CN111103603A

CN111103603A - Cloud positioning method and device based on CORS system, positioning system and cloud server

Info

Publication number: CN111103603A
Application number: CN201811273803.9A
Authority: CN
Inventors: 谭先科; 蒋智; 倪成岗; 张希
Original assignee: Qianxun Spatial Intelligence Inc
Current assignee: Qianxun Spatial Intelligence Inc
Priority date: 2018-10-29
Filing date: 2018-10-29
Publication date: 2020-05-05
Anticipated expiration: 2038-10-29
Also published as: CN111103603B

Abstract

The invention is suitable for the technical field of satellite positioning, and provides a cloud positioning method and device, a positioning system and a cloud server based on a CORS system, wherein the cloud positioning method comprises the following steps: receiving data uploaded by a rover station, wherein the data comprises observation data and approximate position data; obtaining VRS data for a preset number of grid points closest to the rover from a VRS grid database based on the approximate location data; forming a base line network based on the VRS data of the grid points with the preset number and the mobile station, completing carrier differential positioning calculation of each base line, quickly judging the correctness of the ambiguity by using a multi-base line result, balancing the multi-base line to obtain a differential positioning result, and calculating a pseudo range and a carrier residual error of the mobile station by using the positioning result; evaluating whether the rover station is suitable as a temporary reference station based on the pseudorange and a carrier residual; when the evaluation is appropriate, the rover station is taken as a temporary reference station to assist other rover stations in positioning. The invention can improve the positioning precision.

Description

Cloud positioning method and device based on CORS system, positioning system and cloud server

Technical Field

The invention belongs to the technical field of satellite positioning, and particularly relates to a cloud positioning method and device based on a CORS system, a positioning system and a cloud server.

Background

The RTK (real Time kinematic) technology is a real-Time dynamic positioning technology based on carrier phase difference, which is established on the basis of real-Time processing of carrier phase observed quantities of two measuring stations and provides a 3-dimensional positioning result in an appointed coordinate system, and the real-Time positioning precision can reach centimeter level, and has the advantages of good real-Time performance, high speed and the like.

The basic principle of RTK is that a reference station and a rover station receive satellite signals simultaneously, the reference station transmits observation data (mainly carrier phases and pseudoranges) and a reference station standard coordinate position to the rover station through a data link (a modem, a radio station or a communication network), the rover station reduces an observation error of the rover station through differential calculation by software, measures and calculates a relative coordinate between the rover station and the reference station, and realizes precise positioning according to the reference station standard coordinate, wherein the positioning precision can reach centimeter level. But the correlation of the multiple errors in the observation data decreases as the distance increases, and the difference cannot eliminate the aforementioned errors, so the distance between the rover and the reference station cannot exceed 15 km.

Disclosure of Invention

The embodiment of the invention provides a cloud positioning method and device based on a CORS system, a positioning system and a cloud server, and aims to solve the problems that in the prior art, conventional carrier phase differential positioning is resolved at a terminal, resolving power is limited, and positioning accuracy is not high

A cloud positioning method based on a CORS system comprises the following steps:

receiving data uploaded by a rover station, wherein the data comprises observation data and approximate position data;

obtaining VRS data for a preset number of grid points closest to the rover from a VRS grid database based on the approximate location data;

establishing a base line network based on VRS data of the mobile station and grid points, completing carrier differential positioning calculation of each base line, judging whether the ambiguity is correctly fixed or not by using the ambiguity relation among the base lines, and adjusting to obtain a final position result; calculating a pseudorange residual and a carrier residual of the rover station based on the final position result;

evaluating whether the rover station is suitable as a temporary reference station based on the pseudorange residuals and carrier residuals;

when the evaluation is appropriate, the rover station is taken as a temporary reference station to assist other rover stations in positioning.

Preferably, the predetermined number of lattice points is four lattice points, and the obtaining VRS data of the predetermined number of lattice points closest to the rover from the VRS lattice database based on the location data includes:

obtaining four grid points nearest to the rover station based on the approximate position data;

and obtaining VRS data corresponding to the four grid points from the VRS grid database.

Preferably, calculating the pseudorange residuals and carrier residuals for the rover station based on the final position result comprises:

resolving and obtaining a final positioning result based on the preset quantity grid point data;

and calculating a pseudo-range residual error and a carrier residual error of the rover station based on the final positioning result.

Preferably, a baseline network is established based on the VRS data of the rover and the grid point, carrier differential positioning calculation for each baseline is completed, and ambiguity relation between multiple baselines is used to judge whether ambiguity is correctly fixed, and adjusting to obtain a final position result includes:

building a base line network based on the VRS data of the mobile stations and the grid points;

resolving is carried out based on the VRS data of the grid points with the preset number, carrier differential positioning resolving of each baseline is completed, and corresponding resolving data are obtained;

and judging whether the ambiguity is correctly fixed or not by using the ambiguity relation among multiple baselines, and adjusting to obtain a final position result.

Preferably, the calculating is performed based on the VRS data of the preset number of grid points, the carrier differential positioning calculation for each baseline is completed, and the obtaining of the corresponding calculation data includes:

forming a basic line network based on the obtained four grid points and the corresponding VRS data;

and completing carrier phase differential positioning calculation one by one based on the basic line network, and acquiring corresponding calculation data when judging that the ambiguity of the basic line network is correct.

Preferably, the determining whether the ambiguity is correctly fixed by using the ambiguity relationship between multiple base lines, and the adjusting to obtain the final position result includes:

calculating data based on each baseline of the baseline network, and calculating the relative coordinate of each baseline;

and calculating precise position data of the rover station based on the relative coordinates of each base line, and balancing to obtain the precise position data as a final positioning result.

Preferably, calculating the relative coordinates of each baseline based on the resolved data baselines comprises:

performing ambiguity fixing on the rover based on the resolving data to obtain a fixing result;

the relative coordinates of each baseline are calculated based on the fixation results.

Preferably, the evaluating whether the rover station is suitable as the reference station based on the pseudorange and the carrier residual comprises:

judging whether the pseudo-range residual error is smaller than a first preset value or not;

when the pseudo-range residual error is smaller than a first preset value, judging whether the carrier residual error is smaller than a second preset value;

and when the carrier residual error is smaller than a second preset value, confirming that the rover station is suitable as a temporary reference station.

