CN110795518A - VC + + based GNSS positioning navigation software system - Google Patents
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Abstract
The invention relates to the field of positioning and navigation, in particular to a GNSS positioning and navigation software system based on VC + +, which comprises a positioning and navigation software system body and an AG132 vehicle-mounted GNSS system, wherein the positioning and navigation software system body comprises real-time positioning measurement, GPS positioning data, coordinate conversion, error analysis processing, data matching, data storage, navigation route setting, a work area map, road and important coordinate data, target point and current point deviation calculation, data browsing and distance measurement. The GNSS positioning navigation software system based on VC + + determines the measuring points and measuring routes in the actual measuring process according to the existing map data and the operating area information, accurately navigates the operating process, realizes accurate positioning, improves the working efficiency to a great extent, can provide certain safety guarantee for the actions of vehicles and personnel, achieves the expected effect, has good using effect, and is convenient for the implementation of related researches of field exploration, positioning, navigation and surveying and mapping in the future.
Description
Technical Field
The invention relates to the field of positioning navigation, in particular to a GNSS positioning navigation software system based on VC + +.
Background
With the rapid development of the economy of China, the field positioning navigation technology is continuously developed, and the global positioning system can provide rapid and accurate positioning navigation for exploration operation in desert regions. Oil exploration refers to a process of understanding underground geological conditions by various exploration means, knowing conditions such as crude oil, oil storage, oil and gas migration, accumulation, storage and the like, comprehensively evaluating an oil and gas-containing prospect, determining a favorable area for oil and gas accumulation, finding a trap of oil and gas, exploring an oil and gas field area and clearing the conditions and the production capacity of an oil and gas reservoir in order to find and find oil and gas resources. The GNSS is a Global Navigation Satellite System. VC + + is a C + + development tool of Microsoft corporation, has an integrated development environment, and can provide programming languages such as editing C language, C + + and C + +/CLI.
The regional quick accurate positioning navigation that needs to realize of petroleum geological exploration, navigation are that vehicle and personnel action are indispensable in the operation, especially in the environment of desert such desertification people's cigarette, how to let GNSS user terminal equipment and the cooperation of exploration spot work, carry out the accurate positioning, give on-the-spot exploration position distribution information, accomplish the positioning work of workspace. Particularly, a measuring point and a measuring route in the actual measuring process are determined according to the existing map data and the operating area information, and the accurate navigation is carried out on the operating process.
Disclosure of Invention
The invention aims to provide a GNSS positioning navigation software system based on VC + + so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a GNSS positioning and navigation software system based on VC + + comprises a positioning and navigation software system body and an AG132 vehicle-mounted GNSS system, wherein the positioning and navigation software system body comprises real-time positioning measurement, GPS positioning data, coordinate conversion, error analysis processing, data matching, data storage, navigation route setting, a work area map, road and important coordinate data, target point and current point deviation calculation, data browsing and distance measurement.
The real-time positioning measurement is used for recording test positioning data in real time and navigating a field working vehicle, the GPS positioning data is used for receiving and processing data information transmitted by an AG132 vehicle-mounted GNSS system, the coordinate conversion is used for the mutual conversion of a space rectangular coordinate system and a geodetic coordinate system, the error analysis processing is used for the analysis processing of GNSS point location errors, the data storage is used for storing related data on the system, the navigation line is set for setting a navigation route leading to a target point, the road and important coordinate data are used for adding important data points and road information in real time, the deviation calculation of the target point and the current point is used for calculating the deviation angle between the current point and the target point, the data browsing is used for browsing and viewing the data on the system, and the distance measurement is used for calculating the distance between the current point and the.
As a further scheme of the invention: the positioning navigation software system body is operated and used based on a computer, the AG132 vehicle-mounted GNSS system provides a data interface, can be connected with the computer and transmits data, and combines positioning coordinate data received by the AG132 vehicle-mounted GNSS system with work area map data.
As a still further scheme of the invention: the AG132 vehicle-mounted GNSS system adopts plain code NMEA, and NMEA-0183 adopted in data communication comprises four data formats of GGA, GSA, RMC and VTG.
