopts the following technical scheme that realization:
The method for adjusting bandwidth frequency deviation parameter, comprising the following steps:
S10: the center frequency point in setting RTK host radio station is consistent with the center frequency point of base radio；
Bandwidth frequency deviation initial parameter value P is arranged in S20:RTK host0, receive, parse differential data and record corresponding difference
Data quality information；
S30: the bandwidth frequency deviation parameter P is repeatedly adjustedn, receive, parse differential data and record corresponding differential data
Quality information；
S40: compare bandwidth frequency deviation initial parameter value P0With multiple bandwidth frequency deviation parameter PnDifferential data quality, select
Optimum bandwidth frequency deviation parameter Pb。
Further, step S30 further include:
S31: repeatedly positive adjustment bandwidth frequency deviation parameter is PN+ (n=1,2,3), receive, parse differential data and record corresponding
Differential data quality information；
S32: multiple negative sense adjustment bandwidth frequency deviation parameter is PN- (n=1,2,3), receive, parse differential data and record corresponding
Differential data quality information；
Further, the differential data quality includes positioning accuracy, difference delay data, differential data in the unit time
Amount.
Further, the optimal bandwidth frequency deviation parameter P of the selectionbThe step of it is as follows:
S41: compare bandwidth frequency deviation initial parameter value P0With multiple bandwidth frequency deviation parameter PnPositioning accuracy, select it is described fixed
Position bandwidth frequency deviation parameter P with high accuracyb1；
S42: the bandwidth frequency deviation parameter P high from the positioning accuracyb1In, compare its difference delay data, difference is selected to prolong
When small bandwidth frequency deviation parameter Pb2；
S43: the bandwidth frequency deviation parameter P for being delayed small from the differenceb2In, compare its unit time differential data amount, selects
The big bandwidth frequency deviation parameter P of unit time differential data amountb3；
S44: the bandwidth frequency deviation parameter Pb3For the optimum bandwidth frequency deviation parameter Pb。
The second object of the present invention adopts the following technical scheme that realization:
The system for adjusting bandwidth frequency deviation parameter, including base station and RTK rover station；The base station includes for receiving
GNSS signal and the wireless hair for generating the GNSS host of differential data, the transmission differential data to the RTK rover station in real time
Radio platform module；
The RTK rover station includes receiving radio station module, for receiving the differential data of the base station transmission；
Differential data parsing module, the differential data received for parsing the reception radio station module, calculates several
The corresponding differential data quality of bandwidth frequency deviation parameter P；
Logging modle records the differential data parsing module and calculates the corresponding difference number of several bandwidth frequency deviation parameter P
According to quality；
Judge decision-making module, it is defeated for comparing the corresponding differential data quality of several bandwidth frequency deviation parameter P in logging modle
Optimum bandwidth frequency deviation parameter P outb。
Further, the bandwidth frequency deviation parameter P includes initial value P0With the bandwidth frequency deviation parameter of forward direction adjustment
PN+ (n=1,2,3), negative sense adjustment bandwidth frequency deviation parameter PN- (n=1,2,3)。
Further, the RTK rover station further includes positioning calculation module, for receiving the differential data parsing module
The differential data quality of output, and calculate location information；
Differential data byte number statistical module, the differential data byte number for being received in the statistical unit time, and it is defeated
Out to the logging modle.
Further, the differential data quality includes positioning accuracy, difference delay data, differential data in the unit time
Amount.
The third object of the present invention adopts the following technical scheme that realization:
The method for improving RTK host positioning accuracy, including a kind of method for adjusting bandwidth frequency deviation parameter as described above, also
Including
The bandwidth frequency deviation parameter of step S50:RTK host is set as Pb, receive, parse the bandwidth frequency deviation parameter PbIt is corresponding
Differential data, and calculate the location information of RTK host.
The fourth object of the present invention adopts the following technical scheme that realization:
A kind of system improving RTK host positioning accuracy, the system including a kind of such as above-mentioned adjustment bandwidth frequency deviation parameter,
Further include
Bandwidth frequency deviation parameter adjustment module, the optimum bandwidth frequency deviation parameter P exported according to judgment moduleb, by the radio station
The inclined parameter of module wide frequency is adjusted to optimum bandwidth frequency deviation parameter Pb。
Compared with prior art, the beneficial effects of the present invention are:
(1) the present invention provides the method and system of adjustment bandwidth frequency deviation parameter, by repeatedly adjusting bandwidth frequency deviation parameter,
Parsing, record and more corresponding differential data quality information, to obtain optimum bandwidth frequency deviation parameter Pb.It is solid in operating environment
In the case where fixed, dynamic adjusts the bandwidth frequency deviation parameter in radio station in real time, and radio station is made to receive the differential data of best in quality.
