CN111279221A - Position calibration method and device for reference station - Google Patents
Position calibration method and device for reference station Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- 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
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention provides a position calibration method and a position calibration device for a reference station, wherein the method comprises the following steps: acquiring input position data and observation position data of the reference station; calculating a difference value between the input position data and the observed position data; confirming whether the input position data is authentic based on the difference value and a predetermined difference value threshold value. The device and the method of the invention realize coordinate judgment when calibrating the position and ensure the accuracy of the coordinate of the calibration position.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a positioning method and apparatus.
Background
An RTK (Real-time kinematic) carrier phase differential technology is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and the carrier phase acquired by a reference station is sent to a user receiver for difference solving. The observation value and the coordinate position information of the reference station are transmitted to the RTK mobile station through the data link, and the RTK mobile station receives the data of the reference station through the data link, collects the satellite observation value data, processes the data in real time and further realizes positioning.
Therefore, the position of the RTK reference station needs to be calibrated when using the RTK carrier phase differential technique.
Disclosure of Invention
In a first aspect, an embodiment of the present invention provides a method for calibrating a position of a reference station, where the method at least includes:
acquiring input position data and observation position data of the reference station;
calculating a first difference value between the input position data and the observed position data;
confirming whether the input position data is authentic based on the first difference value and a predetermined first difference value threshold.
Optionally, the input location data and/or observed location data comprises altitude, longitude and latitude.
Optionally, the observed position data comprises a mean of satellite observations received by the reference station.
Optionally, the calculating a first difference between the input position and the observed position data comprises:
respectively converting the input position data and the observation position data into coordinates under a geocentric coordinate system;
calculating the first difference value based on the converted input position data and the observation position data.
Optionally, calculating the first difference value comprises: calculating a distance between the input location data and the observed location data at Earth-centered-Earth-fixed (ECEF) coordinates.
Optionally, confirming whether the input location data is authentic based on the difference value and a predetermined difference threshold comprises: confirming that the input position data is authentic when the difference is less than or equal to the difference threshold.
Optionally, the method further comprises: and taking the credible input position data as standard position data.
Optionally, the acquiring the input location data includes: receiving the input position data set by the user through a wireless link.
Optionally, after the reference station is restarted, the method further includes:
acquiring standard position data before restarting and observation position data after restarting;
calculating a second difference value between the standard position data before restarting and the observation position data after restarting;
and determining whether to adopt the standard position data before restarting as the standard position data or not based on the second difference and a preset second difference threshold.
Optionally, the determining whether to use the calibration location data before the restart based on the second difference and a predetermined second difference threshold includes: when the second difference is smaller than or equal to the second difference threshold, adopting the standard position data before restarting as the standard position data; and when the second difference is larger than the second difference threshold, not adopting the standard position data before restarting as the standard position data.
Optionally, the method further comprises: and when receiving an inquiry request, sending the standard position data of the reference station, wherein the inquiry request comprises information for inquiring the standard position data of the reference station.
Optionally, the method further comprises: and clearing the standard position data of the reference station when a clearing request is received, wherein the clearing request comprises information for clearing the standard position data of the reference station.
In a second aspect, an embodiment of the present invention provides a method for calibrating a position of a reference station, where the method at least includes:
setting the reference station to a handheld mode;
acquiring RTCM data from an RTK base station or a network RTK and satellite observation data;
and calculating and obtaining the reference point position data of the reference station in the handheld mode based on the RTCM data and the satellite observation data.
Optionally, the method further comprises: and switching the handheld mode of the reference station to a reference mode, and taking the position data of the guide point as standard position data.
Optionally, the acquiring RTCM data derived from an RTK base station or a network RTK includes: receiving RTCM data sent by a remote control device, wherein the RTCM data comprises the RTCM data sent to the remote control device by an RTK base station or a network RTK period.
Optionally, the reference station in the handheld mode transmits the waypoint location data to a remote control device for display.
In a third aspect, the present invention further provides a position calibration system for a reference station, which at least includes: a data source device for providing RTCM data;
the reference station in a handheld mode is used for obtaining the reference point position data of the basic station based on the RTCM data and the satellite observation data;
and the remote control device is used for transmitting the RTCM data of the data source device to the reference station in the handheld mode.
