CN110307854A - A kind of high-precision electric business logistics Orientation on map method and system based on CORS technology - Google Patents
A kind of high-precision electric business logistics Orientation on map method and system based on CORS technology Download PDFInfo
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- CN110307854A CN110307854A CN201910304619.4A CN201910304619A CN110307854A CN 110307854 A CN110307854 A CN 110307854A CN 201910304619 A CN201910304619 A CN 201910304619A CN 110307854 A CN110307854 A CN 110307854A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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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
- G01S19/42—Determining position
- G01S19/51—Relative positioning
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Abstract
The high-precision electric business logistics Orientation on map method and system based on CORS technology that the invention discloses a kind of, localization method includes S1: establishing the map layer of subrange；S2: it is repeated several times and obtains same anchor point information and logistics shipping address, it is mutually matched and is established and updates POI data library to the library background server cell POI；Wherein the acquisition of anchor point information is the latitude and longitude information of the current location positioned by handheld device, and the acquisition of logistics shipping address is the door location photo uploaded by handheld device and door location location information；S3: it is converted to the mark POI that will walk and anchor point is labeled in map layer by way of map location marks POI；S4: it is merged by the set algorithm realization of background server with commercial map coordinate-system and exports the map layer suitable for electric business logistics.POI positioning accuracy can be improved in corresponding positioning system, to meet the needs of electric business is to accurate address, improves the timeliness of correct-distribute rate and delivery.
Description
Technical field
The present invention relates to field of satellite location more particularly to a kind of high-precision electric business logistics map based on CORS technology are fixed
Position method and system.
Background technique
Currently, commonplace commercial map (such as Baidu, Gao De, the reform of four figures) currently on the market, fixed essentially by GPS
Position, base station location, three kinds of station-keeping modes of mixed positioning provide high-precision positioning service for user, but positioning accuracy is only meter level
Positioning, be to navigation such as general car steerings it is enough, can detect that lane grade error, allow vehicle travelled on highway not
Lay-by can be selected, the daily positioning of vehicle or region building is met；For everyday driver or daily user, sub-meter grade
Commercial map enough routine uses.But since the positioning drift of existing commercial map is big, when GPS terminal is static,
It positions coordinate (longitude and latitude) often to change, the reason is that there is the accuracys rate that many factors will affect GPS, in addition to GPS itself is smart
It is outside one's consideration, further includes that map, anchor point mapping, speed of service of embedded device etc. can all influence positioning accuracy, lead to existing quotient
It is other that the precision of industry map is unable to reach sub-meter grade.
Industry is dispensed for express delivery, logistics distribution needs for express delivery cargo to be sent to the corresponding door location of each path, new road, needs
High-precision door location is wanted to service, but the commercial map of the positioning of meter level used in logistics personnel has POI locations library coverage rate
Low, under the overall situation of residence district High Speed Construction, renewal speed lag, is unable to satisfy electric business to essence at the problems such as positioning accuracy is low
The demand of quasi- address causes in a large amount of kinds of goods delivery process, since not accurate address seriously affects correct-distribute rate and delivery
Timeliness, the commercial map of existing meter level positioning are unable to satisfy current express delivery dispatching industry requirement high-precision door location service already
Demand, therefore be suitable for electric business logistics high-precision location technique be badly in need of solve.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of high precision electros based on CORS technology
Quotient's logistics Orientation on map method and system improve POI positioning accuracy, to meet the needs of electric business is to accurate address, improve appropriate
Throwing rate and the timeliness of delivery.
The purpose of the present invention adopts the following technical scheme that realization:
A kind of high-precision electric business logistics Orientation on map method based on CORS technology, comprising:
Step S1: the map layer of subrange is established, and marks datum mark in map layer；
Step S2: it is repeated several times and obtains same anchor point information and logistics shipping address, it is carried out to be mutually matched completion
The confirmation of walking mark POI, and establish and update POI data library to the library background server cell POI；Wherein anchor point information
Acquisition be working as of continuously grabbing that the handheld device docked with reference receiver positioned by the temporal regularity according to setting
The latitude and longitude information in preceding place, and error present in position fixing process is corrected to obtain the positioning of sub-meter grade by differential technique
Precision；The acquisition of logistics shipping address is the door location photo uploaded by handheld device and door location location information；
Step S3: it is converted to the mark POI that will walk and anchor point is labeled in map by way of map location marks POI
In figure layer；
Step S4: it merges and exports with commercial map coordinate-system by the realization of the set algorithm of background server and be suitable for
The map layer of electric business logistics.
