CN110307854B - High-precision E-commerce logistics map positioning method and system based on CORS technology - Google Patents

High-precision E-commerce logistics map positioning method and system based on CORS technology Download PDF

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CN110307854B
CN110307854B CN201910304619.4A CN201910304619A CN110307854B CN 110307854 B CN110307854 B CN 110307854B CN 201910304619 A CN201910304619 A CN 201910304619A CN 110307854 B CN110307854 B CN 110307854B
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reference station
positioning
map
logistics
poi
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CN110307854A (en
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卢玮
李锦恒
戴卫东
陈坚宏
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Guangzhou Pinwei Software Co Ltd
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Guangzhou Weipinhui Research Institute Co ltd
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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
    • 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 invention discloses a high-precision E-commerce logistics map positioning method and system based on a CORS technology, wherein the positioning method comprises the following steps of S1: establishing a map layer of a local range; s2: repeatedly acquiring the same positioning point information and the logistics receiving address for multiple times, mutually matching the positioning point information and the logistics receiving address, and establishing and updating a POI database to a background server cell POI library; the positioning point information is obtained through longitude and latitude information of a current position positioned by the handheld device, and the logistics receiving address is obtained through a door address picture and door address positioning information uploaded by the handheld device; s3: marking the positioning point in the map layer by converting the walking marking POI into a map position marking POI; s4: and the fusion with a commercial map coordinate system is realized through a set algorithm of a background server, and a map layer suitable for E-commerce logistics is output. The corresponding positioning system can improve the POI positioning precision, thereby meeting the requirement of an e-commerce on an accurate address and improving the time efficiency of the proper delivery rate and delivery.

Description

High-precision E-commerce logistics map positioning method and system based on CORS technology
Technical Field
The invention relates to the field of satellite positioning, in particular to a high-precision E-commerce logistics map positioning method and system based on a CORS technology.
Background
At present, a common commercial map (such as Baidu, Gaode and four-dimensional map) in the market provides high-precision positioning service for a user basically through three positioning modes of GPS positioning, base station positioning and hybrid positioning, but the positioning precision is only meter-level positioning, and the positioning service is sufficient for navigation of general automobile driving and the like, can detect lane-level errors, so that vehicles running on a road can not select wrong lanes, and daily positioning of the vehicles or regional buildings is met; for ordinary drivers or everyday users, commercial maps of sub-meter level are sufficient for everyday use. However, because the existing commercial map has large positioning drift, when the GPS terminal is static, the positioning coordinates (latitude and longitude) of the commercial map often change because various factors affect the accuracy of the GPS, and besides the accuracy of the GPS, the positioning accuracy is affected by the map, the positioning point mapping, the running speed of the embedded device, and the like, so that the accuracy of the existing commercial map cannot reach the sub-meter level.
For the express delivery industry, the logistics delivery needs to deliver express goods to each small road and the corresponding door address of a new road, and high-precision door address service is needed, but the meter-level positioning business map used by logistics personnel has the problems of low POI door address library coverage rate, lag in updating speed and low positioning precision under the high-speed large environment of a living community, and cannot meet the requirement of an e-commerce on precise addresses, so that in the delivery process of a large amount of goods, due to the fact that the accurate addresses do not seriously affect the appropriate delivery rate and delivery timeliness, the existing meter-level positioning business map can not meet the requirement of the high-precision door address service required by the express delivery industry at present, and therefore the high-precision positioning technology suitable for e-commerce logistics is urgently needed to be solved.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a high-precision E-commerce logistics map positioning method and system based on a CORS technology, which improve the POI positioning precision, thereby meeting the requirements of E-commerce on precise addresses and improving the time efficiency of delivery and the appropriate delivery rate.