Optionally, the data source apparatus includes: a reference station or a network of reference stations.
Optionally, the remote control device is further configured to select the data source device.
Optionally, the remote control device is further configured to receive the lead position data of the base station. Optionally, the reference station performs position calibration of the reference station by using the method described above.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a method of position calibration of a reference station according to an embodiment of the invention;
FIG. 2 is a schematic flow diagram of an example of a method of position calibration of a reference station according to an embodiment of the invention;
FIG. 3 is a further method of position calibration of a reference station according to an embodiment of the invention;
FIG. 4 is a schematic flow diagram of an example of a method of position calibration of a reference station according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a position calibration system according to an embodiment of the present invention;
FIG. 6 is a position calibration arrangement for a reference station according to an embodiment of the present invention;
FIG. 7 is a position calibration arrangement for a further reference station according to an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a position calibration system for a reference station in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the conventional RTK reference station position calibration process, it is generally done by inputting coordinate position settings through a manual book, however, in this way, there are the following disadvantages: (1) if the input coordinate position is wrong, the user cannot directly obtain a feedback result; (2) restarting the reference station, and requiring the user to input the setting again; (3) in the use process of the reference station, a user cannot clearly know the calibration position used by the current reference station; (4) in the use process of the reference station, the calibration position of the current reference station cannot be cleared; (5) the reference station location acquisition is inconvenient and requires purchase or long-term measurement to acquire.
First, a position calibration method 100 of a reference station according to an embodiment of the present invention will be described with reference to fig. 1.
In step S110, input position data and observation position data of the reference station are acquired; in step S120, calculating a first difference value between the input position data and the observed position data;
finally, in step S130, it is determined whether the input position data is authentic based on the first difference and a predetermined first difference threshold.
The position calibration method of the reference station in the embodiment of the invention realizes coordinate judgment when the position is calibrated, thereby ensuring the accuracy of the coordinate of the calibrated position. According to an embodiment of the present invention, the step S110 may further include: receiving the input position data set by the user through a wireless link.
Wherein a user may interact with the reference station via a remote control. Specifically, the remote control device is connected with the reference station through a wireless link for communication and data transmission. The setting of the operating mode of the reference station can be effected, for example, by a user via a remote control device, and the position data of the reference station is entered and transmitted to the reference station via a wireless link.
Optionally, the wireless link includes: SDR (Software Defined Radio), 4G or WIFI link.
Optionally, the input location data and/or observed location data comprises altitude, longitude and latitude.
Optionally, the acquiring observation location data includes: and after the reference station is electrified, the satellite observation data is obtained through a GNSS chip.
Optionally, the observed position data comprises a mean of satellite observations received by the reference station.
According to an embodiment of the present invention, the step S120 may further include:
the calculating a first difference between the input location data and observed location data comprises:
respectively converting the input position data and the observation position data into coordinates under a geocentric coordinate system;
calculating the first difference value based on the converted input position data and the observation position data.
Optionally, the converting the input position data and the observation position data into coordinates in a geocentric-geostationary coordinate system respectively includes: calculating coordinates (X, Y, Z) under the geocentric geostationary coordinate system by adopting the following formula:
X＝(N+hgt)*cos(lat)*cos(lon)；
Y＝(N+hgt)*cos(lat)*sin(lon)；
Z＝[N*(1-e*e)+hgt]*sin(lat)；
e＝sqrt[1-(b*b)/(a*a)]；
N＝a/sqrt[1-e*e*pow(sin(lat)，2)]；
wherein a is a major semi-axis of a lower ellipsoid of the geocentric geostationary coordinate system, b is a minor semi-axis of the lower ellipsoid of the geocentric geostationary coordinate system, and e is the eccentricity of the ellipsoid; hgt is the altitude coordinate, lat is the latitude coordinate, and lon is the longitude coordinate.