Further, docking between the reference receiver and handheld device is realized by driving equipment, base
By Bluetooth protocol realization signal communication, driving equipment passes through HTTP agreement and handheld device for quasi- station receiver and driving equipment
Realize signal communication.
Further, the position of the reference receiver is set as previously known, can get satellite to base station
True geometric distance.
Further, in the step S2 grab handheld device current location latitude and longitude information temporal regularity be every
10S crawl is primary.
Further, the differential technique for error being corrected in the step S2 includes differential position, pseudo range difference and phase difference
Point.
Further, the method for the differential position are as follows:
(3) it when reference receiver effectively observes four or four or more satellite-signals, is measured using resection
The three-dimensional coordinate of base station is obtained, base station is calculated and measures mistake between resulting three-dimensional coordinate and the true coordinate of base station
Difference:
In formula: (X0, Y0, Z0) on the basis of the true three-dimension coordinate stood, (X*, Y*, Z*) it is the base that resection measurement obtains
Quasi- station three-dimensional coordinate, (Δ X, Δ Y, Δ Z) are coordinate corrective value；
(4) the antenna phase center coordinate of handheld device, while the coordinate corrective value of the base station received, correction are measured
Handheld device is to the distance measure of same satellite, to complete the correction to surveyed coordinate；
In formula: (XU *, YU *, ZU *) coordinate surveyed by handheld device, (XU, YU, ZU) be correction after coordinate；Then handheld device
Instantaneous coordinate are as follows:
In formula: t0 is the instantaneous time that corrected value generates.
Further, the method for the pseudo range difference are as follows:
(2) the pseudorange ρ observed according to base stationiWith ephemeris file, every geocentric coordinates (X for being observed satellite is calculatedi,
Yi, Zi), according to the known coordinate (X of base stationb, Yb, Zb) calculate its actual range R for arriving every satellite momenti；
In formula: i indicates i-th satellite；
(2) then differential correctional is Δ ρi=Ri-ρi, differential correctional change rate is
The then pseudorange Δ ρ that handheld device measuresiDifferential correctional, the differential correctional change rate sent via base station changes
Pseudorange after just are as follows:
As long as handheld device observes four or four or more satellites, corrected by pseudo range difference, formula (6) can be passed through
Obtain accurate coordinates；
In formula: d τ is clock deviation, and C is the light velocity.
Further, the method for the phase difference are as follows:
(2) carrier phase difference obtains pseudorange in i-th satellite that base station is observedAre as follows:
In formula:On the basis of station to i-th satellite actual range；dτbOn the basis of stand clock deviation；For i-th satellite
Clock deviation；For ionosphere effect；For ionosphere delay influence；For tropospheric delay influence；dMbOn the basis of
It stands Multi-Path Effects；vbOn the basis of stand receiver noise；
Then differential correctionalFor
In the pseudorange for i-th satellite that handheld device is observedAre as follows:
(2) it usesPseudorange measured by handheld device is corrected, then
When handheld device is when within the scope of base station certain distance:
Then:
In formula: Δ d ρ=C (d τu-dτb)+(dMu-dMb)+(vu-vb), which includes the items of same epoch of observation are residual
Difference；When handheld device and reference receiver while identical four or four or more satellite are observed, equation can be established, found out
Accurate coordinates (the X of handheld deviceu,Yu,Zu) and Δ d ρ.
