CN110907970A - Multi-Rover baseline building method for GNSS cloud positioning - Google Patents
Multi-Rover baseline building method for GNSS cloud positioning Download PDFInfo
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- CN110907970A CN110907970A CN201811085436.XA CN201811085436A CN110907970A CN 110907970 A CN110907970 A CN 110907970A CN 201811085436 A CN201811085436 A CN 201811085436A CN 110907970 A CN110907970 A CN 110907970A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/51—Discovery or management thereof, e.g. service location protocol [SLP] or web services
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a multi-Rover baseline establishing method for GNSS cloud positioning, which comprises the following steps: the terminal is accessed to the GNSS resolving server, and the observed value data are uploaded to the GNSS resolving server; the GNSS resolving server runs a resolving program, calculates the real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server; the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time; the AOI server judges whether the terminal triggers a predefined event according to the calculation result, and if the terminal triggers the predefined event, the AOI server informs the GNSS resolving server; otherwise, resolving the next epoch; the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving. The invention improves the resolving precision of the single terminal.
Description
Technical Field
The invention relates to the technical field of baseline establishment, in particular to a multi-Rover baseline establishment method for GNSS cloud positioning.
Background
Global Navigation satellite system gnss (global Navigation satellite system), including glonass in beidou, GPS in the united states, russia, and GALILEO in europe, can provide users with all-weather 3-dimensional coordinates and speed and time information. The terminal can obtain information such as satellite positions, distances between the terminal and the satellites and the like by analyzing electromagnetic wave signals transmitted by the satellite terminal, and when 4 or more satellites are observed at the same time, single-point positioning can be realized through a simple geometric relationship.
The observation value decoded by the GNSS terminal may be affected by various error sources, which mainly include: satellite clock error, satellite orbit error, ionosphere error, troposphere error, receiver clock error, multipath effects, and the like.
Atmospheric delay, satellite clock error, orbit error and the like which are simultaneously received by two terminals which are close to each other have space-time correlation, and the above errors can be weakened or even eliminated by subtracting the atmospheric delay, the satellite clock error, the orbit error and the like, so that the positioning accuracy of the terminal is improved. The network RTK (Real-Time kinematic)/RTD (Real Time Differential) is a technology developed based on the above principle. By broadcasting differential data of known precise positions to the terminal, the auxiliary terminal improves positioning accuracy.
The observation value of the terminal equipment is uploaded to the cloud server, the cloud server subscribes the observation value of the reference station, and RTK/RTD calculation is carried out on the observation value of the terminal equipment and the reference station so as to carry out positioning service. The cloud server carries out resolving relative to the resolving of the terminal equipment, and the resolving has the following points: hardware computing resources are rich, more complex model computation can be performed on the algorithm level, and the precision is improved; the terminal equipment does not need to carry out a large amount of calculation, and the power consumption is reduced.
In the process of positioning calculation by the cloud server, when the original observation value of the satellite is uploaded to the server by using a traditional method, the calculation essence is not substantially different from a scheme of calculation at a terminal. In the traditional method, only the original observation value of the terminal equipment is uploaded to the server, the server acquires the observation value of the reference station and the observation value of the terminal equipment to carry out RTK differential solution, and the model is also a solution mode of a single base line. If the observed value of the terminal device is interfered strongly at this time, the calculation result of the terminal device on the server also has a large deviation.
Disclosure of Invention
The technical problem to be solved by the invention is about a strategy for establishing a baseline by carrying out automatic pairing between dynamic rover stations and between the rover stations and a reference station. According to the invention, after the positioning calculation service is moved from the terminal equipment to the cloud server, as the server can be simultaneously accessed into a plurality of terminal equipment, the observed values among a plurality of mobile stations can be mutually referred and differentiated, so that the positioning precision can be improved.