Optionally, the calculating of the first difference value includes: first difference value
Wherein x1, y1, z1 are geocentric-geocentric coordinates (ECEF) coordinates of input position data conversion; x2, y2, z2 are geocentric-geocentric coordinates (ECEF) coordinates of observation position data conversion.
In fact, the setting process of the reference station is affected by human factors, external environmental factors and the like, so that the reference station cannot be completely ensured to be in a completely vertical and immovable state all the time, slight inclination or movement may occur, and thus data for resolving are inaccurate; to ensure the calibration accuracy, the altitude, longitude and latitude in the input position data and/or the observed position data need to be revised. The reference station comprises an Inertial Measurement Unit (IMU) for acquiring a deviation of the reference station; it may be determined whether the reference station is moving or tilting and a correction to the base station position data based on inertial measurement data of the IMU. For example, the inertial measurement data includes a tilt angle, and the correction value is obtained based on the tilt angle and a base station height.
Optionally, the converting the input position data and the observation position data into coordinates in a geocentric-geostationary coordinate system respectively may further include:
acquiring inertial measurement data of a reference station to obtain a base station position correction value;
and correcting the observation position data according to the base station position correction value and converting the observation position data into coordinates in a geocentric coordinate system.
Optionally, the converting the input position data and the observation position data into coordinates in a geocentric-geostationary coordinate system respectively may further include:
acquiring inertial measurement data of a reference station to obtain a base station position correction value under a geocentric coordinate system;
and correcting the observation position data converted into the geocentric geocooid coordinate system according to the base station position correction value in the geocentric geocooid coordinate system.
The correction of the observed position data may be performed inside the reference station, or may be transmitted to another device, calculated, and then transmitted to the reference station.
According to the embodiment of the present invention, the step S130 may further include: confirming that the input position data is authentic when the difference is less than or equal to the difference threshold.
Optionally, the trusted input position data is used as nominal position data of the reference station.
Optionally, the taking the trusted input position data as calibration position data of the reference station comprises: and configuring the credible input position data onto a GNSS receiving chip. Further, the trusted input position data is taken as position output data of 1005/1006 in the output RTCM data of the reference station.
Optionally, the input location data is saved, for example, into a "location fix file".
Optionally, when the difference is greater than the difference threshold, confirming that the input location data is not authentic.
Optionally, when the trusted input position data is used as the calibration position data of the reference station, prompting the user that the position calibration of the reference station is successful; and when the input position data is confirmed to be not credible, prompting the user that the position calibration of the reference station fails. By feeding back the position calibration result to the user, the problem that the user cannot directly obtain the feedback result is solved, and the possibility that the user inputs the calibration position by mistake is avoided.
Because the position calibration needs to be performed again after the existing reference station is restarted, great inconvenience is brought to a user, for example, the position of the reference station is not changed all the time, and the workload of the user is greatly increased by performing calibration every time of restarting. Therefore, the position calibration method of the reference station in the embodiment of the invention judges the position after restarting, and automatically uses the calibration position before restarting if the reference station is confirmed not to move; and if the position is changed, the calibration is carried out again. Thus, the problem of requiring the user to recalibrate the position after a restart when the reference station is not moving is avoided.
According to an embodiment of the invention, the method 100 further comprises:
after the reference station is restarted, acquiring standard position data before restarting and observation position data after restarting;
calculating a second difference value between the standard position data before restarting and the observation position data after restarting;
and determining whether to adopt the standard position data before restarting as the standard position data or not based on the second difference and a preset second difference threshold.
Optionally, the determining whether to use the calibration location data before the restart based on the second difference and a predetermined second difference threshold includes: when the second difference is smaller than or equal to the second difference threshold, adopting the standard position data before restarting as the standard position data; and when the second difference is larger than the second difference threshold, not adopting the standard position data before restarting as the standard position data.
Alternatively, the standard position data before the restart is cleared if the standard position data before the restart is not adopted as the standard position data.
According to an embodiment of the invention, the method 100 further comprises: and when receiving an inquiry request, sending the standard position data of the reference station, wherein the inquiry request comprises information for inquiring the standard position data of the reference station. The user can then clearly understand the calibration position currently used by the reference station.