As a still further scheme of the invention: the GNSS point location error analysis processing averages all test values by testing multiple groups of data to obtain the most probable value.
As a still further scheme of the invention: the coordinate conversion adopts a document viewing and window splitting mode and is divided into a left operation window and a right operation window, the left window is to-be-processed data, the right window is a data processing result, the left window supports data inputting, editing, cutting, pasting and other operations, and data files can also be directly opened for processing.
As a still further scheme of the invention: the positioning navigation software system body adopts a document view structure, divides a window, performs data representation by using a main view and takes the main view as a control window.
As a still further scheme of the invention: the positioning navigation software system body has the following main functions:
firstly, the method comprises the following steps: calling different topographic data as a data projection map for measurement and navigation;
secondly, the method comprises the following steps: taking the GPS test data as a text file for data storage;
thirdly, the method comprises the following steps: automatically recording system data;
fourthly: the navigation route is set in the main display window through a mouse, and the display area can be correspondingly adjusted according to the change of the navigation route setting;
fifth, the method comprises the following steps: the navigation route is set to be stored and read later;
sixth: for the control point on the navigation path, the control can be carried out through the front point and the rear point;
seventh: the system can measure the distance between any two points of the display area.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the functions of personnel and vehicle navigation, data transmission and recording, navigation data management and the like, embeds a data processing module of coordinate conversion, error analysis, curve printing and the like, meets the requirements of accurate positioning of GNSS and navigation in the operation process in the field exploration process, determines the measuring points and measuring routes in the actual measuring process according to the existing map data and the operation area information, accurately navigates the operation process, realizes accurate positioning, improves the working efficiency to a great extent, can provide certain safety guarantee for the actions of vehicles and personnel, achieves the expected effect, has good use effect, and is convenient for the research related to the field exploration, positioning, navigation and mapping in the future.
Drawings
FIG. 1 is a block diagram of a GPS navigation and positioning software system of a VC + + based GNSS positioning and navigation software system.
FIG. 2 is a diagram illustrating a system menu, a toolbar, and a display control layout in a VC + + based GNSS positioning navigation software system.
FIG. 3 is a diagram illustrating a control window of a VC + + based GNSS positioning and navigation software system.
FIG. 4 is a diagram illustrating the relative mean and true values of the error analysis and processing module in the VC + + based GNSS positioning and navigation software system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, in an embodiment of the present invention, a VC + + based GNSS positioning and navigation software system includes a positioning and navigation software system body and an AG132 vehicle-mounted GNSS system, where the positioning and navigation software system body includes real-time positioning measurement, GPS positioning data, coordinate transformation, error analysis processing, data matching, data storage, navigation route setting, a work area map, road and important coordinate data, target point and current point deviation calculation, data browsing, and distance measurement.
The real-time positioning measurement is used for recording the test positioning data in real time, and can navigate to the field work vehicle, and GPS positioning data is used for receiving and handling the data message that AG132 on-vehicle GNSS system transmitted, and the coordinate conversion is used for space rectangular coordinate system and geodetic coordinate system's interconversion, and two kinds of different formats of space rectangular coordinate system and geodetic coordinate system as the geodetic coordinate system, and space rectangular coordinate system definition is: the origin O is the earth mass center, the X axis is the intersection point E of the Greenwich mean meridian plane and the earth equator, the Y axis is perpendicular to the XOZ plane to form a right-hand coordinate system, and the Z axis is the earth north pole. The geocentric geodetic coordinate system is defined as: the center of an earth ellipsoid is an original point, the distance from a ground point to an ellipsoid along a normal is the geodetic height H, the included angle between the normal of the ellipsoid passing through the ground point and the equatorial plane of the ellipsoid is the latitude B, and the geodetic longitude L is the included angle between the meridian plane of the ellipsoid passing through the ground point and the meridian plane of Greenwich mean.
The conversion relation between the space rectangular coordinate system and the geodetic coordinate system of any ground point is as follows:
X＝(N+H)cosBcosL
Y＝(N+H)cosBsinL
Z＝[N(1-e2)+H]sinB
the formula is e, the first eccentricity and the curvature radius of the N-unitary mortise ring.
