CN110809317B - Multi-source dynamic grid network RTK positioning method, system, terminal and storage medium - Google Patents
Multi-source dynamic grid network RTK positioning method, system, terminal and storage medium Download PDFInfo
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- CN110809317B CN110809317B CN201910953253.3A CN201910953253A CN110809317B CN 110809317 B CN110809317 B CN 110809317B CN 201910953253 A CN201910953253 A CN 201910953253A CN 110809317 B CN110809317 B CN 110809317B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The application provides a multisource dynamic gridding network RTK positioning method, a system, a terminal and a storage medium, which comprise: acquiring external grid data, and storing the external grid data into a local grid data cache, wherein the external grid data comprises external grid point coordinates and corresponding virtual reference station service data; extracting the approximate coordinates of the user positioning request, calculating nearby grid points of the user according to the approximate coordinates, and screening binding grid points of the user from the nearby grid points; and searching the virtual reference station service data bound with the grid points from the grid data cache, and calculating the accurate coordinates of the user according to the virtual reference station service data and the user approximate coordinates. The invention can fuse the dynamic gridding network RTK algorithm with the external grid data, improve the coverage of the existing high-precision positioning service, and simultaneously expand the application of the external grid data in the current business field. And starting a win-win mode with internal high-precision service expansion and external high-precision data industry application diversification.
Description
Technical Field
The present application relates to the field of RTK algorithm positioning technologies, and in particular, to a multi-source dynamic meshing network RTK positioning method, system, terminal, and storage medium.
Background
The Virtual Reference Station (Virtual Reference Station) technique is also called Virtual Reference Station technique, and is a network Real Time Kinematic (RTK) technique, which establishes a plurality of GPS Reference stations forming a mesh coverage in a certain area, establishes a Virtual Reference Station near a mobile Station, and calculates a Virtual observation value of the Virtual Reference Station according to an actual observation value on each surrounding Reference Station to realize high-precision positioning of a subscriber Station.
The implementation process of the virtual reference station dynamic grid network RTK algorithm comprises three functionally independent components of dynamic grid routing, grid data caching and network RTK algorithm. The network RTK algorithm is used for calculating the service data of the grid point virtual reference station in the base station network, and caching the calculated service data of the grid point virtual reference station to grid data cache. The main functions of the "dynamic mesh routing" component are: responding to a positioning request sent by a user, requesting virtual reference station service data from a grid data cache, and sending a virtual reference station calculation request to a network RTK algorithm. Since the "dynamic mesh routing" component responds directly to the user location request, its computational power directly determines the efficiency and performance of providing services to the user, and also directly determines the user's carrying capacity of the services.
The dynamic gridding network RTK algorithm can be used for solving the condition of original observation data of all reference stations of a network of reference stations, and can provide real-time and high-precision positioning service for all users in the network. Therefore, the service range of the dynamic meshed network RTK algorithm is limited by the coverage range of the reference station network. If the high-precision service range needs to be expanded, the construction of the reference station is needed to expand the coverage area of the reference station network. If the observation data of another reference station network can be accessed, the problem of repeated construction can be solved. However, the observation data of the reference station usually belongs to secret data, and the grid point virtual reference station data calculated from the observation data of the reference station belongs to non-secret data. The coverage extension of the existing high-precision service can be realized by a mode of serving data of a grid point of an external virtual reference station, but not by receiving observation data of a reference station with a security requirement. Meanwhile, geographic information units of the reference station networks are arranged in some areas, virtual reference station service data produced by the reference station networks cannot be popularized in specific industries, and the units also have urgent requirements for enabling the service data to be 'walked out' and 'used up'.
Disclosure of Invention
In order to overcome the defects in the prior art, the multi-source dynamic gridding network RTK positioning method, system, terminal and storage medium provided by the application solve the problems that the service range of a dynamic gridding network RTK algorithm in the prior art is limited by the coverage range of a reference station network and the like.
In order to solve the above technical problem, in a first aspect, the present application provides a multi-source dynamic meshing network RTK positioning method, including:
acquiring external grid data, and storing the external grid data into a local grid data cache, wherein the external grid data comprises external grid point coordinates and corresponding virtual reference station service data;
extracting the approximate coordinates of the user positioning request, calculating nearby grid points of the user according to the approximate coordinates, and screening binding grid points of the user from the nearby grid points;
and searching the virtual reference station service data bound with the grid points from the grid data cache, and calculating the accurate coordinates of the user according to the virtual reference station service data and the user approximate coordinates.