Preferably, the obtaining VRS data of a preset number of grid points closest to the rover from a VRS grid database based on the general location data comprises:

determining whether there is a rover station in the grid that is suitable as a temporary reference station;

when the data exists, acquiring the data suitable for being used as the temporary reference station;

and obtaining the VRS data of the preset number of lattice points closest to the rover from a VRS database.

The invention also provides a cloud positioning device based on the CORS system, which comprises:

the data receiving unit is used for receiving data uploaded by the rover station, and the data comprises observation data and approximate position data;

a data acquisition unit for acquiring VRS data of a preset number of lattice points closest to the rover from a VRS lattice database based on the approximate location data;

the first calculation unit is used for establishing a baseline network based on VRS data of the mobile station and the grid points, completing carrier differential positioning calculation of each baseline, judging whether the ambiguity is correctly fixed or not by utilizing the ambiguity relation among the multiple baselines, and adjusting to obtain a final position result;

a second calculation unit for calculating a pseudo range and a carrier residual of the rover station using the final position result;

and the evaluation unit is used for evaluating whether the rover station is suitable for being used as a temporary reference station or not based on the pseudo range and the carrier residual error, and when the rover station is evaluated to be suitable, the rover station is used as the temporary reference station to assist other rover stations to carry out positioning.

The invention also provides a cloud positioning method based on the CORS system, which comprises the following steps:

calculating pseudo-range residual errors and carrier residual errors of the mobile station based on the VRS data of the grid points with the preset number;

Preferably, the calculating the pseudorange residuals and the carrier residuals of the rover station based on the VRS data of the preset number of grid points comprises:

acquiring a final positioning result based on the preset grid point data;

Preferably, the obtaining of the final positioning result based on the preset number of grid point data includes:

resolving is carried out on the basis of the VRS data of the grid points with the preset number to obtain corresponding resolved data;

and acquiring a final positioning result based on the resolving data.

Preferably, the calculating based on the VRS data of the preset grid points, and obtaining the corresponding calculation result includes:

and resolving based on the baseline network, and acquiring corresponding resolving data when the ambiguity of the baseline network is judged to be correct.

Preferably, obtaining a final positioning result based on the resolved data comprises:

calculating relative coordinates of each baseline based on the calculated data baseline;

calculating precise position data of the rover station based on the relative coordinates of each baseline, and taking the precise position data as a final positioning result.

the receiving unit is used for receiving data uploaded by the rover station, and the data comprises observation data and approximate position data;

an acquisition unit configured to acquire VRS data of a preset number of lattice points closest to the rover from a VRS lattice database based on the approximate location data;

the calculation unit is used for calculating pseudo-range residual errors and carrier residual errors of the mobile station based on the VRS data of the grid points with the preset number;

an evaluation positioning unit for evaluating whether the rover station is suitable as a temporary reference station based on the pseudo-range residual and the carrier residual; when the evaluation is appropriate, the rover station is taken as a temporary reference station to assist other rover stations in positioning.

The invention also provides a positioning system, which comprises a cloud positioning device based on the CORS system, wherein the positioning device comprises:

The invention also provides a cloud server, which comprises a positioning system, wherein the positioning system comprises a cloud positioning device based on the CORS system, and the positioning device comprises:

The present invention also provides a memory storing a computer program, wherein the computer program is executed by a processor to perform the steps of:

The invention also provides a positioning terminal, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the following steps:

In the embodiment of the invention, the accuracy of the ambiguity can be rapidly judged by acquiring the preset number of VRS data as the reference station and constructing the baseline network, and the time for acquiring the fixed solution is obviously shortened.

Drawings

Fig. 1 is a flowchart of a cloud positioning method based on a CORS system according to a first embodiment of the present invention;

fig. 2 is a structural diagram of a cloud positioning apparatus based on a CORS system according to a second embodiment of the present invention;

fig. 3 is a schematic partial grid diagram of a cloud positioning method based on a CORS system according to a first embodiment of the present invention;

fig. 4 is a flowchart of a cloud positioning method based on a CORS system according to a third embodiment of the present invention

Fig. 5 is a detailed flowchart of step S2 of a preferred implementation of a cloud positioning method based on a CORS system according to a third embodiment of the present invention;

fig. 6 is a detailed flowchart of step S2 of another preferred implementation of a cloud positioning method based on a CORS system according to a third embodiment of the present invention, and is a structural diagram of a cloud positioning apparatus based on a CORS system according to a fourth embodiment of the present invention; (ii) a

Fig. 7 is a detailed flowchart of step S3 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention;

fig. 8 is a flowchart illustrating a step S31 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention;

fig. 9 is a detailed flowchart of step S311 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention;

fig. 10 is a flowchart illustrating a specific step S312 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention;

fig. 11 is a detailed flowchart of step S4 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention;

fig. 12 is a structural diagram of a cloud positioning apparatus based on a CORS system according to a fourth embodiment of the present invention;

fig. 13 is a structural diagram of a positioning terminal according to a fifth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the embodiment of the invention, a positioning method based on a CORS system comprises the following steps: receiving data uploaded by a rover station, wherein the data comprises observation data and approximate position data; obtaining VRS data for a preset number of grid points closest to the rover from a VRS grid database based on the approximate location data; establishing a base line network based on VRS data of the mobile station and grid points, completing carrier differential positioning calculation of each base line, judging whether the ambiguity is correctly fixed or not by using the ambiguity relation among the base lines, and adjusting to obtain a final position result; calculating pseudoranges and carrier residuals of the rover stations based on the final position results; evaluating whether the rover station is suitable as a temporary reference station based on the pseudorange and a carrier residual; when the evaluation is appropriate, the rover station is taken as a temporary reference station to assist other rover stations in positioning.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

The first embodiment is as follows:

fig. 1 shows a flowchart of a cloud positioning method based on a CORS system according to a first embodiment of the present invention, where the method includes:

step A1, receiving data uploaded by the rover station, wherein the data comprises observation data and approximate position data;

specifically, the CORS system (continuously operating reference station system) uses data of continuously operating reference stations for calculation, and generates virtual reference station data according to grid points divided at equidistant intervals (e.g., 5km) and stores the virtual reference station data in a VRS (virtual reference station) grid database. When positioning is needed, the rover station uploads data to the cloud in real time, the data can comprise observation data of the rover station and rough position data of the rover station, and the rough position data is an approximate position acquired by the rover station. The approximate location data includes the rover's coordinate position (e.g., latitude and longitude data, etc.).