A kind of high-precision electric business logistics Orientation on map system based on CORS technology, comprising:
Handheld device, at least mobile terminal with camera function, positioning function and communication function；Handheld device is responsible for connecing
It receives satellite positioning signal and uploads the door location information of logistics shipping address to base station, realize between handheld device and base station
Signal connection；
Reference receiver, reference receiver, which is responsible for receiving, establishes continuous operation by certain distribution density by several
The satellite positioning signal of base station；Reference receiver is connected by driving equipment with handheld device signal, and base station receives
By Bluetooth protocol realization signal communication, driving equipment realizes signal by http protocol and handheld device for machine and driving equipment
Connection realizes that the signal between handheld device, base station and data processing centre connects；
Data processing centre is responsible for handling the observation data of upload, is labeled confirmation to anchor point, then will
The anchor point in POI data library is labeled in new figure layer, then new figure layer is merged to be formed suitable for electric business logistics with commercial map
High-precision map；Data processing centre is connected with reference receiver by communication network, and the communication network includes but not
It is limited to fiber optic network, mobile wireless network, Web broadcast, the one of which of VPN network.
Compared with prior art, the beneficial effects of the present invention are:
The present invention arrange in pairs or groups handheld device, using CORS technology high-precision location technique collocation courier track acquisition from
And realize that the update of POI address base and existing Baidu map coordinate system are converted and figure layer records, so that POI positioning accuracy reaches sub-
Meter level, to improve the correct-distribute rate of electric business logistics and the timeliness of delivery.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is system signal flow chart of the invention.
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
A kind of high-precision electric business logistics Orientation on map method based on CORS technology, as shown in Figure 1, comprising:
Step S1: on existing commercial map system, the map layer of new subrange is established, and in Map
Datum mark is marked in layer.
Step S2: it is repeated several times and obtains same anchor point information and logistics shipping address, it is carried out to be mutually matched completion
The confirmation of walking mark POI, and establish and update POI data library to the library background server cell POI；Wherein anchor point information
Acquisition be working as of continuously grabbing that the handheld device docked with reference receiver positioned by the temporal regularity according to setting
The latitude and longitude information in preceding place；The acquisition of logistics shipping address is the door location photo uploaded by handheld device and door location positioning letter
Breath.
It after courier goes to logistics place of receipt, is taken pictures a location picture using handheld device, and fixed by CORS technology
The current picture-taking position in position, the doors location information such as door location picture, positioning address of taking pictures are carried out by the communication module of handheld device
It passes；At the same time, while a location picture of taking pictures uploads, from the background every the longitude and latitude degree of the current location of crawl in 10 seconds
According to；Since the walking speed of people is relatively slow, the longitude and latitude data every the current location of crawl in 10 seconds to position
Frequency is high, and continuity is high between the longitude and latitude data grabbed twice, to improve positioning accuracy；Thereafter, grabbing then by upload
The door location information and shipping address for taking resulting longitude and latitude data, courier to take pictures are matched, and the shipping address is completed
The address a POI mark confirmation.After being positioned by multiple mark of multiple couriers to same logistics shipping address, multiple groups walking
It marks POI and mark confirmation repeatedly is carried out to the same logistics place of receipt, the positioning accuracy to location of answering the door can be increased substantially.Benefit
Confirmation is labeled to the different logistics shipping addresses in the same geographic area with the method for the present embodiment, can be gradually built up
The high-precision POI address database of the geographic area is played, and real-time update POI data library is extremely during multiple mark confirmation
The library background server cell POI realizes that background data base completes confirmation matching.
Step S3: it is converted to the mark POI that will walk and anchor point is labeled in map by way of map location marks POI
In figure layer, the high-precision anchor point that courier can be marked to confirmation is shown in newly-built map, so that the essence of map
Accuracy reaches sub-meter grade.
Step S4: it merges and exports with commercial map coordinate-system by the realization of the set algorithm of background server and be suitable for
The map layer of electric business logistics makes the map layer of its sub-meter grade precision be applicable to the dispatching work of electric business logistics distribution personnel
Make.
And the positioning principle of Global Navigation Satellite System is the satellite-signal for utilizing while observing four or four or more, is obtained
The distance between satellite and handheld device, satellite instantaneous coordinate determine handheld device it is known that by space length resection
The coordinate of antenna phase center.
Since there are various mistakes when positioning the three-dimensional coordinate of ground point for CORS technology (global navigational satellite location technology)
Difference, error can seriously affect the accuracy of sub-meter grade precision map, influence not eliminating respectively due to weakening by operational method
Kind error, it is therefore desirable to which error present in position fixing process is corrected to obtain the positioning accuracy of sub-meter grade by differential technique.