Preferably, the acquiring external mesh data and storing the external mesh data in a local mesh data cache, where the external mesh data includes external mesh point coordinates and corresponding virtual reference station service data, includes:
acquiring a service data packet of an external grid point virtual reference station from an external network port;
sending the received data packet to an intranet for preprocessing of packet splicing and protocol analysis;
and caching the preprocessed external grid point virtual reference station service data to a local grid data cache according to the grid point IP.
Preferably, the extracting a rough coordinate of the user location request, calculating a nearest grid point of the user according to the rough coordinate, and screening a binding grid point of the user from nearby grid points includes:
converting the user rough coordinates into rough longitude and rough latitude divided into units;
dividing intervals according to the approximate longitude, the approximate latitude and the fixed grid longitude and latitude to calculate coordinates of four grid points near the user position, and polling to request service data of a virtual reference station from the four grid points;
confirming that the service data of the virtual reference station cannot be improved by the four nearby lattice points, and requesting the service data of the virtual reference station of the nearest lattice point to a network RTK algorithm;
and taking the grid points to which the obtained virtual reference station service data belong as user binding grid points.
Preferably, the searching for the virtual reference station service data bound to the grid point from the grid data cache, and calculating the user precise coordinates according to the virtual reference station service data and the user rough coordinates includes:
searching a user binding lattice point according to a communication port of a user;
returning the service data of the virtual reference station of the user binding grid point;
and removing most errors of the user approximate coordinates in a differential mode according to the virtual reference station service data bound with the grid points to obtain the user accurate coordinates.
In a second aspect, the present application provides a multi-source dynamic meshing network RTK positioning system, including:
the data access unit is configured to acquire external grid data and store the external grid data into a local grid data cache, wherein the external grid data comprises external grid point coordinates and corresponding virtual reference station service data;
the grid binding unit is configured for extracting the rough coordinate of the user positioning request, calculating nearby grid points of the user according to the rough coordinate, and screening the binding grid points of the user from the nearby grid points;
and the coordinate calculation unit is configured for searching the virtual reference station service data bound with the grid points from the grid data cache and calculating the accurate coordinates of the user according to the virtual reference station service data and the user approximate coordinates.
Preferably, the data access unit includes:
the external network access module is configured for acquiring a service data packet of an external grid point virtual reference station from an external network port;
the data processing module is configured to send the received data packet to an intranet for preprocessing of packet splicing and protocol analysis;
and the data caching module is configured to cache the preprocessed external grid point virtual reference station service data to a local grid data cache according to the grid point IP.
Preferably, the mesh binding unit includes:
a coordinate conversion module configured to convert the user approximate coordinates into an approximate longitude and an approximate latitude in units of division;
the service request module is configured for calculating coordinates of four grid points near the user position according to the approximate longitude, the approximate latitude and a fixed grid longitude and latitude division interval, and polling to request virtual reference station service data from the four grid points;
the algorithm request module is configured to confirm that all the four nearby lattice points cannot improve the service data of the virtual reference station, and request the service data of the virtual reference station of the nearest lattice point to a network RTK algorithm;
and the grid binding module is configured to use the grid point to which the obtained virtual reference station service data belongs as a user binding grid point.
Preferably, the coordinate calculation unit includes:
the binding search module is configured for searching user binding lattice points according to the communication port of the user;
the service returning module is configured for returning the virtual reference station service data of the user binding grid point;
and the coordinate calculation module is configured for removing most errors of the user rough coordinate in a differential mode according to the virtual reference station service data bound with the grid points to obtain the user accurate coordinate.
In a third aspect, a terminal is provided, including:
a processor, a memory, wherein,
the memory is used for storing a computer program which,
the processor is used for calling and running the computer program from the memory so as to make the terminal execute the method of the terminal.
In a fourth aspect, a computer storage medium is provided having stored therein instructions that, when executed on a computer, cause the computer to perform the method of the above aspects.