The purpose of the invention is realized by adopting the following technical scheme:
a high-precision E-commerce logistics map positioning method based on a CORS technology comprises the following steps:
step S1: establishing a map layer of a local range, and marking a reference point in the map layer;
step S2: repeatedly acquiring the same positioning point information and the logistics receiving address for multiple times, matching the positioning point information and the logistics receiving address with each other to finish confirmation of walking and marking POI, and establishing and updating a POI database to a background server cell POI library; the positioning point information is obtained by continuously capturing longitude and latitude information of a current location positioned by handheld equipment in butt joint with a reference station receiver according to a set time rule, and correcting errors in the positioning process through a difference technology so as to obtain sub-meter positioning accuracy; the logistics receiving address is obtained by uploading a door address picture and door address positioning information through the handheld equipment;
step S3: marking the positioning point in the map layer by converting the walking marking POI into a map position marking POI;
step S4: and the fusion with a commercial map coordinate system is realized through a set algorithm of a background server, and a map layer suitable for E-commerce logistics is output.
Furthermore, the docking between the reference station receiver and the handheld device is realized through a driving device, the reference station receiver and the driving device realize signal communication through a Bluetooth protocol, and the driving device realizes signal communication with the handheld device through an HTTP protocol.
Further, the position of the reference station receiver is set to be known in advance, and the true geometric distance from the satellite to the reference station can be obtained.
Further, the time rule for capturing the longitude and latitude information of the current location of the handheld device in the step S2 is to capture the longitude and latitude information once every 10S.
Further, the difference technique for correcting the error in step S2 includes position difference, pseudo-range difference, and phase difference.
Further, the position difference method comprises the following steps:
(3) when the receiver of the reference station effectively observes four or more satellite signals, the three-dimensional coordinates of the reference station are obtained by adopting rear intersection measurement, and the error between the three-dimensional coordinates obtained by the measurement of the reference station and the real coordinates of the reference station is calculated:
Figure GDA0002164975370000031
in the formula: (X)0，Y0，Z0) Is the true three-dimensional coordinate of the reference station, (X)*，Y*，Z*) The three-dimensional coordinate of the reference station obtained by backward intersection measurement is (delta X, delta Y and delta Z) is a coordinate correction number;
(4) measuring the coordinate of the antenna phase center of the handheld equipment, simultaneously receiving the coordinate correction number of the reference station, and correcting the distance measurement value of the handheld equipment to the same satellite, thereby completing the correction of the measured coordinate;
Figure GDA0002164975370000032
in the formula: (X)U *，YU *，ZU *) Coordinates measured for the handheld device, (X)U，YU，ZU) The corrected coordinates are obtained; the instantaneous coordinates of the handheld device are then:
Figure GDA0002164975370000033
in the formula: t0 is the instantaneous time at which the correction value is generated.
Further, the pseudo-range difference method comprises the following steps:
(2) from pseudoranges ρ observed at a reference stationiAnd an ephemeris file for calculating the geocentric coordinates (X) of each observed satellitei，Yi，Zi) From the known coordinates (X) of the reference stationb，Yb，Zb) Calculating the actual distance R from each satellite at a certain momenti；
Figure GDA0002164975370000041
In the formula: i represents the ith satellite;
(2) the pseudorange correction is Δ ρi＝Ri-ρiCorrection of pseudorangesA rate of change of number of
Figure GDA0002164975370000042
The pseudorange Δ ρ measured by the handsetiThe pseudo-range correction and the pseudo-range correction change rate-corrected pseudo-range transmitted via the reference station are as follows:
Figure GDA0002164975370000043
the handheld equipment can obtain accurate coordinates through a formula (6) only by observing four or more satellites and performing pseudo-range differential correction;
Figure GDA0002164975370000044
in the formula: d τ is the clock error and C is the speed of light.