According to an embodiment of the invention, the method 100 further comprises: and clearing the standard position data of the reference station when a clearing request is received, wherein the clearing request comprises information for clearing the standard position data of the reference station. The method and the device can facilitate a user to clear the calibration position of the current reference station according to requirements, and avoid the problem that the calibration position of the current reference station cannot be cleared in the use process of the reference station. Moreover, the problem that the position of the reference station is inconvenient to obtain and can be obtained only through purchase or long-term measurement is solved, the use efficiency of a user is improved, and the use cost of the user is reduced.
By inquiring and/or displaying the currently used calibration position of the reference station and clearing the currently used calibration position of the reference station, the usability and the considerable operability of the reference station are improved, and the user experience is further improved.
In one embodiment, the method 100 for position calibration of the reference station is further described based on specific examples. Referring to fig. 2, fig. 2 is a flow chart illustrating an example of a position calibration method of a reference station according to an embodiment of the present invention. The user interacts with the reference station through a remote controller APP, and the remote controller APP provides an input and output interface for the outside; the remote controller can be in communication connection with the reference station through an SDR or 4G or WIFI link. The position calibration method of the reference station comprises the following specific steps:
firstly, switching a reference station to a base station mode through a key, and carrying out frequency-matching connection with a remote controller through SDR; a user can input longitude, latitude and altitude data of a reference station through a remote controller APP 'set RTK base station coordinate' option, and click 'set' to set;
then, the remote controller sends the longitude, latitude and altitude data of the input reference station and a 'position calibration command' to the reference station; the reference station receives a position calibration command and longitude, latitude and altitude data input by a user;
then, after the reference station is powered on, calculating the average value of 100 groups of data converged by a GNSS receiving chip in the reference station; respectively converting longitude, latitude, altitude data input by a user and a mean coordinate converged by a reference station into coordinates under an earth-centered earth-fixed (ECEF) coordinate system;
calculating the difference value of the longitude, the latitude and the altitude data input by the user after conversion and the mean value of the convergence of the reference station; judging whether the difference value is within the range of 5m or not;
if the difference value is within the range of 5m, the coordinate input by the user is considered to be credible, the coordinate is configured on a GNSS receiving board card to be output as the position of the RTCM 1005/1006, and meanwhile, the coordinate is stored and recorded in a position calibration file; the remote controller APP prompts a user that the position is calibrated successfully;
if the difference value is not within the range of 5m, the coordinate input by the user is considered to be unreliable, and the remote controller APP prompts that the calibration position fails and the position of the reference station is out of the range of 5m, so that the user can know whether the data input by the user is effective in time, and the user is prevented from inputting the data by mistake.
After the reference station is restarted, a built-in GNSS receiving chip converges 100 groups of positioning data, and the average value is taken; meanwhile, reading a calibration position before restarting from a position calibration file; judging the difference value of the two positions to further judge whether the reference station moves, if the difference value is within the range of 0.5 m, determining that the reference station does not move, and using a calibration position before restarting; if the difference value between the two is not within the range of 0.5 m, the calibration position before restarting is not adopted, and the coordinate recorded by the position calibration file is cleared.
In addition, the user can also check or clear the calibration position used by the current reference station through the remote controller: the remote controller sends a command of inquiring the calibration position to the reference station, and the reference station receives the inquiry command and sends the used calibration coordinate to the remote controller APP for display; the remote controller sends a command of clearing the calibration position to the reference station; and the reference station receives the clearing command, clears the used calibration coordinate to be 0, configures the used calibration coordinate to a built-in GNSS receiving board card chip, and sends a clearing success response to the remote controller.
Another method 300 for position calibration of a reference station in accordance with an embodiment of the present invention is described with reference to FIG. 3. The method 300 includes:
setting the reference station to a handheld mode at step S310;
in step S320, RTCM data from an RTK base station or a network RTK and satellite observation data are acquired;
in step S330, the reference point position data of the reference station in the handheld mode is obtained by calculation based on the RTCM data and the satellite observation data.