Compared with the prior art, the method has the following beneficial effects:
the multi-source dynamic gridding network RTK positioning method, the system, the terminal and the storage medium provided by the invention have the advantages that the external grid point coordinates and the corresponding virtual reference station service data are obtained by butting the external grid, the obtained external grid point coordinates and the corresponding virtual reference station service data are cached to the local, the fusion of multi-source data is realized, data support is provided for expanding the coverage range of high-precision positioning service, the user binding grid point is set according to the user positioning request, and the user precise coordinates are calculated according to the virtual reference station service data of the user binding grid point and the user approximate coordinates. The invention can fuse the dynamic gridding network RTK algorithm with the external grid data, improve the coverage of the existing high-precision positioning service, and simultaneously expand the application of the external grid data in the current business field. And starting a win-win mode with internal high-precision service expansion and external high-precision data industry application diversification.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an RTK positioning method for a multi-source dynamic meshing network according to an embodiment of the present application;
fig. 2 is a schematic diagram of external mesh data fusion of an RTK positioning method for a multi-source dynamic gridding network according to an embodiment of the present application;
fig. 3 is a flowchart of external grid data access in an RTK positioning method for a multi-source dynamic gridding network according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an RTK positioning system for a multi-source dynamic meshing network according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
Referring to fig. 1, fig. 1 is a diagram illustrating an RTK positioning method for a multi-source dynamic meshing network according to an embodiment of the present application, where the method includes:
s101: acquiring external grid data, and storing the external grid data into a local grid data cache, wherein the external grid data comprises external grid point coordinates and corresponding virtual reference station service data;
s102: extracting the approximate coordinates of the user positioning request, calculating nearby grid points of the user according to the approximate coordinates, and screening binding grid points of the user from the nearby grid points;
s103: searching virtual reference station service data bound with grid points from grid data cache, and calculating user accurate coordinates according to the virtual reference station service data and user approximate coordinates;
based on the foregoing embodiment, as a preferred embodiment, step 101 obtains external mesh data, and stores the external mesh data in a local mesh data cache, where the external mesh data includes external mesh point coordinates and corresponding virtual reference station service data, and includes:
acquiring a service data packet of an external grid point virtual reference station from an external network port;
sending the received data packet to an intranet for preprocessing of packet splicing and protocol analysis;
and caching the preprocessed external grid point virtual reference station service data to a local grid data cache according to the grid point IP.
Based on the foregoing embodiments, as a preferred embodiment, the step 102 extracts rough coordinates of the user location request, calculates nearest grid points of the user according to the rough coordinates, and filters the bound grid points of the user from nearby grid points, including:
converting the user rough coordinates into rough longitude and rough latitude divided into units;
dividing intervals according to the approximate longitude, the approximate latitude and the fixed grid longitude and latitude to calculate coordinates of four grid points near the user position, and polling to request service data of a virtual reference station from the four grid points;
confirming that the service data of the virtual reference station cannot be improved by the four nearby lattice points, and requesting the service data of the virtual reference station of the nearest lattice point to a network RTK algorithm;
and taking the grid points to which the obtained virtual reference station service data belong as user binding grid points.
Based on the foregoing embodiment, as a preferred embodiment, the step 103 searches the virtual reference station service data bound to the grid point from the grid data cache, and calculates the user precise coordinates according to the virtual reference station service data and the user rough coordinates, including:
searching a user binding lattice point according to a communication port of a user;
returning the service data of the virtual reference station of the user binding grid point;
and removing most errors of the user approximate coordinates in a differential mode according to the virtual reference station service data bound with the grid points to obtain the user accurate coordinates.
Based on the technical defects of the existing RTK algorithm, the embodiment provides a multi-source dynamic gridding network RTK positioning method, which specifically includes the following steps:
and S1, obtaining external grid data, and storing the external grid data in a local grid data cache, wherein the external grid data comprises external grid point coordinates and corresponding virtual reference station service data.
Referring to fig. 2, virtual reference station mesh data generated by an external reference station mesh is introduced based on a service logic of a dynamic mesh network RTK algorithm, so as to extend a coverage of a high-precision positioning service provided by a current reference station mesh. The external virtual reference station grid data is virtual reference station service data of grid points in the base station grid generated by a base station owner in a corresponding range after collecting base station observation data.
The load balancing establishes data connection between a plurality of external network ports and a plurality of internal network ports, receives data from the plurality of external network ports, and sends the data to a plurality of data preprocessing processes of the internal network. The number of external network ports is consistent with the number of internal network ports.