Difference GNSS (Differential GNSS) is to be disappeared on the basis of satellite positioning using the differential technique in mathematics
It removes or weakens error influence, to obtain higher positioning accuracy.
The principle of differential technique is using two GNSS receivers, and a reference receiver and a rover station receive
Machine, handheld device in the present embodiment are then rover station receiver；Accurately know in advance when the position of reference receiver,
True geometric distance of the satellite to base station, distance measure that base station measures satellite and this is true can be obtained
Geometric distance compares, and difference is exactly measurement error of the base station to satellite, and base station is by this measurement error (referred to as difference
Correcting value) it is blazed abroad by communication network, measurement error of the handheld device using the base station received, Lai Jiaozheng rover station
To the distance measure of the same satellite, to improve the measurement and positioning accuracy of rover station.
And the differential technique that error is corrected in the present embodiment includes differential position, pseudo range difference and phase difference, wherein institute
The method for stating differential position are as follows:
(1) it when reference receiver effectively observes four or four or more satellite-signals, is measured using resection
The three-dimensional coordinate of base station is obtained, base station is calculated and measures mistake between resulting three-dimensional coordinate and the true coordinate of base station
Difference:
In formula: (X0, Y0, Z0) on the basis of the true three-dimension coordinate stood, (X*, Y*, Z*) it is the base that resection measurement obtains
Quasi- station three-dimensional coordinate, (Δ X, Δ Y, Δ Z) are coordinate corrective value；
(2) the antenna phase center coordinate of handheld device, while the coordinate corrective value of the base station received, correction are measured
Handheld device is to the distance measure of same satellite, to complete the correction to surveyed coordinate；
In formula: (XU *, YU *, ZU *) coordinate surveyed by handheld device, (XU, YU, ZU) be correction after coordinate；Then handheld device
Instantaneous coordinate are as follows:
In formula: t0 is the instantaneous time that corrected value generates.
The method of the pseudo range difference are as follows:
(1) the pseudorange ρ observed according to base stationiWith ephemeris file, every geocentric coordinates (X for being observed satellite is calculatedi,
Yi, Zi), according to the known coordinate (X of base stationb, Yb, Zb) calculate its actual range R for arriving every satellite momenti；
In formula: i indicates i-th satellite；
(2) then differential correctional is Δ ρi=Ri-ρi, differential correctional change rate is
The then pseudorange Δ ρ that handheld device measuresiDifferential correctional, the differential correctional change rate sent via base station changes
Pseudorange after just are as follows:
As long as handheld device observes four or four or more satellites, corrected by pseudo range difference, formula (6) can be passed through
Obtain accurate coordinates；
In formula: d τ is clock deviation, and C is the light velocity.
The method of the phase difference are as follows:
(1) carrier phase difference obtains pseudorange in i-th satellite that base station is observedAre as follows:
In formula:On the basis of station to i-th satellite actual range；dτbOn the basis of stand clock deviation；For i-th satellite
Clock deviation；For ionosphere effect；For ionosphere delay influence；For tropospheric delay influence；dMbOn the basis of
It stands Multi-Path Effects；vbOn the basis of stand receiver noise；
Then differential correctionalFor
In the pseudorange for i-th satellite that handheld device is observedAre as follows:
(2) it usesPseudorange measured by handheld device is corrected, then
When handheld device is when within the scope of base station certain distance:
Then:
In formula: Δ d ρ=C (d τu-dτb)+(dMu-dMb)+(vu-vb), which includes the items of same epoch of observation are residual
Difference；When handheld device and reference receiver while identical four or four or more satellite are observed, equation can be established, found out
Accurate coordinates (the X of handheld deviceu,Yu,Zu) and Δ d ρ；
For carrier phase observed quantity:
In formula:For phase complete cycle initial value,For phase complete cycle number,For phase fractional part, λ is carrier wave wave
It is long, available according to formula (11) and formula (12):
Embodiment two
A kind of high-precision electric business logistics Orientation on map system based on CORS technology, as shown in Figure 2, comprising:
Handheld device, at least mobile terminal with camera function, positioning function and communication function；Handheld device is responsible for connecing
It receives satellite positioning signal and uploads the door location information of logistics shipping address to base station, realize between handheld device and base station
Signal connection；
Reference receiver, reference receiver, which is responsible for receiving, establishes continuous operation by certain distribution density by several
The satellite positioning signal of base station；Reference receiver is connected by driving equipment with handheld device signal, and base station receives
By Bluetooth protocol realization signal communication, driving equipment realizes signal by http protocol and handheld device for machine and driving equipment
Connection realizes that the signal between handheld device, base station and data processing centre connects；
Data processing centre is responsible for handling the observation data of upload, is labeled confirmation to anchor point, then will
The anchor point in POI data library is labeled in new figure layer, then new figure layer is merged to be formed suitable for electric business logistics with commercial map
High-precision map；Data processing centre is connected with reference receiver by communication network, base station net, Data processing
One is organically related between the heart, user；The communication network include but is not limited to fiber optic network, mobile wireless network,
Web broadcast, the one of which of VPN network, the reaction time is rapid, reliable and stable.