Further, the phase difference method comprises the following steps:
(2) the carrier phase difference obtains the pseudo range from the ith satellite observed by the reference station
Figure GDA0002164975370000045
Comprises the following steps:
Figure GDA0002164975370000046
in the formula:
Figure GDA0002164975370000047
is the actual distance from the reference station to the ith satellite; d τbIs a reference station clock error;
Figure GDA0002164975370000048
clock error of the ith satellite;
Figure GDA0002164975370000049
is an ionospheric effect;
Figure GDA00021649753700000410
is an ionospheric delay effect;
Figure GDA00021649753700000411
is tropospheric delay effects; dMbThe multipath effect influence of the reference station; v. ofbReceiver noise for the reference station;
then pseudorange correction number
Figure GDA00021649753700000412
Is composed of
Figure GDA0002164975370000051
Pseudo range of the ith satellite observed at the handheld device
Figure GDA0002164975370000052
Comprises the following steps:
Figure GDA0002164975370000053
(2) use of
Figure GDA0002164975370000054
Correcting the pseudorange measured by the hand-held device
Figure GDA0002164975370000055
When the handheld device is within a certain distance range from the reference station:
Figure GDA0002164975370000056
then:
Figure GDA0002164975370000057
in the formula: Δ d ρ ═ C (d τ)u-dτb)+(dMu-dMb)+(vu-vb) All residual errors of the same observation epoch are included; when the hand-held device and the reference station receiver simultaneously observe the same four or more satellites, an equation can be established to calculate the accurate coordinate (X) of the hand-held deviceu,Yu,Zu) And Δ d ρ.
A high-precision E-commerce logistics map positioning system based on a CORS technology comprises:
the mobile terminal comprises a handheld device and a communication device, wherein the handheld device is a mobile terminal at least having a camera shooting function, a positioning function and a communication function; the handheld device is used for receiving the satellite positioning signal and uploading door address information of the logistics goods receiving address to the reference station, so that signal connection between the handheld device and the reference station is realized;
the reference station receiver is responsible for receiving satellite positioning signals of a plurality of reference stations which establish continuous operation according to certain distribution density; the reference station receiver is in signal communication with the handheld device through the driving device, the reference station receiver is in signal communication with the driving device through a Bluetooth protocol, the driving device is in signal communication with the handheld device through an HTTP protocol, and signal connection among the handheld device, the reference station and the data processing center is achieved;
the data processing center is responsible for processing the uploaded observation data, marking and confirming the positioning points, marking the positioning points of the POI database in a new map layer, and fusing the new map layer and a commercial map to form a high-precision map suitable for E-commerce logistics; the data processing center is in communication with the reference station receiver via a communication network including, but not limited to, one of a fiber optic network, a mobile wireless network, a webcast, and a VPN network.
Compared with the prior art, the invention has the beneficial effects that:
the invention is matched with the handheld equipment, and the high-precision positioning technology of the CORS technology is matched with the acquisition of the courier track, so that the updating of the POI address library, the conversion of the coordinate system of the existing Baidu map and the layer recording are realized, the POI positioning precision reaches the sub-meter level, and the appropriate delivery rate and delivery timeliness of the E-commerce logistics are improved.
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FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a signal flow diagram of the system of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example one
A high-precision E-commerce logistics map positioning method based on a CORS technology is shown in figure 1 and comprises the following steps:
step S1: on the basis of the existing commercial map system, a new map layer of a local range is established, and a reference point is marked in the map layer.
Step S2: repeatedly acquiring the same positioning point information and the logistics receiving address for multiple times, matching the positioning point information and the logistics receiving address with each other to finish confirmation of walking and marking POI, and establishing and updating a POI database to a background server cell POI library; the locating point information is obtained by continuously capturing longitude and latitude information of a current location located by handheld equipment in butt joint with a reference station receiver according to a set time rule; the logistics receiving address is obtained through the door address picture and the door address positioning information uploaded by the handheld device.
After the express personnel walk to a logistics goods receiving site, shooting a door address picture by utilizing the handheld equipment, positioning the current shooting position by the CORS technology, and uploading door address information such as the door address picture, the shooting positioning address and the like through a communication module of the handheld equipment; meanwhile, when the picture of the shooting door address is uploaded, the background captures longitude and latitude data of the current place every 10 seconds; because the walking speed of the person is relatively slow, the longitude and latitude data of the current place are captured once every 10 seconds, so that the positioning frequency is high, and the continuity between the longitude and latitude data captured twice is high, thereby improving the positioning accuracy; and then, matching the uploaded longitude and latitude data obtained by grabbing, the door address information photographed by express personnel and the receiving address, and finishing one-time POI address labeling confirmation of the receiving address. After multiple times of marking and positioning of the same logistics goods receiving address by multiple couriers, multiple groups of walking marking POI repeatedly mark and confirm the same logistics goods receiving location, and the positioning precision of the corresponding door address can be greatly improved. By using the method of the embodiment to label and confirm different logistics receiving addresses in the same geographic area, a high-precision POI address database of the geographic area can be gradually established, and the POI database is updated to a background server cell POI database in real time in the process of labeling and confirming for many times, so that the background database can finish the confirmation and matching.