(2) the present invention also provides the method and systems for improving RTK host positioning accuracy, under fixed operating environment,
By real-time dynamicly adjusting the bandwidth frequency deviation parameter in radio station according to differential data quality, judge that decision-making module selects optimal ginseng
The bandwidth frequency deviation parameter of radio station module is adjusted to optimum bandwidth frequency deviation parameter P by number, the adjustment of bandwidth frequency deviation parameter adjustment moduleb,
So that radio station is received the differential data of best in quality, optimize the reception ability in radio station, improves RTK host positioning accuracy.
Detailed description of the invention
Fig. 1 is the flow chart provided by the present invention for improving RTK host positioning accuracy method；
Fig. 2 is the system module figure provided by the present invention for improving RTK host positioning accuracy system
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Embodiment one
The present invention provides adjustment bandwidth frequency deviation parameter method, a method of adjustment bandwidth frequency deviation parameter, including with
Lower step:
S10:RTK host receives differential data and is arranged in the center frequency point and base radio in RTK host radio station
Heart frequency point is consistent；
Bandwidth frequency deviation initial parameter value P is arranged in S20:RTK host0, receive, parse differential data and record corresponding difference
Data quality information；Specifically, differential data quality includes positioning accuracy, difference delay data, differential data in the unit time
Amount.
Specifically, P0It is the code name of one group of parameter, represents two parameters, the i.e. bandwidth and frequency deviation in radio station.Such as P0(X0,
Y0), the initial bandwidth in radio station is represented as X0, initial frequency deviation Y0.After RTK is powered on, initial parameter is set automatically, and comes into force.
In addition, P0(X0,Y0) specific initial value, had differences because of radio station radio-frequency module performance itself.But when radio station is penetrated
Frequency module and peripheral hardware circuit are fixed, parameter P0(X0,Y0) initial value also just fixation.Also, the different rings of radio station concrete application
Border will affect the specific optimum value of this parameter.P at this time0(X0,Y0) can change in certain positive and negative range, to reach radio station most
Good reception.
S30: the bandwidth frequency deviation parameter P is repeatedly adjustedn, receive, parse differential data and record corresponding positioning accuracy,
Difference delay data, differential data amount in the unit time.
S40: compare bandwidth frequency deviation initial parameter value P0With multiple bandwidth frequency deviation parameter PnDifferential data quality, select
Optimum bandwidth frequency deviation parameter Pb。
The present invention provides the methods of adjustment bandwidth frequency deviation parameter, by repeatedly adjusting bandwidth frequency deviation parameter, parsing, record
And more corresponding differential data quality information, to obtain optimum bandwidth frequency deviation parameter Pb.In the situation that operating environment is fixed
Under, dynamic adjusts the bandwidth frequency deviation parameter in radio station in real time, and radio station is made to receive the differential data of best in quality.
To guarantee to find optimum bandwidth frequency deviation parameter Pb, step S30 further include:
S31: repeatedly positive adjustment bandwidth frequency deviation parameter is PN+ (n=1,2,3), receive, parse differential data and record to correspond to and determine
Position precision, difference delay data, differential data amount in the unit time；
S32: multiple negative sense adjustment bandwidth frequency deviation parameter is PN- (n=1,2,3), receive, parse differential data and record to correspond to and determine
Position precision, difference delay data, differential data amount in the unit time.