User using handheld device by reference receiver reception satellite positioning signal, and after carrying out simple data processing
Data exchange is carried out with the data processing centre of CORS system, finally obtains high-precision differential correcting information, is realized real-time
High-precision positioning service.
The specific implementation principle of the present embodiment is: after courier goes to logistics place of receipt, being taken pictures using handheld device
Door location picture, and current picture-taking position is positioned by benchmark station receiver, by the doors location such as door location picture, positioning address of taking pictures information
It is uploaded by the communication module of handheld device；At the same time, it while a location picture of taking pictures uploads, was grabbed from the background every 10 seconds
The longitude and latitude data of current location；Thereafter, the door then by the resulting longitude and latitude data of crawl of upload, courier taken pictures
Location information and shipping address are transmitted to data processing centre and are matched, and an address the POI mark for completing the shipping address is true
Recognize.After being positioned by multiple mark of multiple couriers to same logistics shipping address, multiple groups walking mark POI is to the same object
It flows place of receipt and carries out mark confirmation repeatedly, the positioning accuracy to location of answering the door can be increased substantially.Again to the same geographic area
Interior different logistics shipping addresses are labeled confirmation, can gradually build up the high-precision POI number of addresses of the geographic area
According to library；POI anchor point is marked in new figure layer thereafter by data processing centre, is finally merged with commercial map coordinate-system,
To export the high-precision map layer of sub-meter grade, the dispatching work suitable for electric business logistics.
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 (9)
1. a kind of high-precision electric business logistics Orientation on map method based on CORS technology characterized by comprising
Step S1: the map layer of subrange is established, and marks datum mark in map layer；
Step S2: being repeated several times and obtain same anchor point information and logistics shipping address, carries out being mutually matched completion walking to it
The confirmation of POI is marked, and establishes and update POI data library to the library background server cell POI；The wherein acquisition of anchor point information
It is that the current location that the handheld device docked with reference receiver is positioned continuously is grabbed by the temporal regularity according to setting
Latitude and longitude information, and error present in position fixing process is corrected to obtain the positioning accuracy of sub-meter grade by differential technique；
The acquisition of logistics shipping address is the door location photo uploaded by handheld device and door location location information；
Step S3: it is converted to the mark POI that will walk and anchor point is labeled in map layer by way of map location marks POI
In；
Step S4: it is merged and is exported suitable for electric business with commercial map coordinate-system by the set algorithm realization of background server
The map layer of logistics.
2. the high-precision electric business logistics Orientation on map method according to claim 1 based on CORS technology, which is characterized in that
Docking between the reference receiver and handheld device is realized by driving equipment.
3. the high-precision electric business logistics Orientation on map method according to claim 2 based on CORS technology, which is characterized in that
The position of the reference receiver is set as previously known, the true geometric distance of available satellite to base station.
4. the high-precision electric business logistics Orientation on map method according to claim 1 based on CORS technology, which is characterized in that
It is primary every 10S crawl that the temporal regularity of the latitude and longitude information of handheld device current location is grabbed in the step S2.
5. the high-precision electric business logistics Orientation on map method according to claim 4 based on CORS technology, which is characterized in that
It includes differential position, pseudo range difference and phase difference that the differential technique of error is corrected in the step S2.