In one embodiment, the positioning base station B and the positioning mobile station a synchronously observe Global Navigation Satellite System (GNSS) data. Obtaining a pseudo-range observation value and a carrier phase observation value for each satellite, taking positioning of a mobile station a and a satellite j as an example:
where L is the carrier phase observation, P is the pseudorange observation, ρ is the distance between the satellite and the base station, c is the speed of light, δ is the clock error, T is the tropospheric delay, I is the ionospheric delay, N is the integer ambiguity, and ε is the random error.
When the secondary difference is respectively carried out on the inter-station observation value and the inter-satellite observation value, the following results are obtained:
wherein, the carrier phase double difference value and the pseudo-range double difference value are respectively.
Because the distance between stations (between the base station B and the mobile station A) is far less than the distance (Aj, Bj) between the equistar stations, the ionosphere/troposphere effect on the paths of Aj and Bj can be considered to be very similar, so that the main elements influencing the positioning accuracy, such as a satellite clock, an ionosphere error, a troposphere error and the like, can be eliminated through double differences, and the relative position relationship between centimeter-level stations (between the base station B and the mobile station A) is obtained:
(Δx，Δy，Δz)
will locate the observation data (L) of base station BB，PB) A mode of transmitting the given mobile station a in Real time by wireless and performing joint solution is called Real-time dynamic difference, that is, difference of Real-time kinematic location data (RTK) is calculated.
If the accurate positioning (x) of the positioning base station B under the coordinate system can be obtainedb，yb，zb) The centimeter-level accurate positioning (X) of the positioning mobile station A can be obtainedr，Yr，Zr)。
Based on the differential positioning basic principle, the positioning mobile station can determine the positioning information of the positioning mobile station based on the second GNSS differential data of the positioning mobile station by using the first GNSS differential data of the positioning base station and the absolute positioning data of the positioning base station, so as to realize dotting positioning.
According to the embodiment of the present invention, the step S310 may further include: and setting the GNSS receiving chip in the reference station to be in a mobile station mode.
According to the embodiment of the present invention, the step S330 may further include: receiving RTCM data sent by a remote control device, wherein the RTCM data comprises the RTCM data sent to the remote control device by an RTK base station or a network RTK period.
Optionally, the reference station in the handheld mode transmits the waypoint location data to a remote control device for display.
The method for calibrating the position guide point in the handheld mode of the reference station realizes that the reference station in the handheld mode receives external RTCM data, calculates centimeter-level positioning by combining with a satellite observation value received by the reference station, and sets one key of the positioning position as the calibration position in the base station mode; the calibration position is used when the base station is switched to the base station mode, and the user can acquire and calibrate the coordinate position of the RTK base station conveniently.
According to an embodiment of the present invention, the method 300 further comprises: and switching the handheld mode of the reference station to a reference mode, and taking the position data of the guide point as standard position data.
As mentioned above, the reference station may slightly tilt or move during the actual operation, and if the RTK base station is moved or the RTK base station is in a tilted state, the GNSS differential data (RTCM data) provided by the RTK base station is inaccurate, which causes the RTCM data received by the reference station in the handheld mode to be inaccurate, thereby resulting in low accuracy of the calibration of the guide point. Meanwhile, the reference station in the handheld mode comprises a handheld rod, and the handheld rod is easily influenced by human factors, external environment factors and the like, and slightly inclines or moves, so that the data for resolving are inaccurate; in order to ensure the precision of the guide point calibration, the position data of the RTK reference station and/or the reference station in the handheld mode needs to be corrected.
The RTK reference station and the reference station in the handheld mode both comprise Inertial Measurement Units (IMUs) for acquiring a deviation of the RTK reference station and the reference station in the handheld mode; it is possible to determine whether movement or tilt has occurred and the correction value of the position data, respectively, based on inertial measurement data of the IMU of the RTK reference station and the reference station in handheld mode. For example, the inertial measurement data includes a tilt angle, and the correction value is derived from the tilt angle and a reference station or hand-held stick height.
The RTCM data of the RTK reference station can be corrected before being converted into the geocentric geostationary coordinate system, and can also be corrected after being converted into the geocentric geostationary coordinate system. Such as the correction method described above in the position calibration method 100.