Step S3: the positioning point is marked in the map layer in a mode of converting the walking marking POI into the map position marking POI, and the high-precision positioning point marked and confirmed by a courier can be displayed in a newly-built map, so that the map precision reaches a sub-meter level.
Step S4: the map layer suitable for E-commerce logistics is fused with a commercial map coordinate system and output through a set algorithm of a background server, so that the sub-meter-level precision map layer can be suitable for distribution work of E-commerce logistics distribution personnel.
The positioning principle of the global navigation satellite system is that four or more satellite signals are observed simultaneously to obtain the distance between a satellite and the handheld equipment, the instantaneous coordinates of the satellite are known, and the coordinates of the antenna phase center of the handheld equipment are determined through intersection behind the space distance.
Because various errors exist in the CORS technology (global navigation satellite positioning technology) when the three-dimensional coordinates of ground points are positioned, the errors can seriously affect the accuracy of the sub-meter-level precision map, and because the influence is weakened through an operation method and the various errors cannot be eliminated, the errors existing in the positioning process need to be corrected through a difference technology so as to obtain the sub-meter-level positioning precision.
Differential gnss (differential gnss) is based on satellite positioning and utilizes a difference technology in mathematics to eliminate or reduce the influence of errors, so as to obtain higher positioning accuracy.
The principle of the differencing technique is to use two GNSS receivers, one reference station receiver and one rover receiver, in this embodiment the handheld device is a rover receiver; the position of the reference station receiver is accurately known in advance, the true geometric distance from the satellite to the reference station can be obtained, the distance measurement value measured by the reference station on the satellite is compared with the true geometric distance, the difference is the measurement error of the reference station on the satellite, the reference station transmits the measurement error (called differential correction value) out through a communication network, and the handheld device corrects the distance measurement value of the rover on the same satellite by using the received measurement error of the reference station, so that the measurement and positioning accuracy of the rover is improved.
The differential technology for correcting errors in this embodiment includes position difference, pseudo-range difference, and phase difference, where the position difference method includes:
(1) when the receiver of the reference station effectively observes four or more satellite signals, the three-dimensional coordinates of the reference station are obtained by adopting rear intersection measurement, and the error between the three-dimensional coordinates obtained by the measurement of the reference station and the real coordinates of the reference station is calculated:
Figure GDA0002164975370000091
in the formula: (X)0，Y0，Z0) Is the true three-dimensional coordinate of the reference station, (X)*，Y*，Z*) The three-dimensional coordinate of the reference station obtained by backward intersection measurement is (delta X, delta Y and delta Z) is a coordinate correction number;
(2) measuring the coordinate of the antenna phase center of the handheld equipment, simultaneously receiving the coordinate correction number of the reference station, and correcting the distance measurement value of the handheld equipment to the same satellite, thereby completing the correction of the measured coordinate;
Figure GDA0002164975370000092
in the formula: (X)U *，YU *，ZU *) Coordinates measured for the handheld device, (X)U，YU，ZU) The corrected coordinates are obtained; the instantaneous coordinates of the handheld device are then:
Figure GDA0002164975370000093
in the formula: t0 is the instantaneous time at which the correction value is generated.
The pseudo-range difference method comprises the following steps:
(1) from pseudoranges ρ observed at a reference stationiAnd an ephemeris file for calculating the geocentric coordinates (X) of each observed satellitei，Yi，Zi) From the known coordinates (X) of the reference stationb，Yb，Zb) Calculating the actual distance R from each satellite at a certain momenti；
Figure GDA0002164975370000094
In the formula: i represents the ith satellite;
(2) the pseudorange correction is Δ ρi＝Ri-ρiThe pseudo-range correction variable rate is
Figure GDA0002164975370000095
The pseudorange Δ ρ measured by the handsetiThe pseudo-range correction and the pseudo-range correction change rate-corrected pseudo-range transmitted via the reference station are as follows:
Figure GDA0002164975370000101
the handheld equipment can obtain accurate coordinates through a formula (6) only by observing four or more satellites and performing pseudo-range differential correction;
Figure GDA0002164975370000102
in the formula: d τ is the clock error and C is the speed of light.