A step a2 of obtaining VRS data of a preset number of lattice points closest to the rover from a VRS lattice database based on the approximate location data;

specifically, a preset number of grid points closest to the rover station are obtained based on the general position data, and VRS data corresponding to the preset number of grid points are obtained from a VRS grid database, wherein the VRS data can include virtual observation data and high-precision coordinate information corresponding to the grid points. The predetermined number may be determined according to practical situations, and is not limited herein, in this embodiment, it is preferable that the number of the predetermined grid points is four, and the database includes a VRS grid database.

Step A3, establishing a baseline network based on VRS data of the rover and the grid points, completing carrier differential positioning calculation of each baseline, judging whether the ambiguity is correctly fixed or not by using the ambiguity relation among the multiple baselines, and balancing to obtain a final position result;

step A4, calculating pseudo range and carrier residual error of the rover station based on the final position result;

step A5, based on the pseudo-range residual error and the carrier residual error, evaluating whether the mobile station is suitable to be used as a temporary reference station;

specifically, the condition whether the rover station is used as the reference station is evaluated according to the pseudo-range residual and the carrier residual, and when the condition is met, the process is switched to the step A5, and when the condition is not met, the process is stopped, and the rover station is not used as the temporary reference station. The condition for the temporary reference station may be set according to practical situations, and is not limited herein.

Step a6, when evaluated as appropriate, uses the rover as a temporary reference station to assist other rovers in positioning.

Specifically, when the rover station satisfies the condition as the reference station, the other rover station is assisted in positioning, i.e., positioning is performed based on the observation data and the position data of the temporary reference station and the observation data of the other rover station.

In this embodiment, first, data uploaded by a rover station is acquired, carrier phase differential positioning calculation is completed by using grid point VRS data, whether ambiguity is correctly fixed is determined by using a baseline network ambiguity relationship, a pseudorange residual and a carrier residual corresponding to the rover station are calculated by using a position calculation result, whether the rover station is suitable for being used as a temporary reference station is evaluated based on the pseudorange residual and the carrier residual, and when the rover station is determined to be suitable for being used as a reference station, positioning is performed by assisting other rover stations based on observation data and position data of the rover station, so that positioning accuracy can be improved.

In a preferable scheme of this embodiment, the preset number of grid points is four grid points, and the step a2 specifically includes:

acquiring four grid points closest to the rover station based on the rough position data;

obtaining VRS data corresponding to the four grid points from a VRS grid database;

in this embodiment, the nearest mesh point to the rover is obtained by:

and acquiring the nearest grid points from a VRS grid database according to the approximate position data, and sampling a distance formula:

calculating the distance between each grid point and the rover station, wherein i is a grid point in which { i ═ 1, 2, 3, L, Δ D is satisfied_i< 7.1km >, assuming that the rover's general location data is a (X, Y, Z), in the present embodiment, the number of grid points disposed around rover a is usually more than four, and the four closest grid points are selected, as shown in fig. 3, where 1, 2, 3, and 4 are the four closest grid points to rover a. It should be noted that when a 5km grid division is used, the farthest distance between the rover and the virtual reference station (i.e., the grid point) is7.1km, the fixed success rate in the resolving process can be improved.

In another preferable embodiment of this embodiment, the step a2 specifically includes:

judging whether a rover station suitable for serving as a temporary reference station exists in the current grid;

specifically, whether a rover station capable of being used as a temporary reference station exists in a current grid is judged, and when the rover station exists, data corresponding to the rover station suitable for being used as the temporary reference station are acquired;

specifically, if there is a rover station that can be used as a temporary reference station in the current grid, acquiring data (including VRS data) of the rover station, preferably, the number of the temporary reference points is 2 or three, and then acquiring data of a plurality of temporary reference stations closest to the rover station from a database;

specifically, if there is a rover station that can be used as a temporary reference station in the current grid, only 2 or 3 temporary reference stations need to be acquired, so 2 or 3 temporary reference stations closest to the rover station that uploads data are acquired based on the database, and VRS data corresponding to 4 grid points closest to the rover station are acquired.

When not present, acquiring four grid points closest to the rover station based on the rough location data; and then obtaining VRS data corresponding to the four grid points from the database.

In a preferable embodiment of this embodiment, the step a3 specifically includes:

building a base line network based on VRS data of the mobile station and the grid points;

resolving is carried out on the basis of VRS data of a preset number of grid points, carrier differential positioning resolving of each baseline is completed, and corresponding resolving data are obtained;

Specifically, carrier phase differential positioning calculation is performed on all base lines in a base line network one by one, and corresponding calculation data is acquired when the ambiguity of the base line network is judged to be correct;

for example, first, the single baseline mode is used to solve for the baseline 1-A, 2-A, 3-A, 4-A, and the calculation process is as follows:

wherein m and n represent observation stations, p and q represent satellites, k represents a frequency point, and lambda represents a wavelength corresponding to the frequency point k,

the double difference between the pseudo range stations is shown:

the inter-satellite double differences between stations (the distance between the stations is calculated based on the above-described approximate position data) indicating the distance between the stations,

showing double differences between carriers (in meters)

Showing the double-difference ambiguity between the stations and the satellite,

the ionospheric double difference is represented,

the double difference of the troposphere is shown,

represents the multipath of the pseudoranges,

is indicative of the pseudo-range noise,

it is meant that the carrier is multipath,

the carrier noise is represented and is a double difference value between stations and satellites.

At this time, because of the double difference mode, I, T, M is considered to be eliminated substantially, and only the position parameter and the ambiguity parameter remain for the parameter to be estimated.