If a represents the long radius and f is the ellipticity, then the following formula is given:
e2＝2f-f2
the spatial rectangular coordinates are converted to geodetic coordinates using the following equation:
l＝tg-1(y/x)
in the formula:
e2＝2f-f2
the geodetic latitude is generally calculated by a successive approximation method.
B, converting parameters of the Bolsha seven:
the different spatial rectangular coordinates are transformed as follows:
in the formula, Rx, Ry, Rz are rotation matrices around x-axis, y-axis, z-axis respectively:
converting a Gaussian plane rectangular coordinate and a longitude and latitude coordinate of a BJ54 coordinate system:
the earth coordinates are calculated for common use as follows:
wherein:
X＝111134.8611B-(32005.7799sin B+133.9238sin3B+0.6976sin5B+0.0039sin7B)cosB
e2＝2f54-f54 2
t＝tgB
L＝(l-L0)
m＝LcosB
the back calculation is calculated as follows:
in the formula, BfFor the nadir latitude, the iterative calculation can be as follows:
when | Bf (i+1)-Bf (i)|<10-8Then, the iteration can be stopped and the last iteration result is used. Other parameters in the calculation are defined as follows:
e2＝2f54-f54 2
tf＝tgBf
mutual conversion of BJ54 Gaussian plane rectangular coordinates and WGS84 coordinates:
the coordinate system adopted by the GPS system AG132 on-board GNSS system is the WGS84 coordinate system. In the past, China adopts a BJ54 coordinate system and a Gaussian plane rectangular coordinate system, and the two coordinate systems are mutually converted in order to establish a base station input accurate coordinate and a measurement comparison data result.
The conversion process from the reference center coordinate system to the geocentric coordinate system is as follows:
(x，y，h)→(L，B，h)→(X，Y，Z)→(XD，YD，ZD)→(LD，BD，hD)
wherein:
(x, y, h) -Chinese ginseng heart BJ54 coordinate system plane rectangular coordinate and normal height;
(L, B, h) -geodetic longitude, geodetic latitude, and geodetic height of the BJ54 coordinate system;
(X, Y, Z) -BJ 54 spatial rectangular coordinates;
(XD, YD, ZD) -WGS 84 spatial rectangular coordinates;
(LD, BD, hD) -WGS 84 Earth longitude, Earth latitude, and Earth height.
The error analysis processing is used for the GNSS point location error analysis processing, in order to ensure the measurement precision of the GNSS, the error analysis and processing are used for error processing of a plurality of groups of measurement data, and corresponding error curves can be drawn, the software also has the functions of printing preview and printing at the same time, the processing result can be printed and output, see figure 4, the data storage is used for storing relevant data on the system, the navigation route is set for setting a navigation route leading to a target point, the road and important coordinate data are used for adding important data points and road information in real time, the deviation calculation of the target point and the current point is used for calculating the deflection angle between the current point and the target point, the data browsing is used for browsing and viewing the data on the system, and the distance measurement.
The positioning navigation software system body takes a working area map as a base map of data projection, and because a large-scale electronic map and DTM (Digital Terrain Model) data of a working area do not exist, only 1: the method comprises the steps that 10 ten thousand topographic maps are converted into digital maps which can be analyzed and processed by a computer by MAPPIS software, the main process of converting the paper maps into the digital maps is to scan the paper maps in a working area into image data by a scanner, and contour lines in the scanned images are converted into describable point line data by the MAPPIS software, namely the vectorization process of the scanned map images, because the original paper maps contain more contents and data such as other terrestrial information data on the maps and the like in the scanning process, the scanned images inevitably introduce some image noises, the effective information of the map data is lost, the situations bring difficulties to the vectorization process of the images, the contour line data can only be interactively vectorized in a small segment and a small segment, and sometimes the data must be manually added and modified according to the original maps.