The correction of the reference station in the hand-held mode may comprise a correction of satellite observation data or lead position data; similarly, the satellite observation data of the reference station in the handheld mode may be corrected before or after being converted into the geocentric/geostationary coordinate system.
It should be noted that, the correction of the RTCM data (including the observed position data) of the RTK reference station may be performed in the RTK reference station, or the positioning data and the inertial measurement data may be sent to other relay control devices (such as a remote control device, a server, etc.) for correction; similarly, the reference station in the handheld mode may be modified in the reference station in the handheld mode, and the positioning data (including satellite observation data or guide point position data) and the inertial measurement data may be sent to other relay control devices (such as a remote control device, a server, etc.) for modification.
Optionally, the acquiring the satellite observation data further comprises:
acquiring inertial measurement data of the reference station in the handheld mode, and acquiring a corrected value of the handheld base station;
and correcting the satellite observation data according to the correction value of the handheld base station.
Optionally, in step S320, the RTCM data is modified data.
In one embodiment, the method 300 for position calibration of a reference station is further described based on specific examples. Referring to fig. 4, fig. 4 is a flow chart illustrating an example of a position calibration method of a reference station according to an embodiment of the present invention. The user realizes interaction with the reference station through a remote controller APP, the reference station performs data transmission and communication with the remote controller APP through a wireless link, and receives observation data sent by a satellite; the remote control APP also receives periodically over a wireless link the GNSS differential data source (including the RTK reference station or the network RTK within the area). The position calibration method of the reference station comprises the following specific steps:
firstly, a user sets the reference station to be in a handheld mode through a remote controller APP, and a GNSS chip in the reference station is set to be in a mobile station mode;
then, selecting a GNSS differential data source through a remote controller APP, and periodically receiving RTK reference stations or network RTK in the area by the remote controller APP to send RTCM data; if an RTK base station in the area is selected as a data source, configuring an RTK option by the remote controller APP as an RTK base station; if the network RTK is selected as a data source, the remote controller APP configures an RTK option as the network RTK;
then, the remote controller APP sends the received RTCM data to a reference station in a handheld mode; meanwhile, the reference station in the handheld mode also receives satellite observation data from a satellite; the satellite observation data can be corrected, specifically, a handheld position correction value is obtained according to inertial measurement data of a reference station in a handheld mode, and the satellite observation data is corrected based on the handheld position correction value to obtain corrected satellite observation data;
resolving according to the received RTCM data and satellite observation data sent by the remote controller APP to obtain centimeter-level guide point positioning data;
then, the reference station in the handheld mode sends centimeter-level positioning data to the remote controller APP for display;
secondly, the user marks the guide point positioning data in the handheld mode as the marking position data of the reference station through a remote controller APP;
and finally, the user switches the handheld mode of the reference station to the base station mode through a remote controller APP, and the guide point positioning data is taken as calibration position data to take effect.
A position calibration system according to an embodiment of the invention is described with reference to fig. 5, the system comprising:
a data source device for providing RTCM data;
the reference station in a handheld mode is used for obtaining the reference point position data of the basic station based on the RTCM data and the satellite observation data;
and the remote control device is used for transmitting the RTCM data of the data source device to the reference station in the handheld mode.
Optionally, the data source apparatus includes: a reference station or a network of reference stations.
The data source devices can provide data (also called RTCM data) in a GNSS differential signal format, wherein a reference station can be arranged at a known position or an unknown position, and the reference station can carry out position calibration by adopting the position calibration method of the reference station provided by the embodiment of the invention; the network formed by the reference stations comprises Continuously Operating (satellite positioning service) reference stations (CORS stations for short) established by a multi-reference station network RTK technology, wherein the CORS stations perform integral modeling calculation in regions according to real-time observation data acquired by the reference stations, automatically generate a virtual reference station (comprising reference station coordinates and GPS observation value information) corresponding to a mobile station point location and provide code phase/carrier phase difference correction information in an international general format through an existing data communication network and/or a wireless data communication network.
Optionally, the data source device is further configured to transmit RTCM data to the remote control device. Further, the data source device periodically transmits RTCM data to the remote control device.