The technical scheme adopted by the invention is as follows:
a multi-Rover baseline establishing method for GNSS cloud positioning comprises the following steps:
the terminal is accessed to the GNSS resolving server, and the observed value data are uploaded to the GNSS resolving server;
the GNSS resolving server runs a resolving program, calculates the real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server;
the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time;
the AOI server judges whether the terminal triggers a predefined event according to the calculation result, and if the terminal triggers the predefined event, the AOI server informs the GNSS resolving server; otherwise, resolving the next epoch;
the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving.
Further, each terminal is set with a concerned radius, and if the rest terminals enter the concerned radius, the AOI server judges to trigger the predefined event.
Further, the GNSS calculation server determines whether to trigger a condition according to the observation value data or the satellite position.
Further, if more than 1 terminal enters the concerned radius, the AOI server sends a resolving notification to the GNSS resolving server, and the GNSS resolving server combines the terminals into a closed loop to perform resolving service.
Further, if the terminal entering the radius of interest leaves the radius of interest area, the AOI server sends a leaving notification to the GNSS resolver server, and the GNSS resolver server determines that the connection between the terminals is disconnected.
Further, the terminal is accessed to the GNSS resolving server through load balancing.
Furthermore, the GNSS calculating server runs a calculating program in a multithreading mode and calculates the real-time coordinate value of the terminal.
The invention also provides a GNSS resolving server system based on the AOI model, which comprises at least 1 GNSS resolving server and 1 AOI server, wherein the GNSS resolving server is connected with the terminal and receives the observation value data uploaded by the terminal, the GNSS resolving server runs a resolving program, calculates the real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server; the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time; the AOI server judges whether the terminal triggers a predefined event according to the calculation result, if so, the terminal informs the GNSS resolving server, and otherwise, the terminal performs next epoch resolving; the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving.
Further, each terminal is set with a concerned radius, and if the rest terminals enter the concerned radius, the AOI server judges to trigger the predefined event.
Further, if the terminal entering the radius of interest leaves the radius of interest area, the AOI server sends a leaving notification to the GNSS resolver server, and the GNSS resolver server determines that the connection between the terminals is disconnected.
The invention also provides a memory, in which a computer program is stored, the computer program performing the steps of:
the terminal is accessed to the GNSS resolving server, and the observed value data are uploaded to the GNSS resolving server;
the GNSS resolving server runs a resolving program, calculates the real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server;
the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time;
the AOI server judges whether the terminal triggers a predefined event according to the calculation result, and if the terminal triggers the predefined event, the AOI server informs the GNSS resolving server; otherwise, resolving the next epoch;
the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving.
The method has the advantages that the cloud server can be used for simultaneously connecting a plurality of terminal devices, and other terminals with better resolving results around a certain terminal device at the same time can be subjected to multi-baseline networking with the terminal, so that higher resolving accuracy can be provided by mutually referencing and resolving.
Drawings
FIG. 1 is a flow of interaction between an AOI server and a GNSS resolving server according to the present invention;
FIG. 2 is a GNSS calculation server architecture diagram based on AOI model according to the present invention;
fig. 3 is a schematic diagram of each terminal device (far away, not related to each other);
FIG. 4 is a schematic view of each terminal (when B enters the field of view of A);
FIG. 5 shows cell division, where terminals ABC are distributed in different cells;
FIG. 6 is a server architecture in a multi-cell scenario.
Detailed Description
When multi-terminal equipment is simultaneously calculated on a cloud server, whether a dynamic baseline needs to be established for an adjacent terminal or not is dynamically determined in an AOI (Area of interest) service mode, so that the calculation accuracy of a single terminal is improved.
The first embodiment is as follows:
fig. 1 is a flowchart of a multi-roller baseline establishing method for GNSS cloud positioning according to the present invention, and assuming that three terminal devices A, B, C exist in a spatial plane, as shown in fig. 2, a is selected as a host device to illustrate the baseline establishing step.