The phase difference method comprises the following steps:
(1) the carrier phase difference obtains the pseudo range from the ith satellite observed by the reference station
Figure GDA0002164975370000103
Comprises the following steps:
Figure GDA0002164975370000104
in the formula:
Figure GDA0002164975370000105
is the actual distance from the reference station to the ith satellite; d τbIs a reference station clock error;
Figure GDA0002164975370000106
clock error of the ith satellite;
Figure GDA0002164975370000107
is an ionospheric effect;
Figure GDA0002164975370000108
is an ionospheric delay effect;
Figure GDA0002164975370000109
is tropospheric delay effects; dMbThe multipath effect influence of the reference station; v. ofbReceiver noise for the reference station;
then pseudorange correction number
Figure GDA00021649753700001010
Is composed of
Figure GDA00021649753700001011
Pseudo range of the ith satellite observed at the handheld device
Figure GDA00021649753700001012
Comprises the following steps:
Figure GDA00021649753700001013
(2) use of
Figure GDA00021649753700001014
Correcting the pseudorange measured by the hand-held device
Figure GDA00021649753700001015
When the handheld device is within a certain distance range from the reference station:
Figure GDA00021649753700001016
then:
Figure GDA00021649753700001017
Figure GDA0002164975370000111
in the formula: Δ d ρ ═ C (d τ)u-dτb)+(dMu-dMb)+(vu-vb) All residual errors of the same observation epoch are included; when the hand-held device and the reference station receiver simultaneously observe the same four or more satellites, an equation can be established to calculate the accurate coordinate (X) of the hand-held deviceu,Yu,Zu) And Δ d ρ;
for carrier phase observations:
Figure GDA0002164975370000112
in the formula:
Figure GDA0002164975370000113
is the initial value of the whole period of the phase,
Figure GDA0002164975370000114
the number of the whole cycles of the phase,
Figure GDA0002164975370000115
for the phase fraction, λ is the carrier wavelength, which can be obtained from equation (11) and equation (12):
Figure GDA0002164975370000116
example two
A high-precision e-commerce logistics map positioning system based on the CORS technology, as shown in fig. 2, includes:
the mobile terminal comprises a handheld device and a communication device, wherein the handheld device is a mobile terminal at least having a camera shooting function, a positioning function and a communication function; the handheld device is used for receiving the satellite positioning signal and uploading door address information of the logistics goods receiving address to the reference station, so that signal connection between the handheld device and the reference station is realized;
the reference station receiver is responsible for receiving satellite positioning signals of a plurality of reference stations which establish continuous operation according to certain distribution density; the reference station receiver is in signal communication with the handheld device through the driving device, the reference station receiver is in signal communication with the driving device through a Bluetooth protocol, the driving device is in signal communication with the handheld device through an HTTP protocol, and signal connection among the handheld device, the reference station and the data processing center is achieved;
the data processing center is responsible for processing the uploaded observation data, marking and confirming the positioning points, marking the positioning points of the POI database in a new map layer, and fusing the new map layer and a commercial map to form a high-precision map suitable for E-commerce logistics; the data processing center is communicated with the reference station receiver through a communication network, and the reference station network, the data processing center and the user are organically connected into a whole; the communication network comprises but is not limited to one of a fiber network, a mobile wireless network, network broadcasting and a VPN network, and has the advantages of quick response time, reliability and stability.
A user receives satellite positioning signals through a reference station receiver by using handheld equipment, performs simple data processing, and then performs data exchange with a data processing center of a CORS system, so as to finally obtain high-precision differential correction information and realize real-time high-precision positioning service.