Optionally, the remote control device comprises a remote control APP.
Optionally, the remote control device is further configured to receive RTCM data sent by the data source device. Further, the remote control device periodically receives the RTCM data transmitted by the data source device.
Optionally, the remote control device is further configured to receive the lead position data of the base station.
Optionally, the remote control device is further configured to display the lead position data.
The remote control device not only realizes data communication between the data source device and the reference station in the handheld mode, but also realizes interaction between a user and the reference station in the handheld mode, the user sends a control signal to the reference station in the handheld mode through the remote control device to control the reference station to switch between different working modes, and the positioning data and other related information of the reference station in the handheld mode are displayed to the user, so that the user can know the working condition (such as calibration condition) of the reference station in the handheld mode in real time, and errors caused by human reasons are avoided.
Optionally, the remote control device is further configured to select the data source device. Further, the remote control device is configured according to the selected data source device. When a reference station is selected as a data source device, the remote control device configures its RTK option as an RTK base station; when the network consisting of the reference stations is selected as the data source device, the remote control configures its RTK option as the network RTK.
Optionally, the remote control device communicates with the data source device or the reference station in handheld mode via a wireless link. Further, the wireless link comprises an SDR (Software Defined Radio), 4G or WIFI link.
Optionally, the reference station in the handheld mode is configured to receive the RTCM data transmitted by the remote control device.
Meanwhile, the reference station in the handheld mode also receives satellite observation data which is sent by a satellite in real time through a wireless communication network; the reference station in the handheld mode jointly resolves the received satellite observation data and the received RTCM data sent by the remote control device in real time, so that coordinate increment (baseline vector) between a data source device and the reference station in the handheld mode can be obtained, and the guide point position data of the reference station in the handheld mode can be further obtained.
Optionally, after the reference station in the handheld mode is switched to the reference station in the base station mode, the reference position data is used as calibration position data of the reference station in the base station mode.
Therefore, the position calibration system provided by the embodiment of the invention can be used for centimeter-level accurate measurement, not only can be used for the position calibration of the reference station in a handheld mode, but also can be further used for occasions such as regional measurement. For example, a plurality of key points in the area to be measured are selected, the plurality of key points are measured by the position calibration system of the embodiment of the present invention, the reference station in the handheld mode can be respectively set at the positions of the plurality of key points, that is, the position data of the guide points of the reference station in the handheld mode, that is, the position data of the plurality of key points, is obtained, and the measurement information such as the boundary or the area of the area to be measured is obtained through data processing.
It should be noted that, the data source device may be a pre-existing reference station or a network composed of reference stations, or may be established in real time; when the data source device is established in real time, the position calibration method of the reference station in the embodiment of the invention can be adopted for calibration.
The operation of the position calibration system according to the embodiment of the present invention will be further described with reference to fig. 5. As shown in fig. 5, the position calibration system includes: a data source device which can be a reference station or a CORS station; the control device comprises a controller APP; a reference station in a hand-held mode. The GNSS satellite transmits satellite observation data to the data source device and the reference station in the handheld mode in real time.
And the data source device receives satellite observation data sent by the GNSS satellite and sends RTCM data to the controller APP based on the calibration position data of the data source device. Wherein the data source device may periodically send RTCM data to said controller APP.
The controller APP receives a user instruction, such as 'guide point calibration reference station position'; and the controller APP sends the RTCM data to a reference station in a handheld mode through a wireless link.
The reference station in the handheld mode receives RTCM data sent by the controller APP, and according to satellite observation data sent by a satellite implementing receiving, current lead position data of the reference station in the handheld mode are obtained through resolving, wherein the lead position data are centimeter-level positioning data; and the reference station in the handheld mode sends centimeter-level guide point position data to the controller APP.
Controller APP receives centimeter level lead point position data that the reference station under the handheld mode sent to with this data display in on the controller APP, the user of being convenient for acquires.
A position calibration apparatus of a reference station according to an embodiment of the present invention is described with reference to fig. 6, the apparatus 600 including:
a position data module 610 for acquiring input position data and observation position data of the reference station;
a difference calculation module 620, configured to calculate a difference between the input position data and the observed position data;
a data determining module 630, configured to determine whether the input location data is authentic based on the difference value and a predetermined difference threshold.