Specifically, positive adjustment bandwidth frequency deviation parameter are as follows: P1+(X1, Y1)=P1+(X0+1,Y0+1), that is, represent bandwidth increase
1KHz, frequency deviation also increase 1KHz.Negative sense adjusts bandwidth frequency deviation parameter are as follows: P1-(X1, Y1)=P1-(X0-1,Y0-1), that is, represent bandwidth
1KHz is reduced, frequency deviation also reduces 1KHz.And so on, after multiple positive negative sense setting parameter, compare its differential data quality
Information selects optimal bandwidth frequency deviation parameter Pb。
Further, the optimal bandwidth frequency deviation parameter P of the selectionbThe step of it is as follows:
S41: compare bandwidth frequency deviation initial parameter value P0With multiple bandwidth frequency deviation parameter PnPositioning accuracy, select it is described fixed
Position bandwidth frequency deviation parameter P with high accuracyb1；
S42: the bandwidth frequency deviation parameter P high from the positioning accuracyb1In, compare its difference delay data, difference is selected to prolong
When small bandwidth frequency deviation parameter Pb2；
S43: the bandwidth frequency deviation parameter P for being delayed small from the differenceb2In, compare its unit time differential data amount, selects
The big bandwidth frequency deviation parameter P of unit time differential data amountb3；
S44: the bandwidth frequency deviation parameter Pb3For the optimum bandwidth frequency deviation parameter Pb。
Embodiment two
Based on same inventive concept, the present invention also provides the systems of adjustment bandwidth frequency deviation parameter, including base station and RTK
Movement station；The base station includes for receiving GNSS signal and in real time the GNSS host of generation differential data, the transmission difference
Divided data to the RTK rover station wireless transmission radio station module；
RTK rover station includes receiving radio station module, for receiving the differential data of the base station transmission；
Differential data parsing module, the differential data received for parsing the reception radio station module, calculates several
The corresponding differential data quality of bandwidth frequency deviation parameter P；Specifically, bandwidth frequency deviation parameter P includes initial value P0With forward direction adjustment
Bandwidth frequency deviation parameter PN+ (n=1,2,3), negative sense adjustment bandwidth frequency deviation parameter PN- (n=1,2,3)。
Logging modle records the differential data parsing module and calculates the corresponding difference number of several bandwidth frequency deviation parameter P
According to quality；
Judge decision-making module, it is defeated for comparing the corresponding differential data quality of several bandwidth frequency deviation parameter P in logging modle
Optimum bandwidth frequency deviation parameter P outb。
More, RTK rover station further includes positioning calculation module, for receiving the differential data parsing module output
Positioning accuracy, difference delay data, differential data amount in the unit time, and calculate location information；
Differential data byte number statistical module for counting the differential data byte number received each second, and exports extremely
The logging modle.
As shown in table 1, when measuring for certain, the corresponding data information of each bandwidth frequency deviation parameter P of logging modle record is sentenced
Decision-making module break according to 1 information of table, can select most suitable bandwidth frequency deviation parameter Pb。
Table 1
The highest parameter of solution state selective positioning precision is pressed first.Solve the accuracy of state description RTK positioning.Positioning
The solution sequence of states of precision from high to low are as follows: fixed solution (positioning accuracy highest) > float-solution > Difference Solution > single-point solution (positioning accurate
It spends minimum).Therefore, select solution state for the parameter of fixed solution, respectively P1-, P1+ and P2+.
Secondly, selecting the smallest parameter of difference delay, respectively P1+ and P2+, the difference of the two from P1-, P1+ and P2+
Dividing delay is 2.
Again from P1+ and P2+, " unit time differential data amount " maximum parameter is selected.The unit time difference number of P1+
510Bytes/s is reached according to amount；The unit time differential data amount of P2+ reaches 480Bytes/s；P1+ is greater than P2+.
Therefore, optimum bandwidth frequency deviation parameter PbFor P1+.
Embodiment three
In addition, as shown in Figure 1, including being adjusted as described above the present invention also provides the method for improving RTK host positioning accuracy
The method of whole bandwidth frequency deviation parameter further includes
The bandwidth frequency deviation parameter of step S50:RTK host is set as Pb, receive, parse the bandwidth frequency deviation parameter PbIt is corresponding
Differential data, and calculate the location information of RTK host.
Example IV
If Fig. 2 shows, for improve RTK host positioning accuracy system system block diagram, including a kind of such as above-mentioned adjustment bandwidth
The system of frequency deviation parameter further includes
Bandwidth frequency deviation parameter adjustment module, the optimum bandwidth frequency deviation parameter P exported according to judgment moduleb, by the radio station
The inclined parameter of module wide frequency is adjusted to optimum bandwidth frequency deviation parameter Pb。
Judging that decision-making module selects optimum bandwidth frequency deviation parameter PbAfterwards, bandwidth frequency deviation parameter adjustment module is by RTK host
Bandwidth frequency deviation parameter be set as Pb, optimization radio station receives ability, improves RTK host positioning accuracy.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. the method for adjusting bandwidth frequency deviation parameter, which comprises the following steps:
S10: the center frequency point in setting RTK host radio station is consistent with the center frequency point of base radio；
Bandwidth frequency deviation initial parameter value P is arranged in S20:RTK host0, receive, parse differential data and record corresponding differential data
Quality information；
S30: the bandwidth frequency deviation parameter P is repeatedly adjustedn, receive, parse differential data and record corresponding differential data quality letter
Breath；
S40: compare bandwidth frequency deviation initial parameter value P0With multiple bandwidth frequency deviation parameter PnDifferential data quality, select optimal band
The inclined parameter P of widebandb。
2. the method for adjustment bandwidth frequency deviation parameter as described in claim 1, which is characterized in that step S30 further include:
S31: repeatedly positive adjustment bandwidth frequency deviation parameter is PN+ (n=1,2,3), receive, parse differential data and record corresponding difference
Data quality information；
S32: multiple negative sense adjustment bandwidth frequency deviation parameter is PN- (n=1,2,3), receive, parse differential data and record corresponding difference
Data quality information.