Therefore, the calculation formula can be adjusted as:

and determining whether the ambiguity is fixed correctly by using the relation among the multi-baseline ambiguities.

Then, fixing and checking the correctness of the base line ambiguity of the rover in the closed loop ambiguity by using the following formula, namely judging whether the ambiguity of the base line network of the rover is correct or not; the formula is specifically as follows:

wherein 1, 2, 3 and A are observation stations, p and q are satellites respectively,

and representing fixed ambiguity, which is the interstation intersatellite double-difference ambiguity.

In a preferable embodiment of this embodiment, the step a4 specifically includes:

resolving and obtaining a final positioning result based on the preset number of grid point data;

and calculating the pseudo range and the carrier residual error of the rover station based on the final positioning result.

Specifically, ambiguity fixing is carried out based on the resolving data to obtain a fixing result;

calculating relative coordinates of each baseline based on the fixed results;

firstly, because the VRS data of the four grid points carries corresponding high-precision coordinate data, the base lines among the four grid points do not need to be solved, only the relative coordinates of each base line formed by the mobile station need to be calculated, and the double-difference ambiguity between any two grid points in the four grid points can be directly obtained by utilizing the high-precision coordinates of the grid points.

Next, the correctness of the rover baseline ambiguity in the closed-loop ambiguity is fixed and verified using the following formula:

wherein 1, 2, 3 and A are all stations, p and q are satellites,

and representing fixed ambiguity, which is the interstation intersatellite double-difference ambiguity. When the ambiguity of the rover station is judged to be fixed correctly, calculating the precise position data of the rover station based on the relative coordinates of each base line, and taking the precise position data as a final positioning result;

specifically, after the ambiguity of the rover station is fixed correctly, the relative coordinates of each base line are calculated, the precise coordinates of the rover station are calculated in a balancing mode based on the relative coordinates, and the precise position data are used as the final positioning result;

in a preferable embodiment of this embodiment, step a5 specifically includes:

specifically, whether a pseudo-range residual error is smaller than a first preset value or not is judged firstly, if so, whether a carrier residual error is smaller than a second preset value or not is further judged, and if so, the mobile station is confirmed to be suitable as a temporary reference station; stopping the process when the pseudo-range residual error is judged to be not smaller than a first preset value; when the carrier residual is not less than the second preset value, the process is stopped, and specific values of the first preset value and the second preset value may be set according to practical situations, where this is not limited, and preferably, the first preset value is 1.5m, and the second preset value is 2 cm. In this embodiment, first, data uploaded by a rover station is acquired, carrier phase differential positioning calculation is completed by using grid point VRS data, whether ambiguity is correctly fixed is determined by using a baseline network ambiguity relationship, a fixed solution position result is acquired, a pseudorange residual and a carrier residual corresponding to the rover station are calculated by using a calculation position result, whether the rover station is suitable for being used as a temporary reference station is evaluated based on the pseudorange residual and the carrier residual, and when the rover station is confirmed to be suitable for being used as the temporary reference station, positioning accuracy can be improved by using observation data based on the rover station to assist positioning of other rovers.

Secondly, grid points divided at equal intervals are used as reference stations, the distance between the rover station and the reference stations is greatly shortened, and the resolving efficiency is improved.

Moreover, the mobile station is networked with a plurality of grid points, so that whether the ambiguity is accurately fixed or not can be effectively checked, and the fixing speed is accelerated. The data security can be improved by using the data of the grid points instead of directly using the data of the continuously operating reference station.

Example two:

fig. 2 shows a structural diagram of a cloud positioning apparatus based on a CORS system according to a second embodiment of the present invention, where the cloud positioning apparatus includes: the data receiving unit 21, the data acquiring unit 22 connected with the data receiving unit 21, the first calculating unit 23 connected with the data acquiring unit 22, the second calculating unit 24 connected with the first calculating unit 23, and the evaluation positioning unit 25 connected with the second calculating unit 24, wherein:

a data receiving unit 21, configured to receive data uploaded by the rover station, where the data includes observation data and approximate location data;

A data acquisition unit 22 for acquiring VRS data of a preset number of lattice points closest to the rover from the VRS lattice database based on the approximate location data;

specifically, a preset number of grid points closest to the rover station are obtained based on the general position data, and VRS data corresponding to the preset number of grid points are obtained from a VRS grid database, wherein the VRS data can include virtual observation data and high-precision coordinate information corresponding to the grid points. The number of the preset grid points may be determined according to practical situations, and is not limited herein, in this embodiment, it is preferable that the number of the preset grid points is four, and the database includes a VRS grid database.

The first calculating unit 23 is configured to establish a baseline network based on VRS data of the rover and the grid points, complete carrier differential positioning calculation for each baseline, determine whether the ambiguity is correctly fixed by using the ambiguity relationship between the multiple baselines, and adjust to obtain a final position result;

a second calculation unit 24, configured to calculate a pseudorange and a carrier residual of the rover station based on the final position result;

an evaluation positioning unit 25 for evaluating whether the rover station is suitable as a temporary reference station based on the pseudo-range residual and the carrier residual;

specifically, the condition whether the rover station is used as the reference station is evaluated according to the pseudo-range residual and the carrier residual, when the condition is met, the rover station is used as a temporary reference station to assist other rover stations to carry out positioning, and when the condition is met, the rover station is used as the reference station to assist other rover stations to carry out positioning, namely positioning is carried out based on observation data and position data of the temporary reference station and observation data of other rover stations.

When not satisfied, the process is stopped and the rover is not taken as a temporary reference station. The condition for the temporary reference station may be set according to practical situations, and is not limited herein.

In a preferred embodiment of this embodiment, the preset number of grid points is four grid points, and the data obtaining unit 22 is specifically configured to:

in this embodiment, the nearest mesh point to the rover is obtained by:

calculating the distance between each grid point and the rover station, wherein i is a grid point in which { i ═ 1, 2, 3, L, Δ D is satisfied_i< 7.1km >, assuming that the rover's general location data is a (X, Y, Z), in the present embodiment, the number of grid points disposed around rover a is usually more than four, and the four closest grid points are selected, as shown in fig. 3, where 1, 2, 3, and 4 are the four closest grid points to rover a. It should be noted that, when a 5km grid division is adopted, the farthest distance between the rover and the virtual reference station (i.e., the grid point) is 7.1km, which can improve the fixed success rate in the resolving process.