The positioning and navigation software system body is used by running on the basis of a computer, the AG132 vehicle-mounted GNSS system provides a data interface, can be connected with the computer and carries out data transmission, positioning coordinate data received by the AG132 vehicle-mounted GNSS system are combined with map data of a working area, the positioning and navigation software system body receives data information transmitted by the AG132 vehicle-mounted GNSS system and separates the positioning coordinate data through the data information, the vehicle-mounted navigation data communication adopts a serial mode, the RS-232 interface is used for carrying out data transmission, a query mode is adopted for obtaining serial data, and simultaneously the contents of all data segments in a packet are separated and processed to obtain navigation positioning information.
The AG132 vehicle-mounted GNSS system adopts NMEA in plain code format, NMEA-0183 adopted in data communication includes four data formats of GGA, GSA, RMC and VTG, where GGA is satellite positioning information, GSA is bias information (GNSSDOP) and satellite state, RMC is the lowest GNSS information (indicating that positioning is achieved), VTG is direction to ground and speed to ground, GGA packet includes satellite positioning information, and its packet data is defined and described as follows:
$GPGGA，hhmmss.ss，llll.llllll，a，yyyyy.yyyyyy，a，x，x，x.xx，xxxxx，M，x.x，M，x.x，xxxx*hh<CR><LF>；
$ GPGGA: a header key (GGA packet);
hhmms.ss: location time in a standard location time (UTC) format: time minute second (hhmmss. ss);
llll, llll: latitude, format: degree, minute (ddmm. mmmmmmmm)
a: latitude, northern hemisphere (N) or southern hemisphere (S);
yyyyy. yyyyy: longitude, format: degree division, division and division (ddmm. mmmm);
a: longitude, eastern (E) hemisphere or western (W) hemisphere;
x: GPS quality, 0 for an undetermined or invalid position fix, 1 for GPS SPS position fix format (SPS for commercial use format), 2 for bias corrected GPS SPS format (i.e., DGPS), 3 for GPS PPS format (PPS for military format);
x: the number of satellites used;
x.xx: (HDOP) horizontal DOP value;
xxxxx: altitude;
m: altitude unit, meter;
x, x: height difference of ground level surface;
m: height units, meters;
x, x: DGPS signal validity time, the number of seconds of the last valid signal (if there is no DGPS, the number is 0);
xxxx: a DGPS reference base station code number;
hh: a checksum.
The following is a complete GPS positioning data segment tested by the AG132 in-vehicle GNSS system:
$GPGGA，025259.00，4133.443540，N，08835.897860，E，2，07，1.1，1484.90，M，-57.35，M，1.2，0000*5C；
$GPVTG，0.0，T，000.00，N，000.00，K，D*45；
$GPGSA，M，3，06，10，13，17，23，24，26，2.0，1.1，1.7*3A；
$GPRMC，025259，A，4133.443540，N，08835.897860，E，000.00，0.0，180800，1.8，E，D*26。
the GNSS point location error analysis processing averages all test values by testing multiple groups of data to obtain the most probable value.
The formula is as follows:
in the working process, only a few data values can be measured for each test point, and for checking the positioning precision of the test system, a plurality of groups of data are tested by using the national triangle points, and the measured data are subjected to error analysis and processing.
The mean square error in the x and y component directions is:
in the formula, the observed quantity is a test mean value of a plurality of groups of data of the position point, and is a mean square error.
The mean square error of the observed quantity distance is calculated according to the following formula:
in the formula, the data value is tested at the test point, the measured value of the national triangle point is the mean square error of the test data in the X coordinate and the Y coordinate respectively, and is the mean square error of the distance.
In order to reflect the distribution range of the test error, the proportion of data points of different error data segments in the total test data points needs to be counted, and the calculation method is as follows:
wherein, Ni and N are the test data point number and the total test point number of a certain error data segment respectively.
The coordinate conversion adopts a document viewing and window splitting mode and is divided into a left operation window and a right operation window, the left window is data to be processed, the right window is a data processing result, the left window supports data input, editing, cutting, pasting and other operations, a data file can be directly opened for processing, coordinate conversion parameters of different working areas can be different, and software can set conversion parameters of different areas for the consideration of universality.