6. the high-precision electric business logistics Orientation on map method according to claim 5 based on CORS technology, which is characterized in that
The method of the differential position are as follows:
(1) it when reference receiver effectively observes four or four or more satellite-signals, is obtained using resection measurement
The three-dimensional coordinate of base station calculates base station and measures error between resulting three-dimensional coordinate and the true coordinate of base station:
In formula: (X0, Y0, Z0) on the basis of the true three-dimension coordinate stood, (X*, Y*, Z*) it is the base station that resection measurement obtains
Three-dimensional coordinate, (Δ X, Δ Y, Δ Z) are coordinate corrective value；
(2) the antenna phase center coordinate of handheld device is measured, while the coordinate corrective value of the base station received, correction are hand-held
Equipment is to the distance measure of same satellite, to complete the correction to surveyed coordinate；
In formula: (XU *, YU *, ZU *) coordinate surveyed by handheld device, (XU, YU, ZU) be correction after coordinate；The then wink of handheld device
When coordinate are as follows:
In formula: t0 is the instantaneous time that corrected value generates.
7. the high-precision electric business logistics Orientation on map method according to claim 5 based on CORS technology, which is characterized in that
The method of the pseudo range difference are as follows:
(1) the pseudorange ρ observed according to base stationiWith ephemeris file, every geocentric coordinates (X for being observed satellite is calculatedi, Yi, Zi),
According to the known coordinate (X of base stationb, Yb, Zb) calculate its actual range R for arriving every satellite momenti；
In formula: i indicates i-th satellite；
(2) then differential correctional is Δ ρi=Ri-ρi, differential correctional change rate is
The then pseudorange Δ ρ that handheld device measuresiAfter differential correctional, the differential correctional change rate sent via base station corrects
Pseudorange are as follows:
As long as handheld device observes four or four or more satellites, correct, can be obtained by formula (6) by pseudo range difference
Accurate coordinates；
In formula: d τ is clock deviation, and C is the light velocity.
8. the high-precision electric business logistics Orientation on map method according to claim 5 based on CORS technology, which is characterized in that
The method of the phase difference are as follows:
(1) carrier phase difference obtains pseudorange in i-th satellite that base station is observedAre as follows:
In formula:On the basis of station to i-th satellite actual range；dτbOn the basis of stand clock deviation；For the clock of i-th satellite
Difference；For ionosphere effect；For ionosphere delay influence；For tropospheric delay influence；dMbOn the basis of station it is more
Path effects influence；vbOn the basis of stand receiver noise；
Then differential correctionalFor
In the pseudorange for i-th satellite that handheld device is observedAre as follows:
(2) it usesPseudorange measured by handheld device is corrected, then
When handheld device is when within the scope of base station certain distance:
Then:
In formula: Δ d ρ=C (d τu-dτb)+(dMu-dMb)+(vu-vb), which includes every residual errors of same epoch of observation；When
Handheld device and reference receiver observe identical four or four or more satellite simultaneously, can establish equation, find out hand-held
Accurate coordinates (the X of equipmentu,Yu,Zu) and Δ d ρ.
9. the high-precision electric business logistics Orientation on map method described in any one based on CORS technology according to claim 1~8
Positioning system characterized by comprising
Handheld device, at least mobile terminal with camera function, positioning function and communication function；Handheld device, which is responsible for receiving, to be defended
Star positioning signal and the door location information that logistics shipping address is uploaded to base station, realize the signal between handheld device and base station
Connection；
Reference receiver, reference receiver are responsible for receiving the benchmark for establishing continuous operation by certain distribution density by several
The satellite positioning signal stood；Reference receiver is connected by driving equipment with handheld device signal, reference receiver with
Driving equipment realizes that signal communication, driving equipment realize signal communication by http protocol and handheld device by Bluetooth protocol,
Realize that the signal between handheld device, base station and data processing centre connects；
Data processing centre, is responsible for handling the observation data of upload, is labeled confirmation to anchor point, then by POI number
It is labeled in new figure layer according to the anchor point in library, then new figure layer is merged into the high-precision to be formed suitable for electric business logistics with commercial map
Map；Data processing centre is connected with reference receiver by communication network, and the communication network includes but is not limited to light
Fibre web network, mobile wireless network, Web broadcast, the one of which of VPN network.
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