In another preferred embodiment of this embodiment, the data obtaining unit 22 is specifically configured to:

In a preferred embodiment of the present embodiment, the first calculating unit 23 is specifically configured to:

the double difference between the pseudo range stations is shown:

showing double differences between carriers (in meters)

Showing the double-difference ambiguity between the stations and the satellite,

the ionospheric double difference is represented,

the double difference of the troposphere is shown,

represents the multipath of the pseudoranges,

is indicative of the pseudo-range noise,

it is meant that the carrier is multipath,

Therefore, the calculation formula can be adjusted as:

and solving by adopting Kalman filtering according to the equation to obtain a carrier differential positioning result, fixing the ambiguity by adopting a 1ambda algorithm, and judging whether the ambiguity is fixed correctly or not by utilizing the relation among the multi-baseline ambiguities.

In a preferred embodiment of the present embodiment, the second calculating unit 24 is specifically configured to:

calculating relative coordinates of each baseline based on the fixed results;

wherein 1, 2, 3 and A are all stations, p and q are satellites,

in a preferred embodiment of this embodiment, the evaluation positioning unit is specifically configured to:

specifically, whether a pseudo-range residual error is smaller than a first preset value or not is judged firstly, if so, whether a carrier residual error is smaller than a second preset value or not is further judged, and if so, the mobile station is confirmed to be suitable as a temporary reference station; stopping the process when the pseudo-range residual error is judged to be not smaller than a first preset value; when the carrier residual is not less than the second preset value, the process is stopped, and specific values of the first preset value and the second preset value may be set according to practical situations, where this is not limited, and preferably, the first preset value is 1.5m, and the second preset value is 2 cm.

In this embodiment, first, data uploaded by a rover station is acquired, carrier phase differential positioning calculation is completed by using grid point VRS data, whether ambiguity is correctly fixed is determined by using a baseline network ambiguity relationship, a fixed solution position result is acquired, a pseudorange residual and a carrier residual corresponding to the rover station are calculated by using a calculation position result, whether the rover station is suitable for being used as a temporary reference station is evaluated based on the pseudorange residual and the carrier residual, and when the rover station is confirmed to be suitable for being used as the temporary reference station, positioning accuracy can be improved by using observation data based on the rover station to assist positioning of other rovers.

Example three:

fig. 4 shows a flowchart of a cloud positioning method based on a CORS system according to a third embodiment of the present invention, where the method includes:

step S1, receiving the data uploaded by the rover station;

Step S2, obtaining VRS data of a preset number of lattice points closest to the rover from the database based on the rough position data;

Step S3, calculating pseudo range and carrier residual error of the mobile station based on VRS data of preset grid points;

specifically, the corresponding pseudo-range bias and the carrier residual are calculated based on the acquired VRS data of the lattice point and the data of the rover.

Step S4, whether the rover station is suitable for being used as a temporary reference station is evaluated based on the pseudo range and the carrier residual error;

specifically, the condition whether the rover station is used as the reference station is evaluated according to the pseudo-range residual and the carrier residual, and when the condition is met, the process goes to the step S5, and when the condition is not met, the process is stopped, and the rover station is not used as the temporary reference station. The condition for the temporary reference station may be set according to practical situations, and is not limited herein.

Step S5, using the rover station as a temporary reference station to assist other rover stations to carry out positioning;

In this embodiment, first, data uploaded by a rover station is acquired, a pseudo-range residual and a carrier residual corresponding to the rover station are calculated by using grid point VRS data, whether the rover station is suitable as a temporary reference station is evaluated based on the pseudo-range residual and the carrier residual, and when the rover station is confirmed to be suitable as a reference station, positioning is performed by assisting other rover stations based on observation data and position data of the rover station, so that positioning accuracy can be improved.

In a preferred aspect of this embodiment, the preset number of grid points is four grid points, as shown in fig. 5, which is a specific flowchart of step S2 of a preferred implementation manner of a cloud positioning method based on a CORS system according to a third embodiment of the present invention, and step S2 specifically includes:

step S21, based on the general position data, four lattice points which are nearest to the rover are obtained;

step S22, obtaining VRS data corresponding to the four grid points from a VRS grid database;

in this embodiment, the nearest mesh point to the rover is obtained by:

In another preferred embodiment of this embodiment, as shown in fig. 6, a specific flowchart of step S2 of another preferred implementation of the cloud positioning method based on the CORS system according to the third embodiment of the present invention is provided, where the step S2 specifically includes:

step S201, judging whether a mobile station suitable for being used as a temporary reference station exists in the current grid;

specifically, it is first determined whether there is a rover station that can be used as a temporary reference station in the current grid, and the determination process may refer to the determination process of step S4, and the principles of the two are consistent. When not present, go to step S202, when present, go to step S204;

step S202, four grid points closest to the rover are obtained based on the rough position data;

step S203, obtaining VRS data corresponding to the four grid points from a database;

it should be noted that step S202 and step S203 in this embodiment are consistent with the implementation processes of step S21 and step S22 corresponding to fig. 3, respectively, and the steps are described in detail here.

Step S204, acquiring data corresponding to the rover station which is suitable as the temporary reference station;

specifically, if there is a rover station that can be used as a temporary reference station in the current grid, acquiring data (including VRS data) of the rover station, preferably, the number of the temporary reference stations is 2 or three, and then going to step S205; for example, a database is searched for whether there is a rover that can serve as a temporary reference station.

Step S205, acquiring a plurality of temporary reference station data closest to the rover station from a database;

In a preferable solution of this embodiment, as shown in fig. 7, a specific flowchart of step S3 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention is provided, where the step S3 specifically includes:

step S31, acquiring a final positioning result based on a preset number of grid point data;

specifically, the final positioning result (i.e., the precise position data) of the rover station is calculated according to the acquired VRS data corresponding to the four grid points, it should be noted that the precise position data has a strict difference in precision from the above-mentioned general position data, the general position data refers to a position where the rover station is actively uploading, the precise position data refers to VRS data of the four grid points acquired based on the general position data, and the precise position data is calculated by carrier phase difference positioning.