The positioning navigation software system body adopts a document visual structure to segment a window, data expression is carried out by using a main view, the main view is used as a control window, meanwhile, the system can also finish some control through a menu and a toolbar, in order to display map coordinate information inquired in the moving process of a system mouse in real time, DialogBar is adopted by the system to respectively display BJ54 Gaussian plane rectangular coordinates and WGS84 coordinates of the current mouse position, the arrangement of each control in the system menu, the toolbar and the DialogBar is shown in figure 2, the control window is divided into three parts, the upper part is a thumbnail of a currently used topographic map elevation gray scale, and an area contained by a rectangular frame in the drawing is topographic data displayed by the current main window; the second part is a control bar which comprises basic controls such as data measurement, display, navigation path setting and the like; the lower part shows basic information of the navigation process, and the distribution and structure thereof are shown in fig. 3.
The positioning and navigation software system body has the following main functions:
firstly, the method comprises the following steps: calling different topographic data to serve as a data projection map for measurement and navigation, wherein in the data measurement process, a main display window can be automatically adjusted to a current test area, the range of the display area can be zoomed and adjusted, meanwhile, the current test coordinate data is displayed in DialogBar, and in the dynamic test process, the display area of the main display window tracks the test data and automatically slides and adjusts the current display area;
secondly, the method comprises the following steps: the GPS test data is used as a text file for data storage, the original test data can be opened through a toolbar button, and the test recording process is reproduced;
thirdly, the method comprises the following steps: automatically recording system data;
fourthly: the navigation route is set in the main display window through a mouse, and the display area can be correspondingly adjusted according to the change of the navigation route setting;
fifth, the method comprises the following steps: the navigation route is set to be stored and read later;
sixth: for the control points on the navigation path, the current effective target point can be selected through the control of the front point and the rear point, the selection process is circular selection, and the coordinate information of the target point is displayed at the same time. In the test navigation process, the distance and the deflection angle between the current test point and the target point can be displayed, and a navigation indication line is marked between the current test point and the target point;
seventh: the system can measure the distance between any two points in the display area, the display content can be adjusted in the main display window, the base map comprises the DEM and the contour map, the navigation real-time path, the navigation data and the like are displayed, and the system is convenient for users to use.
The working principle of the invention is as follows:
when the positioning and navigation software system is used, the functions of personnel and vehicle navigation, data transmission and recording, navigation data management and the like are realized, data processing modules such as coordinate conversion, error analysis, curve printing and the like are embedded, the requirements of accurate positioning of GNSS and navigation in the operation process in the field exploration process are met, measuring points and measuring routes in the actual measurement process are determined according to the existing map data and the operation area information, the accurate navigation is carried out in the operation process, accurate positioning is realized, the working efficiency is improved to a great extent, certain safety guarantee can be provided for the actions of vehicles and personnel, the expected effect is achieved, the using effect is good, and the implementation of related research of field exploration, positioning, navigation and surveying and mapping is convenient.
In addition, the software can also perform coordinate conversion, error analysis, data curve printing and outputting and other processing on the tested data, and has the functions of measuring the distance of the data points in the working area and the like. In order to facilitate work application, the software system can also add and represent important data points, roads and other information in real time. In the data browsing process, the map data and the test data are effectively combined, data roaming and area positioning can be carried out, and the observation area can be arbitrarily scaled.
Claims (7)
1. A GNSS positioning navigation software system based on VC + + comprises a positioning navigation software system body and an AG132 vehicle-mounted GNSS system, and is characterized in that: the positioning and navigation software system body comprises real-time positioning measurement, GPS positioning data, coordinate conversion, error analysis processing, data matching, data storage, navigation line setting, a working area map, road and important coordinate data, target point and current point deviation calculation, data browsing and distance measurement;
the real-time positioning measurement is used for recording test positioning data in real time and navigating a field working vehicle, the GPS positioning data is used for receiving and processing data information transmitted by an AG132 vehicle-mounted GNSS system, the coordinate conversion is used for the mutual conversion of a space rectangular coordinate system and a geodetic coordinate system, the error analysis processing is used for the analysis processing of GNSS point location errors, the data storage is used for storing related data on the system, the navigation line is set for setting a navigation route leading to a target point, the road and important coordinate data are used for adding important data points and road information in real time, the deviation calculation of the target point and the current point is used for calculating the deviation angle between the current point and the target point, the data browsing is used for browsing and viewing the data on the system, and the distance measurement is used for calculating the distance between the current point and the.