The terminal device A, B, C all moves in space and accesses the GNSS resolving server through the network to upload the observation value data for RTK resolving. The terminal A has a concerned radius d (view radius), the value of d depends on the surrounding environment and the performance of the A equipment, and the square area in which the terminal A is located is the concerned area. Similarly, terminal B, C has its radius of interest, and in FIG. 2, the regions of interest of the terminal devices do not intersect with each other. The GNSS resolving server runs resolving programs in a multithreading mode to respectively calculate real-time coordinate values of the terminal equipment, meanwhile, real-time coordinate information and the like of the terminal equipment are sent to the AOI server, the AOI server records coordinates of all the terminals, and updates and calculates the relative position of each terminal in real time.
Then the terminals A, B, C move according to their respective movement laws and the relative positions of the respective terminal devices change in real time, on the AOI server, if the terminal B enters the interest range of the terminal a at a certain time, as shown in fig. 3. In fig. 3, the relative distance between terminal a and terminal B is reduced, and terminal B enters the visual field of terminal a, at this time, the single AOI server calculates that B triggers an event of interest of a, that is, a predefined event of the AOI server is triggered, notifies the GNSS resolver server, and sends information (identity ID, etc.) of B to the GNSS resolver server. After receiving the triggering event, the GNSS resolving server determines whether to trigger the next operation such as baseline establishment according to the condition.
And after the GNSS resolving server of the A acquires the observation value information of the B through the access platform, judging the B according to the conditions set by the A. The triggering condition for baseline establishment of the GNSS solution server may be configured in various ways according to the service requirements, and may be based on the data quality of the observation value itself, for example, the number of observation satellites of the terminal B is more than 20, and the average signal-to-noise ratio is greater than 40; or based on the position of the satellite, such as a satellite height cutoff angle greater than 15 degrees, etc. When the predefined condition is met, the GNSS calculation server performs baseline construction operation on the A and the B, the A performs auxiliary calculation according to the calculation result or the intermediate data of the B, and if the calculation result of the B is better, the A can greatly improve the calculation result precision.
When the number of the terminals entering the interest radius of the terminal A is multiple, the GNSS resolving server can establish a closed loop with the multiple terminals to perform higher resolving service after the AOI server sends a notification to the GNSS resolving server.
When the terminal B that has entered the radius of interest of a finally leaves the area, the AOI server sends a leave notification to the GNSS solver server, which determines when to disconnect a from B.
Example two:
the invention also provides a GNSS resolving server system based on the AOI model, as shown in FIG. 4. The service range of the server is assumed to be terminal equipment in all Shanghai regions, the whole server system is composed of N distributed GNSS resolving servers and 1 AOI server, and N is at least 1. And the terminal equipment uploads the observation value data and the like to the GNSS resolving server through the access server with balanced load. In this case, if the service scope is to be extended nationwide, the AOI server may be made distributed to equalize the computational pressure in case of increasing the capacity of the GNSS solution server.
The GNSS resolving server is connected with the terminal, receives the observation value data uploaded by the terminal, runs a resolving program, calculates the real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server; the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time; the AOI server judges whether the terminal triggers a predefined event according to the calculation result, if so, the terminal informs the GNSS resolving server, and otherwise, the terminal performs next epoch resolving; the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving.
When the service area is too large, a single AOI server may not bear the position information of a mass of terminals and simultaneously resolve, a plurality of AOI servers can be configured at the time, the service area is divided into a plurality of cells (a cell division method can use a Sudoku mode, as shown in fig. 5), each AOI server is responsible for the service of one cell area, each AOI server needs to process the relative position data of terminal equipment when the terminal equipment crosses the cells and judge whether the terminal triggers a predefined event, and if the terminal triggers, the GNSS resolving server is uniformly informed by an AOI management server; otherwise, the next epoch is resolved. The configuration of the multi-AOI server (as shown in fig. 6) can theoretically expand the service area to infinity without being limited by the number of terminals; under the condition that a plurality of AOI servers are configured, each terminal can have the situation of cross-cell movement, and at the moment, each AOI server processes the situation of boundary movement, so that the terminal equipment is ensured to be smoothly transferred to a new AOI server; the multiple AOI servers communicate with each other through the AOI management server, and the AOI management server is responsible for communicating with the GNSS resolving server.