Step S32, calculating the pseudo range and the carrier residual error of the rover station based on the final positioning result;

specifically, a pseudorange bias and a carrier bias for the rover station are computed from the computed fine position data.

Further, the pseudorange residual and the carrier residual are calculated by the following formulas:

wherein the content of the first and second substances,

representing the fixed solution pseudorange residuals,

representing the carrier residual, k the frequency point, mn the survey station, pq the satellite, λ the wavelength corresponding to frequency point k,

representing double differences between pseudoranges and satellites,

the interstation double differences (calculated based on the fixed solution, i.e. the result of the precise position data) representing the distance between the satellites,

showing double differences between carriers (in meters)

And (3) representing the double-difference fixed solution ambiguity between the stations.

In a further preferable solution of this embodiment, as shown in fig. 8, a specific flowchart of step S31 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention is provided, where step S31 specifically includes:

step S311, resolving is carried out based on VRS data of a preset number of grid points to obtain corresponding resolved data;

specifically, carrier phase differential positioning calculation is carried out according to the acquired VRS data of the grid points with the preset number to obtain corresponding calculation data;

step S312, acquiring a final positioning result based on the resolving data;

specifically, the final positioning result is calculated from the aforementioned calculation data.

As shown in fig. 9, a detailed flowchart of step S311 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention is provided, where the step S311 specifically includes:

step S3111, forming a basic line network based on the four acquired grid points and corresponding VRS data;

specifically, taking fig. 3 as an example, a base line network between four grid points (1, 2, 3, 4) and rover a is established.

Step S3112, resolving based on the baseline network, and acquiring corresponding resolving data when the ambiguity of the baseline network is judged to be correct;

the double difference between the pseudo range stations is shown:

showing double differences between carriers (in meters)

Showing the double-difference ambiguity between the stations and the satellite,

the ionospheric double difference is represented,

the double difference of the troposphere is shown,

represents the multipath of the pseudoranges,

is indicative of the pseudo-range noise,

it is meant that the carrier is multipath,

Therefore, the calculation formula can be adjusted as:

As shown in fig. 10, a detailed flowchart of step S312 of a cloud positioning method based on a C0RS system according to a third embodiment of the present invention is provided, where the step S312 specifically includes:

step S3121, calculating the relative coordinate of each baseline of the baseline based on the calculation data;

specifically, the step S3121 specifically includes the steps of:

fixing the ambiguity based on the resolving data to obtain a fixed result;

calculating relative coordinates of each baseline based on the fixed results;

wherein 1, 2, 3 and A are all stations, p and q are satellites,

and representing fixed ambiguity, which is the interstation intersatellite double-difference ambiguity. When it is determined that the degree of ambiguity of the rover is fixed correctly, the process proceeds to step S3122.

Step S3122, calculating precision position data of the rover station based on the relative coordinates of each base line, and taking the precision position data as a final positioning result;

in a preferable solution of this embodiment, as shown in fig. 11, a specific flowchart of step S4 of a cloud positioning method based on a CORS system according to a third embodiment of the present invention is provided, where the step S4 specifically includes:

step S41, judging whether the pseudo-range residual error is smaller than a first preset value;

specifically, firstly, judging whether the pseudo-range deviation is smaller than a first preset value, if so, turning to the step S42, otherwise, stopping the process; the specific value of the first preset value can be set according to practical situations, and is not limited herein, and preferably, the first preset value is 1.5 m.

Step S42, judging whether the carrier residual error is smaller than a second preset value;

specifically, it is further determined whether the carrier residual is smaller than a second preset value, and if yes, the process goes to step S43, otherwise, the process is stopped. The specific value of the second preset value can be set according to practical situations, and is not limited herein, and preferably, the second preset value is 2 cm.

Step S43, confirming that the rover station is suitable as the temporary reference station;

specifically, when the rover station is evaluated as a temporary reference station for enhancing the positioning reliability of other rover stations adjacent thereto, the process goes to step S5 for positioning based on the precise position data, the observation data and the observation data of the temporary reference station. And storing the data (including observation data and position data) of the rover in a grid database for searching in subsequent application.

Example four:

as shown in fig. 12, a structure diagram of a cloud positioning apparatus based on a CORS system according to a fourth embodiment of the present invention is provided, where the cloud positioning apparatus includes: receiving unit 1, obtaining unit 2 connected with receiving unit 1, calculating unit 3 connected with obtaining unit 2, evaluating unit 4 connected with calculating unit 3, wherein:

the receiving unit 1 is used for receiving data uploaded by the rover station;

An acquiring unit 2 for acquiring VRS data of a preset number of lattice points closest to the rover from the database based on the approximate location data;

specifically, a preset number of grid points closest to the rover station are obtained based on the general position data, and the VRS data corresponding to the preset number of grid points are obtained from a VRS grid database, and the VRS data may include virtual observation data and high-precision coordinate information corresponding to the grid points. The preset number may be determined according to practical situations, and is not limited herein, and in the present embodiment, it is preferable that the preset number of grid points is four.

The calculation unit 3 is used for calculating the pseudo range and the carrier residual error of the mobile station based on the VRS data of the preset grid points;

And the evaluation unit 4 is configured to evaluate whether the rover station is suitable as a temporary reference station based on the pseudorange and the carrier residual, and use the rover station as the temporary reference station to assist other rover stations in positioning when the evaluation is suitable.

Specifically, the condition whether the rover station is used as the reference station is evaluated according to the pseudo-range residual error and the carrier residual error, and when the condition is met, the rover station is used as a temporary reference station to assist other rover stations to carry out positioning; when not satisfied, the process is stopped and the rover is not taken as a temporary reference station. The condition for the temporary reference station may be set according to practical situations, and is not limited herein.