The specific implementation principle of the embodiment is as follows: after the express personnel walk to a logistics goods receiving site, shooting a door address picture by utilizing the handheld device, positioning a current shooting position by utilizing a reference station receiver, and uploading door address information such as the door address picture, a shooting positioning address and the like through a communication module of the handheld device; meanwhile, when the picture of the shooting door address is uploaded, the background captures longitude and latitude data of the current place every 10 seconds; and then, the uploaded longitude and latitude data obtained by grabbing, the door address information photographed by express personnel and the receiving address are transmitted to a data processing center for matching, and the POI address labeling confirmation of the receiving address is completed. After multiple times of marking and positioning of the same logistics goods receiving address by multiple couriers, multiple groups of walking marking POI repeatedly mark and confirm the same logistics goods receiving location, and the positioning precision of the corresponding door address can be greatly improved. Marking and confirming different logistics receiving addresses in the same geographic area, and gradually establishing a high-precision POI address database of the geographic area; and then, marking POI positioning points in the new map layer through a data processing center, and finally fusing the POI positioning points with a commercial map coordinate system, thereby outputting a sub-meter high-precision map layer, and being suitable for distribution work of E-commerce logistics.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims (9)

1. A high-precision E-commerce logistics map positioning method based on a CORS technology is characterized by comprising the following steps:
step S1: establishing a map layer of a local range, and marking a reference point in the map layer;
step S2: repeatedly acquiring the same positioning point information and the logistics receiving address for multiple times, matching the positioning point information and the logistics receiving address with each other to finish confirmation of walking and marking POI, and establishing and updating a POI database to a background server cell POI library; the positioning point information is obtained by continuously capturing longitude and latitude information of a current location positioned by handheld equipment in butt joint with a reference station receiver according to a set time rule, and correcting errors in the positioning process through a difference technology so as to obtain sub-meter positioning accuracy; the logistics receiving address is obtained by uploading a door address picture and door address positioning information through the handheld equipment; the method comprises the steps that the same positioning point information and the logistics receiving address are repeatedly acquired for multiple times, the walking marking POI is mutually matched, multiple couriers are confirmed to mark and position the same logistics receiving address for multiple times, and then multiple groups of walking marking POI are repeatedly marked and confirmed on the same logistics receiving location;
step S3: marking the positioning point in the map layer by converting the walking marking POI into a map position marking POI;
step S4: and the fusion with a commercial map coordinate system is realized through a set algorithm of a background server, and a map layer suitable for E-commerce logistics is output.
2. A high accuracy electronic commerce logistics map positioning method based on the CORS technology as claimed in claim 1, characterized in that the docking between the reference station receiver and the handheld device is realized by a driving device.
3. A method according to claim 2, wherein the position of the reference station receiver is set to be known in advance, and the real geometric distance from the satellite to the reference station can be obtained.
4. The CORS technology-based high-precision E-commerce logistics map positioning method according to claim 1, wherein the time law of capturing longitude and latitude information of the current location of the handheld device in the step S2 is once every 10S.
5. The CORS technology-based high-precision E-commerce logistics map positioning method of claim 4, wherein the error-correcting difference technology in the step S2 comprises position difference, pseudo-range difference and phase difference.
6. The CORS technology-based high-precision E-commerce logistics map positioning method is characterized in that the position difference method comprises the following steps:
(1) when the receiver of the reference station effectively observes four or more satellite signals, the three-dimensional coordinates of the reference station are obtained by adopting rear intersection measurement, and the error between the three-dimensional coordinates obtained by the measurement of the reference station and the real coordinates of the reference station is calculated:
Figure FDA0003224480110000021
in the formula: (X)0，Y0，Z0) Is the true three-dimensional coordinate of the reference station, (X)*，Y*，Z*) The three-dimensional coordinate of the reference station obtained by backward intersection measurement is (delta X, delta Y and delta Z) is a coordinate correction number;
(2) measuring the coordinate of the antenna phase center of the handheld equipment, simultaneously receiving the coordinate correction number of the reference station, and correcting the distance measurement value of the handheld equipment to the same satellite, thereby completing the correction of the measured coordinate;
Figure FDA0003224480110000022
in the formula: (X)U *，YU *，ZU *) Coordinates measured for the handheld device, (X)U，YU，ZU) The corrected coordinates are obtained; the instantaneous coordinates of the handheld device are then:
Figure FDA0003224480110000031
in the formula: t0 is the instantaneous time at which the correction value is generated.