The preprocessing layer is shown in fig. 3, and a single process processes data of a single external network port, and the preprocessing includes data splicing and protocol parsing functions. And preprocessing the continuously transmitted data packets to obtain virtual reference station service data of each grid point, and storing the virtual reference station service data of each grid point into a grid data cache according to the ID of the grid point, wherein each grid point caches the virtual reference station service data for 5 seconds.
And S2, extracting the outline coordinate of the user positioning request, calculating the nearby grid points of the user according to the outline coordinate, and screening the binding grid points of the user from the nearby grid points.
And receiving and responding to a positioning request sent by the user terminal, and extracting the rough coordinates (rough longitude and rough latitude) and the sending time of the positioning request (positioning time for short) from the positioning request.
In the embodiment, grid division points are divided in the reference station grid by taking the longitude dL and the latitude dB as intervals, wherein the longitude dL and the latitude dB are fixed values and are set according to the accuracy requirement of a client. Assuming that the user rough longitude L and rough latitude B are extracted in step S1, the units of the rough longitude L and rough latitude B are converted into points, for example, for the longitude 117.534 ° and the latitude 39.815 °, which are expressed in units of points 7052.04 ', 2388.9'. The units of longitude dL and latitude dB are also minutes, and dL is assumed to be 4 'and dB is assumed to be 3'. In this embodiment, grid points near 4 users are taken, and the calculation method is to calculate two integers (7052 and 7056) which are nearest to the longitude of the user and can be evenly divided by dL, and calculate two integers (2388 and 2391) which are nearest to the latitude of the user and can be evenly divided by dB, so that the coordinates of four grid points nearest to the user can be obtained by combining the four integers in pairs. The grid points near 4 users are the optimal number, the coordinates of the nearest grid point of the users can be found out at the fastest speed, and the accuracy of the service data of the virtual reference station is guaranteed.
And calculating the distance between the 4 grid points and the position of the user end, and sequencing the 4 grid points from near to far, wherein the grid points are marked as grid points 1, grid points 2, grid points 3 and grid points 4 from near to far in sequence. Firstly, requesting to acquire the virtual reference station service data of the grid point 1 from the grid data cache, if the virtual reference station service data is acquired, no other grid points are accessed, if the virtual reference station service data of the grid point 1 cannot be acquired, continuously requesting to acquire the virtual reference station service data of the grid point 2, and so on.
If the virtual reference station service data of the grid point 1, the grid point 2, the grid point 3 and the grid point 4 are not obtained, directly requesting the virtual reference station service data from the network RTK algorithm, taking the grid point 1 closest to the user and the user positioning time as positioning requests, and requesting the virtual reference station service data from the network RTK algorithm (namely requesting the network RTK algorithm to calculate the virtual reference station service data of the grid 1, and writing the calculated virtual reference station service data of the grid 1 into a network data cache).
The network RTK algorithm writes a piece of service data and simultaneously checks the consumption state of the previous 5 seconds of data, if the 5 seconds of state is not consumed, the virtual reference station service data of the grid point is stopped being calculated, if the historical data is less than 5 seconds or the data state is marked as consumed within 5 seconds, the network RTK algorithm continuously calculates the virtual reference station service data for the grid point, the state modification is to ensure that the virtual reference station service data of the grid point is updated in the grid data cache, and the grid point to which the virtual reference station service data belongs is taken as a binding grid point of a user end, and binding the grid point coordinates and the communication port of the user side to establish a mapping relation between the grid point coordinates and the communication port of the user side. Setting the mapping update time, where the setting is 1 minute in this embodiment, that is, after the mapping relationship is established, all the positioning requests sent by the user side are preferentially returned to the virtual reference station service data of the binding grid point within one minute. After one minute, the mapping relationship of the user side is updated immediately, i.e. the binding lattice point of the user side is re-established according to steps S1-S5. By continuously updating the binding grid points of the user side, the binding grid points of the user side are ensured to be the nearest grid points of the user side, and therefore the positioning accuracy of the user side is ensured.
And S3, searching the virtual reference station service data bound with the grid points from the grid data cache, and calculating the accurate coordinates of the user according to the virtual reference station service data and the user approximate coordinates.