In a preferred embodiment of this embodiment, the obtaining unit 2 specifically includes: a first acquisition subunit, a second acquisition subunit connected to the first acquisition subunit, wherein:

a first acquisition subunit configured to acquire, based on the approximate location data, four lattice points that are closest to the rover station;

the second acquisition subunit is used for acquiring VRS data corresponding to the four grid points from a VRS grid database;

specifically, the nearest grid point is obtained from the VRS grid database according to the general location data, and the distance formula is sampled:

calculating the distance between each grid point and the rover station, wherein i is a grid point in which { i ═ 1, 2, 3, L, Δ D is satisfied_i< 7.1km >, assuming that the rover's general location data is a (X, Y, Z), in the present embodiment, the number of grid points disposed around rover a is usually more than four, and the four closest grid points are selected, as shown in fig. 2, and 1, 2, 3, and 4 are the four closest grid points to rover a. It should be noted that, when a 5km grid division is adopted, the farthest distance between the rover and the virtual reference station (i.e., the grid point) is 7.1km, which can improve the fixed success rate in the resolving process.

In another preferred embodiment of this embodiment, the obtaining unit 2 specifically includes: judge subunit, with judge the acquisition subunit that subunit is connected, wherein:

a judging subunit, configured to judge whether there is a rover suitable for serving as a temporary reference station in the current grid;

specifically, it is first determined whether there is a rover station that can be used as a temporary reference station in the current grid, and the determination process is substantially consistent with the evaluation process of the evaluation unit 4, which is not described herein again. Then feeding back the judgment result to the obtaining subunit;

an acquisition subunit, when there is no rover station that can be used as a temporary reference station, for acquiring four grid points closest to the rover station based on the general position data and acquiring VRS data corresponding to the four grid points from a VRS grid database;

and is also used for: when a rover station which can be used as a temporary reference station exists, acquiring data corresponding to the rover station which is suitable to be used as the temporary reference station;

specifically, if there is a rover station that can be used as a temporary reference station in the current grid, acquiring data (including VRS data) of the rover station, preferably, the number of the temporary reference points is 2 or 3;

and is also used for: acquiring a plurality of temporary reference station data closest to the rover station from a database;

In a preferred embodiment of this embodiment, the calculating unit 3 specifically includes: first calculation subunit and second calculation subunit connected thereto, wherein:

the first calculating subunit is used for acquiring a final positioning result based on the preset number of grid point data;

The second calculating subunit is used for calculating the pseudo range and the carrier residual error of the rover station based on the precise coordinate position data;

wherein the content of the first and second substances,

representing the fixed solution pseudorange residuals,

representing carrier residual, k frequency point, m, n station, pq satellite, lambda wavelength corresponding to frequency point k,

representing double differences between pseudoranges and satellites,

the inter-station double differences (calculated based on the fixed solution result, i.e. the precise position data) representing the satellite-to-ground distances,

showing double differences between carriers (in meters)

Representing the fixed ambiguity of the double differences between the satellites

In a further preferred embodiment of this embodiment, the first calculating subunit specifically includes: the positioning result acquisition subunit is connected with the resolving subunit, wherein:

the operator solving unit is used for solving based on VRS data of grid points with preset number to obtain corresponding solved data;

a positioning result obtaining subunit, configured to obtain a final positioning result based on the resolving data;

In a further preferred aspect of this embodiment, the resolving subunit is specifically configured to:

The carrier phase differential positioning calculation method is also used for carrying out carrier phase differential positioning calculation based on a basic line network, and when the ambiguity of the basic line network is judged to be correct, corresponding calculation data is obtained;

specifically, the calculation is performed based on the baseline network, and when the ambiguity of the baseline network is determined to be correct, corresponding calculation data is obtained, for example: firstly, a single baseline mode is adopted to solve the baseline 1-A, 2-A, 3-A, 4-A, and the calculation process is as follows:

the double difference between the pseudo range stations is shown:

inter-station double differences between satellites representing range (range is calculated based on the above-described approximate position data)Obtained) in the same manner as described above,

showing the double differences between the carriers (in meters),

showing the double-difference ambiguity between the stations and the satellite,

the ionospheric double difference is represented,

the double difference of the troposphere is shown,

represents the multipath of the pseudoranges,

is indicative of the pseudo-range noise,

it is meant that the carrier is multipath,

Therefore, the calculation formula can be adjusted as:

and determining whether the ambiguity is fixed correctly by using the relation among the multi-baseline ambiguities by adopting a 1ambda algorithm.

The method is also used for fixing and checking the correctness of the baseline ambiguity of the rover in the closed-loop ambiguity by utilizing the following formula, namely judging whether the ambiguity of the baseline network of the rover is correct or not; the formula is specifically as follows:

In a further preferred embodiment of this embodiment, the positioning result obtaining subunit is specifically configured to:

calculating relative coordinates of each baseline of the baselines based on the resolving data;

fixing the ambiguity based on the resolving data to obtain a fixed result;

calculating relative coordinates of each baseline based on the fixed results;

wherein 1, 2, 3 and A are all stations, p and q are satellites,

Calculating precise position data of the rover station based on the relative coordinates of each baseline, and taking the precise position data as a final positioning result;

in a preferred embodiment of this embodiment, the evaluation unit 4 specifically includes: a first judging subunit, a second judging subunit connected with the first judging subunit, and a confirming subunit connected with the second judging subunit, wherein:

the first judgment subunit is used for judging whether the pseudo-range residual error is smaller than a first preset value;

The second judgment subunit is used for judging whether the carrier residual error is smaller than a second preset value;

and specifically, further judging whether the carrier residual is smaller than a second preset value, if so, feeding back to the confirmation subunit, and otherwise, stopping the process. The specific value of the second preset value can be set according to practical situations, and is not limited herein, and preferably, the second preset value is 2 cm.

A confirming subunit for confirming that the rover station is suitable as the temporary reference station;

specifically, when the rover station is evaluated as a temporary reference station, it is used as a temporary reference station for enhancing the reliability of positioning of other rover stations adjacent thereto, based on the precise position data of the rover station, the observation data and the observation data of the temporary reference station. And storing the data (including observation data and position data) of the rover in a grid database for searching in subsequent application.