7. The CORS technology-based high-precision E-commerce logistics map positioning method is characterized in that the pseudo-range difference method comprises the following steps:
(1) from pseudoranges ρ observed at a reference stationiAnd an ephemeris file for calculating the geocentric coordinates (X) of each observed satellitei，Yi，Zi) From the known coordinates (X) of the reference stationb，Yb，Zb) Calculating the actual distance R from each satellite at a certain momenti；
Figure FDA0003224480110000032
In the formula: i represents the ith satellite;
(2) the pseudorange correction is Δ ρi＝Ri-ρiThe pseudo-range correction variable rate is
Figure FDA0003224480110000033
The pseudorange p measured by the handsetiThe pseudo-range correction and the pseudo-range correction change rate-corrected pseudo-range transmitted via the reference station are as follows:
Figure FDA0003224480110000034
the handheld equipment can obtain accurate coordinates through a formula (6) only by observing four or more satellites and performing pseudo-range differential correction;
Figure FDA0003224480110000035
in the formula: d τ is the clock error and C is the speed of light.
8. The CORS technology-based high-precision E-commerce logistics map positioning method is characterized in that the phase difference method comprises the following steps:
(1) the carrier phase difference obtains the pseudo range from the ith satellite observed by the reference station
Figure FDA0003224480110000036
Comprises the following steps:
Figure FDA0003224480110000041
in the formula:
Figure FDA0003224480110000042
is the actual distance from the reference station to the ith satellite; d τbIs a reference station clock error;
Figure FDA0003224480110000043
clock error of the ith satellite;
Figure FDA0003224480110000044
is an ionospheric effect;
Figure FDA0003224480110000045
is an ionospheric delay effect;
Figure FDA0003224480110000046
is tropospheric delay effects; dMbThe multipath effect influence of the reference station; v. ofbReceiver noise for the reference station;
then pseudorange correction number
Figure FDA00032244801100000414
Is composed of
Figure FDA0003224480110000047
Pseudo range of the ith satellite observed at the handheld device
Figure FDA0003224480110000048
Comprises the following steps:
Figure FDA0003224480110000049
(2) use of
Figure FDA00032244801100000410
Correcting the pseudorange measured by the hand-held device
Figure FDA00032244801100000411
When the handheld device is within a certain distance range from the reference station:
Figure FDA00032244801100000412
then:
Figure FDA00032244801100000413
in the formula: Δ d ρ ═ C (d τ)u-dτb)+(dMu-dMb)+(vu-vb) All residual errors of the same observation epoch are included; when the hand-held device and the reference station receiver simultaneously observe the same four or more satellites, an equation can be established to calculate the accurate coordinate (X) of the hand-held deviceu,Yu,Zu) And Δ d ρ.
9. The positioning system of the high-precision E-commerce logistics map positioning method based on the CORS technology as claimed in any one of claims 1-8, comprises:
the mobile terminal comprises a handheld device and a communication device, wherein the handheld device is a mobile terminal at least having a camera shooting function, a positioning function and a communication function; the handheld device is used for receiving the satellite positioning signal and uploading door address information of the logistics goods receiving address to the reference station, so that signal connection between the handheld device and the reference station is realized;
the reference station receiver is responsible for receiving satellite positioning signals of a plurality of reference stations which establish continuous operation according to certain distribution density; the reference station receiver is in signal communication with the handheld device through the driving device, the reference station receiver is in signal communication with the driving device through a Bluetooth protocol, the driving device is in signal communication with the handheld device through an HTTP protocol, and signal connection among the handheld device, the reference station and the data processing center is achieved;
the data processing center is responsible for processing the uploaded observation data, marking and confirming the positioning points, marking the positioning points of the POI database in a new map layer, and fusing the new map layer and a commercial map to form a high-precision map suitable for E-commerce logistics; the data processing center is communicated with the reference station receiver through a communication network, and the communication network comprises one of an optical fiber network, a mobile wireless network, a network broadcast and a VPN network.
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