And searching a user binding grid point according to a communication port of the user, searching virtual reference station service data of the binding grid point from grid data cache, and removing the error of the user approximate coordinate according to the virtual reference station service data of the binding grid point in a differential mode to obtain the accurate coordinate of the user.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a multi-source dynamic meshing network RTK positioning system according to an embodiment of the present disclosure, where the multi-source dynamic meshing network RTK positioning system 400 includes:
a data access unit 401, configured to obtain external mesh data, and store the external mesh data in a local mesh data cache, where the external mesh data includes external mesh point coordinates and corresponding virtual reference station service data; the data access unit includes: the external network access module is configured for acquiring a service data packet of an external grid point virtual reference station from an external network port; the data processing module is configured to send the received data packet to an intranet for preprocessing of packet splicing and protocol analysis; and the data caching module is configured to cache the preprocessed external grid point virtual reference station service data to a local grid data cache according to the grid point IP.
A grid binding unit 402, configured to extract a rough coordinate of the user location request, calculate a nearby grid point of the user according to the rough coordinate, and filter a binding grid point of the user from the nearby grid point; the mesh binding unit includes: a coordinate conversion module configured to convert the user approximate coordinates into an approximate longitude and an approximate latitude in units of division; the service request module is configured for calculating coordinates of four grid points near the user position according to the approximate longitude, the approximate latitude and a fixed grid longitude and latitude division interval, and polling to request virtual reference station service data from the four grid points; the algorithm request module is configured to confirm that all the four nearby lattice points cannot improve the service data of the virtual reference station, and request the service data of the virtual reference station of the nearest lattice point to a network RTK algorithm; and the grid binding module is configured to use the grid point to which the obtained virtual reference station service data belongs as a user binding grid point.
A coordinate calculation unit 403, configured to search, from the grid data cache, virtual reference station service data bound to a grid point, and calculate a user accurate coordinate according to the virtual reference station service data and a user rough coordinate; the coordinate calculation unit includes: the binding search module is configured for searching user binding lattice points according to the communication port of the user; the service returning module is configured for returning the virtual reference station service data of the user binding grid point; and the coordinate calculation module is configured for removing most errors of the user rough coordinate in a differential mode according to the virtual reference station service data bound with the grid points to obtain the user accurate coordinate.
Fig. 5 is a schematic structural diagram of a terminal system 500 according to an embodiment of the present invention, where the terminal system 500 may be used to execute the multi-source dynamic meshing network RTK positioning method according to the embodiment of the present invention.
The terminal system 500 may include: a processor 510, a memory 520, and a communication unit 530. The components communicate via one or more buses, and those skilled in the art will appreciate that the architecture of the servers shown in the figures is not intended to be limiting, and may be a bus architecture, a star architecture, a combination of more or less components than those shown, or a different arrangement of components.
The memory 520 may be used for storing instructions executed by the processor 510, and the memory 520 may be implemented by any type of volatile or non-volatile storage terminal or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The executable instructions in memory 520, when executed by processor 510, enable terminal 500 to perform some or all of the steps in the method embodiments described below.
The processor 510 is a control center of the storage terminal, connects various parts of the entire electronic terminal using various interfaces and lines, and performs various functions of the electronic terminal and/or processes data by operating or executing software programs and/or modules stored in the memory 520 and calling data stored in the memory. The processor may be composed of an Integrated Circuit (IC), for example, a single packaged IC, or a plurality of packaged ICs connected with the same or different functions. For example, processor 510 may include only a Central Processing Unit (CPU). In the embodiment of the present invention, the CPU may be a single operation core, or may include multiple operation cores.
A communication unit 530 for establishing a communication channel so that the storage terminal can communicate with other terminals. And receiving user data sent by other terminals or sending the user data to other terminals.
The present invention also provides a computer storage medium, wherein the computer storage medium may store a program, and the program may include some or all of the steps in the embodiments provided by the present invention when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a Random Access Memory (RAM).
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in the form of a software product, where the computer software product is stored in a storage medium, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like, and the storage medium can store program codes, and includes instructions for enabling a computer terminal (which may be a personal computer, a server, or a second terminal, a network terminal, and the like) to perform all or part of the steps of the method in the embodiments of the present invention.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system provided by the embodiment, the description is relatively simple because the system corresponds to the method provided by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A multi-source dynamic gridding network RTK positioning method is characterized by comprising the following steps:
acquiring external grid data, and storing the external grid data into a local grid data cache, wherein the external grid data comprises external grid point coordinates and corresponding virtual reference station service data;
converting the user rough coordinates into rough longitude and rough latitude divided into units;
dividing intervals according to the approximate longitude, the approximate latitude and the fixed grid longitude and latitude to calculate coordinates of four grid points near the user position, and polling to request service data of a virtual reference station from the four grid points;
confirming that the service data of the virtual reference station cannot be improved by the four nearby lattice points, and requesting the service data of the virtual reference station of the nearest lattice point to a network RTK algorithm;
taking the grid points to which the obtained virtual reference station service data belongs as user binding grid points;
and searching the virtual reference station service data bound with the grid points from the grid data cache, and calculating the accurate coordinates of the user according to the virtual reference station service data and the user approximate coordinates.