In this embodiment, first, data uploaded by a rover station is acquired, a baseline network is constructed by using grid point VRS data, carrier phase differential positioning calculation for each baseline is completed, whether ambiguity is correctly fixed is determined by using a baseline network ambiguity relationship, a fixed solution position result is acquired, a pseudorange residual and a carrier residual corresponding to the rover station are calculated by using a solution position result, whether the rover station is suitable for being used as a temporary reference station is evaluated based on the pseudorange residual and the carrier residual, and when the rover station is determined to be suitable for being used as a reference station, positioning is performed by assisting other rover stations based on observation data and position data of the rover station, so that positioning accuracy can be improved.

The invention further provides a positioning system, which includes the cloud positioning device based on the CORS system as described in the fourth embodiment, and the specific structure, the working principle and the technical effects of the cloud positioning device are substantially the same as those described in the fourth embodiment, and are not described herein again.

The invention further provides a cloud server, which comprises a database (including a grid VRS database), a CORS system and a positioning system, wherein the positioning system comprises the cloud positioning device based on the CORS system in the fourth embodiment, and the specific structure, the working principle and the brought technical effects of the cloud positioning device are basically consistent with those of the fourth embodiment, and are not repeated herein.

Example five:

fig. 13 is a block diagram illustrating a positioning terminal according to a fifth embodiment of the present invention, where the positioning terminal includes: a memory (memory)131, a processor (processor)132, a communication Interface (Communications Interface)133, and a bus 134, wherein the processor 132, the memory 131, and the communication Interface 133 complete mutual communication through the bus 134.

A memory 131 for storing various data;

specifically, the memory 131 is used for storing various data, such as data in communication, received data, and the like, and is not limited herein, and the memory further includes a plurality of computer programs.

A communication interface 133 for information transmission between communication devices of the positioning terminal;

the processor 132 is configured to call various computer programs in the memory 131 to execute a method for cloud positioning based on the CORS system provided in the first embodiment, for example:

In the embodiment, firstly, data uploaded by the rover station is obtained, carrier phase differential positioning calculation is completed by using grid point VRS data, whether the ambiguity is correctly fixed is judged by using a baseline network ambiguity relation, a fixed solution position result is obtained, a pseudo-range residual error and a carrier residual error corresponding to the rover station are calculated by using the calculation position result, whether the rover station is suitable for being used as a temporary reference station is evaluated based on the pseudo-range residual error and the carrier residual error, and when the rover station is confirmed to be suitable for being used as the temporary reference station, the positioning accuracy can be improved by using the temporary reference station to assist other rover stations in positioning.

The invention also provides a memory, wherein the memory stores a plurality of computer programs, and the computer programs are called by the processor to execute the cloud positioning method based on the CORS system.

The method comprises the steps of firstly obtaining data uploaded by a rover station, completing carrier phase differential positioning calculation by utilizing grid point VRS data, judging whether the ambiguity is correctly fixed or not by utilizing a base line network ambiguity relation, obtaining a fixed solution position result, calculating a pseudo-range residual error and a carrier residual error corresponding to the rover station by utilizing the calculation position result, evaluating whether the rover station is suitable for being used as a temporary reference station or not based on the pseudo-range residual error and the carrier residual error, and using the temporary reference station to assist other rover stations to position when the rover station is confirmed to be suitable for being used as the temporary reference station, so that the positioning precision can be improved.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation.

Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A cloud positioning method based on a CORS system is characterized by comprising the following steps:

2. The cloud positioning method of claim 1, wherein the predetermined number of grid points is four grid points, and wherein obtaining VRS data of the predetermined number of grid points closest to the rover from a VRS grid database based on the location data comprises:

3. The cloud location method of claim 2, wherein computing pseudorange residuals and carrier residuals for said rover station based on said final position result comprises:

4. The cloud positioning method according to claim 3, wherein a baseline network is constructed based on VRS data of the rover station and the grid points, carrier differential positioning calculation of each baseline is completed, whether ambiguity is correctly fixed is judged by using ambiguity relation among the multiple baselines, and adjusting to obtain a final position result comprises:

5. The cloud positioning method according to claim 4, wherein the solving is performed based on the VRS data of the preset number of grid points, carrier differential positioning solving for each baseline is completed, and obtaining corresponding solving data comprises:

6. The cloud positioning method according to claim 4, wherein the ambiguity relation among multiple baselines is used for judging whether the ambiguity is correctly fixed, and the adjustment for obtaining the final position result comprises:

7. The cloud location method of claim 6, wherein calculating relative coordinates of each baseline based on the resolved data baselines comprises:

8. The cloud location method of claim 1, wherein said assessing whether said rover station is suitable as a reference station based on said pseudoranges and carrier residuals comprises:

9. The cloud location method of claim 1, wherein obtaining VRS data for a preset number of grid points closest to the rover station from a VRS grid database based on the coarse location data comprises:

and when the data exists, acquiring the data suitable for serving as the temporary reference station, and acquiring VRS data of a preset number of grid points closest to the rover station from a VRS database.

10. A cloud positioning device based on a CORS system is characterized by comprising:

11. A cloud positioning method based on a CORS system is characterized by comprising the following steps:

12. The cloud location method of claim 11, wherein said calculating pseudorange residuals and carrier residuals for said rover station based on VRS data for said preset number of grid points comprises:

acquiring a final positioning result based on the preset grid point data;

13. The cloud positioning method of claim 12, wherein obtaining a final positioning result based on the predetermined number of grid point data comprises:

and acquiring a final positioning result based on the resolving data.

14. The cloud positioning method according to claim 13, wherein performing a calculation based on the VRS data of the preset number of grid points, and obtaining a corresponding calculation result comprises:

15. The cloud positioning method of claim 13, wherein obtaining a final positioning result based on the resolved data comprises:

16. A cloud positioning device based on a CORS system is characterized by comprising:

17. A positioning system comprising a CORS system based cloud positioning device according to claim 16.

18. Cloud server, comprising the positioning system of claim 17.

19. A memory storing a computer program, the computer program being executable by a processor to perform the steps of:

20. A positioning terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the cloud positioning method based on the CORS system according to any one of claims 1 to 9 when executing the computer program.