Example three:
the invention also provides a memory storing a computer program executed by a processor to perform the steps of:
the terminal is accessed to the GNSS resolving server, and the observed value data are uploaded to the GNSS resolving server;
the GNSS resolving server runs a resolving program, calculates the real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server;
the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time;
the AOI server judges whether the terminal triggers a predefined event according to the calculation result, and if the terminal triggers the predefined event, the AOI server informs the GNSS resolving server; otherwise, resolving the next epoch;
the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (11)
1. A multi-Rover baseline establishing method for GNSS cloud positioning is characterized by comprising the following steps:
the terminal is accessed to the GNSS resolving server, and the observed value data are uploaded to the GNSS resolving server;
the GNSS resolving server runs a resolving program, calculates the real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server;
the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time;
the AOI server judges whether the terminal triggers a predefined event according to the calculation result, and if the terminal triggers the predefined event, the AOI server informs the GNSS resolving server; otherwise, resolving the next epoch;
the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving.
2. The method of claim 1, wherein each terminal is configured with a radius of interest, and the AOI server determines to trigger a predefined event if the remaining terminals come within the radius of interest.
3. The method of claim 2, wherein the GNSS resolving server determines whether to trigger a condition based on observation data or satellite position.
4. The method of claim 3, wherein if more than 1 terminal enters a radius of interest, the AOI server sends a resolving notification to the GNSS resolving server, and the GNSS resolving server combines the terminals into a closed loop to perform resolving service.
5. The method of claim 3, wherein if a terminal entering a radius of interest leaves an area of the radius of interest, the AOI server sends a leaving notification to the GNSS resolver server, and the GNSS resolver server determines that the connection between the terminals is disconnected.
6. The method for establishing the multi-Rover baseline for GNSS cloud positioning according to claim 3, wherein the terminal accesses the GNSS resolving server through load balancing.
7. The GNSS cloud locator baseline building method of claim 3, wherein the GNSS resolving server runs a resolving program in a multi-thread manner, and calculates real-time coordinate values of the terminal.
8. A GNSS resolving server system based on an AOI model is characterized by comprising at least 1 GNSS resolving server and 1 AOI server, wherein the GNSS resolving server is connected with a terminal and receives observation value data uploaded by the terminal, the GNSS resolving server runs a resolving program, calculates a real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server; the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time; the AOI server judges whether the terminal triggers a predefined event according to the calculation result, if so, the terminal informs the GNSS resolving server, and otherwise, the terminal performs next epoch resolving; the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving.
9. The AOI model-based GNSS solver server system of claim 8, wherein each terminal is configured with a radius of interest, and wherein the AOI server determines that the predefined event is triggered if the remaining terminals come within the radius of interest.
10. The AOI model-based GNSS solver server system of claim 9, wherein if a terminal entering the radius of interest leaves the radius of interest area, the AOI server sends a leaving notification to the GNSS solver server, and the GNSS solver server determines that the connection between the terminals is disconnected.
11. A memory storing a computer program, the computer program performing the steps of:
the terminal is accessed to the GNSS resolving server, and the observed value data are uploaded to the GNSS resolving server;
the GNSS resolving server runs a resolving program, calculates the real-time coordinate value of the terminal and sends the real-time coordinate value to the AOI server;
the AOI server records the coordinate values of all the terminals, and updates and calculates the relative position of each terminal in real time;
the AOI server judges whether the terminal triggers a predefined event according to the calculation result, and if the terminal triggers the predefined event, the AOI server informs the GNSS resolving server; otherwise, resolving the next epoch;
the GNSS resolving server judges whether a condition is triggered or not, if so, a baseline is established for resolving, and then the next epoch is resolved; otherwise, directly carrying out next epoch resolving.
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