3. the method for adjustment bandwidth frequency deviation parameter as claimed in claim 2, which is characterized in that the differential data quality information
Including positioning accuracy, difference delay data, differential data amount in the unit time.
4. the method for adjustment bandwidth frequency deviation parameter as claimed in claim 3, which is characterized in that the optimal wide frequency of the selection
Inclined parameter PbThe step of it is as follows:
S41: compare bandwidth frequency deviation initial parameter value P0With multiple bandwidth frequency deviation parameter PnPositioning accuracy, select the positioning accurate
Spend high bandwidth frequency deviation parameter Pb1；
S42: the bandwidth frequency deviation parameter P high from the positioning accuracyb1In, compare its difference delay data, selects difference delay small
Bandwidth frequency deviation parameter Pb2；
S43: the bandwidth frequency deviation parameter P for being delayed small from the differenceb2In, compare its unit time differential data amount, selects unit
The big bandwidth frequency deviation parameter P of time difference data volumeb3；
S44: the bandwidth frequency deviation parameter Pb3For the optimum bandwidth frequency deviation parameter Pb。
5. the system for adjusting bandwidth frequency deviation parameter, which is characterized in that including base station and RTK rover station；The base station includes
For receiving GNSS signal and in real time the GNSS host of generation differential data, the transmission differential data to the RTK rover station
Wireless transmission radio station module；
The RTK rover station includes receiving radio station module, for receiving the differential data of the base station transmission；
Differential data parsing module, the differential data received for parsing the reception radio station module, calculates several bandwidth
The corresponding differential data quality of frequency deviation parameter P；
Logging modle records the differential data parsing module and calculates the corresponding differential data matter of several bandwidth frequency deviation parameter P
Amount；
Judge decision-making module, for comparing the corresponding differential data quality of several bandwidth frequency deviation parameter P in logging modle, output is most
Excellent bandwidth frequency deviation parameter Pb。
6. the system of adjustment bandwidth frequency deviation parameter as claimed in claim 5, which is characterized in that the bandwidth frequency deviation parameter P packet
Include initial value P0With the bandwidth frequency deviation parameter P of forward direction adjustmentN+ (n=1,2,3), negative sense adjustment bandwidth frequency deviation parameter PN- (n=1,2,3)。
7. the system of adjustment bandwidth frequency deviation parameter as claimed in claim 6, which is characterized in that the RTK rover station further includes
Positioning calculation module for receiving the differential data quality of the differential data parsing module output, and calculates location information；
Differential data byte number statistical module, the differential data byte number for being received in the statistical unit time, and export extremely
The logging modle.
8. the system of adjustment bandwidth frequency deviation parameter as claimed in claim 7, which is characterized in that the differential data quality includes
Positioning accuracy, difference delay data, differential data amount.
9. the method for improving RTK host positioning accuracy, which is characterized in that including the adjustment band as described in claim 1-4 is any
The method of the inclined parameter of wideband further includes
The bandwidth frequency deviation parameter of step S50:RTK host is set as Pb, receive, parse the bandwidth frequency deviation parameter PbCorresponding difference
Data, and calculate the location information of RTK host.
10. the system for improving RTK host positioning accuracy, which is characterized in that including the adjustment band as described in claim 5-8 is any
The system of the inclined parameter of wideband further includes
Bandwidth frequency deviation parameter adjustment module, the optimum bandwidth frequency deviation parameter P exported according to judgment moduleb, by the radio station modular belt
The inclined parameter of wideband is adjusted to optimum bandwidth frequency deviation parameter Pb。
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Application publication date: 20190813 |