2. The VC + + based GNSS positioning navigation software system of claim 1, wherein: the positioning navigation software system body is operated and used based on a computer, the AG132 vehicle-mounted GNSS system provides a data interface, can be connected with the computer and transmits data, and combines positioning coordinate data received by the AG132 vehicle-mounted GNSS system with work area map data.
3. The VC + + based GNSS positioning navigation software system of claim 1, wherein: the AG132 vehicle-mounted GNSS system adopts plain code NMEA, and NMEA-0183 adopted in data communication comprises four data formats of GGA, GSA, RMC and VTG.
4. The VC + + based GNSS positioning navigation software system of claim 1, wherein: the GNSS point location error analysis processing averages all test values by testing multiple groups of data to obtain the most probable value.
5. The VC + + based GNSS positioning navigation software system of claim 1, wherein: the coordinate conversion adopts a document viewing and window splitting mode and is divided into a left operation window and a right operation window, the left window is to-be-processed data, the right window is a data processing result, the left window supports data inputting, editing, cutting, pasting and other operations, and data files can also be directly opened for processing.
6. The VC + + based GNSS positioning navigation software system of claim 1, wherein: the positioning navigation software system body adopts a document view structure, divides a window, performs data representation by using a main view and takes the main view as a control window.
7. The VC + + based GNSS positioning navigation software system of claim 1, wherein: the positioning navigation software system body has the following main functions:
firstly, the method comprises the following steps: calling different topographic data as a data projection map for measurement and navigation;
secondly, the method comprises the following steps: taking the GPS test data as a text file for data storage;
thirdly, the method comprises the following steps: automatically recording system data;
fourthly: the navigation route is set in the main display window through a mouse, and the display area can be correspondingly adjusted according to the change of the navigation route setting;
fifth, the method comprises the following steps: the navigation route is set to be stored and read later;
sixth: for the control point on the navigation path, the control can be carried out through the front point and the rear point;
seventh: the system can measure the distance between any two points of the display area.
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| CN201911014697.7A CN110795518B (en) | 2019-10-24 | 2019-10-24 | VC + + based GNSS positioning navigation software system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114501362A (en) * | 2022-02-21 | 2022-05-13 | 枣庄山好科技有限公司 | Children safety monitoring system based on NBIOT network |
| CN116086416A (en) * | 2023-01-10 | 2023-05-09 | 中国电建集团西北勘测设计研究院有限公司 | Fan position microcosmic site selection method |
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| CN106840178A (en) * | 2017-01-24 | 2017-06-13 | 中南大学 | A kind of map building based on ArcGIS and intelligent vehicle autonomous navigation method and system |
| CN107247275A (en) * | 2017-05-27 | 2017-10-13 | 上海交通大学 | City GNSS fragility monitoring system and its method based on bus |
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| CN106840178A (en) * | 2017-01-24 | 2017-06-13 | 中南大学 | A kind of map building based on ArcGIS and intelligent vehicle autonomous navigation method and system |
| CN107247275A (en) * | 2017-05-27 | 2017-10-13 | 上海交通大学 | City GNSS fragility monitoring system and its method based on bus |
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| 王建安等: "基于QT/Embedded与Mitab库的嵌入式电子地图", 《计算机系统应用》 * |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114501362A (en) * | 2022-02-21 | 2022-05-13 | 枣庄山好科技有限公司 | Children safety monitoring system based on NBIOT network |
| CN116086416A (en) * | 2023-01-10 | 2023-05-09 | 中国电建集团西北勘测设计研究院有限公司 | Fan position microcosmic site selection method |
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