2. The multi-source dynamic gridding network RTK positioning method of claim 1, wherein acquiring external mesh data and storing the external mesh data to a local mesh data cache, the external mesh data including external mesh point coordinates and corresponding virtual reference station service data, comprises:
acquiring a service data packet of an external grid point virtual reference station from an external network port;
sending the received data packet to an intranet for preprocessing of packet splicing and protocol analysis;
and caching the preprocessed external grid point virtual reference station service data to a local grid data cache according to the grid point IP.
3. The multi-source dynamic gridding network RTK positioning method of claim 1, wherein the searching grid point bound virtual reference station service data from a grid data cache and calculating user precise coordinates based on the virtual reference station service data and user rough coordinates comprises:
searching a user binding lattice point according to a communication port of a user;
returning the service data of the virtual reference station of the user binding grid point;
and removing most errors of the user approximate coordinates in a differential mode according to the virtual reference station service data bound with the grid points to obtain the user accurate coordinates.
4. A multi-source dynamic gridding network RTK positioning system is characterized by comprising:
the data access unit is configured to acquire external grid data and store the external grid data into a local grid data cache, wherein the external grid data comprises external grid point coordinates and corresponding virtual reference station service data;
the grid binding unit is configured to convert the user rough coordinate into rough longitude and rough latitude divided into units, calculate coordinates of four grid points near the user position according to the rough longitude, the rough latitude and a fixed grid longitude and latitude division interval, poll and request virtual reference station service data from the four grid points, confirm that none of the four nearby grid points can improve the virtual reference station service data, request the virtual reference station service data of the nearest grid point from a network RTK algorithm, and use the grid point to which the obtained virtual reference station service data belongs as a user binding grid point;
and the coordinate calculation unit is configured for searching the virtual reference station service data bound with the grid points from the grid data cache and calculating the accurate coordinates of the user according to the virtual reference station service data and the user approximate coordinates.
5. The multi-source dynamic meshing network RTK positioning system of claim 4, wherein the data access unit comprises:
the external network access module is configured for acquiring a service data packet of an external grid point virtual reference station from an external network port;
the data processing module is configured to send the received data packet to an intranet for preprocessing of packet splicing and protocol analysis;
and the data caching module is configured to cache the preprocessed external grid point virtual reference station service data to a local grid data cache according to the grid point IP.
6. The multi-source dynamic meshing network RTK positioning system of claim 4, wherein the coordinate calculation unit comprises:
the binding search module is configured for searching user binding lattice points according to the communication port of the user;
the service returning module is configured for returning the virtual reference station service data of the user binding grid point;
and the coordinate calculation module is configured for removing most errors of the user rough coordinate in a differential mode according to the virtual reference station service data bound with the grid points to obtain the user accurate coordinate.
7. A terminal, comprising:
a processor;
a memory for storing instructions for execution by the processor;
wherein the processor is configured to perform the method of any one of claims 1-3.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-3.
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| CN111447551B (en) * | 2020-03-24 | 2022-04-12 | 广东星舆科技有限公司 | VRS data acquisition method, interaction method and terminal equipment position determination method |
| CN112285744A (en) * | 2020-09-24 | 2021-01-29 | 北京讯腾智慧科技股份有限公司 | Client positioning method, device, service terminal device and storage medium |
| CN112255651A (en) * | 2020-09-24 | 2021-01-22 | 北京讯腾智慧科技股份有限公司 | Positioning method, equipment, service terminal equipment and storage medium |
| CN113253318B (en) * | 2021-06-21 | 2021-09-28 | 四川中科川信科技有限公司 | GNSS data remote super-calculation method |
| CN114527501B (en) * | 2022-01-21 | 2022-10-14 | 国家基础地理信息中心 | Quick searching method and system for VRS optimal grid points |
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