According to an embodiment of the present invention, the position data module 610 may further include: a communication module 611, configured to receive the input position data set by the user through a wireless link.
Wherein, the user can communicate with the remote control device through the communication module 611, thereby realizing the interaction with the reference station. Specifically, the remote control device establishes a wireless link with the reference station through the communication module 611 for communication and data transmission. The setting of the operating mode of the reference station can be effected, for example, by a user via a remote control device, and the position data of the reference station is entered and transmitted to the reference station via a wireless link.
Optionally, the wireless link includes: SDR (Software Defined Radio), 4G or WIFI link.
Optionally, the input location data and/or observed location data comprises altitude, longitude and latitude.
Optionally, the location data module 610 may further include: and an observation data module 612, configured to obtain the satellite observation data through a GNSS chip after the reference station is powered on.
Optionally, the observed position data comprises a mean of satellite observations received by the reference station.
Optionally, the location data module 610 may further include: a correction data module (not shown) for correcting the observed position data.
Wherein the reference station comprises an Inertial Measurement Unit (IMU) for obtaining a deviation of the reference station; it may be determined whether the reference station is moving or tilting and a correction to the base station position data based on inertial measurement data of the IMU. For example, the inertial measurement data includes a tilt angle, and the correction value is obtained based on the tilt angle and a base station height.
As RTCM data, at least the following message types are included:
| message type | Message description |
| 1 | Differential GPS correction |
| 2 | Delta differential GPS correction |
| 3 | GPS reference station coordinates |
| 9 | GPS partial correction device |
| 15 | Ionospheric delay information |
| 16 | Information message |
| 31 | Differential GLONASS correction |
| 32 | GLONASS reference station coordinates |
After monitoring the state of the base station using the IMU, the RTCM data may introduce a message type representing the state of the base station, and a message type for position compensating the state of the base station.
Alternatively, the message type of the base station status may be a boolean type indicating whether the base station is currently normal. The base station state location compensation is a location compensation value of an output result of the IMU, and the compensation value may include latitude and longitude and altitude information.
Based on this approach, for example, multiple base station data under the CORS station may be corrected.
According to an embodiment of the present invention, the difference calculating module 620 may further include:
the coordinate conversion module 621 is configured to convert the input position data and the observation position data into coordinates in a geocentric/geostationary coordinate system, respectively;
a first difference calculation module 622 for calculating the first difference based on the converted input position data and the observed position data.
Optionally, the coordinate conversion module 621 is further configured to: calculating coordinates (X, Y, Z) under the geocentric geostationary coordinate system by adopting the following formula:
X＝(N+hgt)*cos(lat)*cos(lon)；
Y＝(N+hgt)*cos(lat)*sin(lon)；
Z＝[N*(1-e*e)+hgt]*sin(lat)；
e＝sqrt[1-(b*b)/(a*a)]；
N＝a/sqrt[1-e*e*pow(sin(lat)，2)]；
wherein a is a major semi-axis of a lower ellipsoid of the geocentric geostationary coordinate system, b is a minor semi-axis of the lower ellipsoid of the geocentric geostationary coordinate system, and e is the eccentricity of the ellipsoid; hgt is the altitude coordinate, lat is the latitude coordinate, and lon is the longitude coordinate.
Optionally, the calculating of the first difference value includes: first difference value
Wherein x1, y1, z1 are geocentric coordinates (ECEF) coordinates of input position data conversion; x2, y2, z2 are earth-center earth-solid coordinates (ECEF) coordinates of observation position data conversion.
It is understood that the correction data module may perform the correction before the observation position data is converted into the data in the geocentric/geostationary coordinate system, or may perform the correction after the observation position data is converted into the data in the geocentric/geostationary coordinate system.
According to an embodiment of the present invention, the data determining module 630 may be further configured to: confirming that the input position data is authentic when the difference is less than or equal to the difference threshold.
Optionally, when the difference is greater than the difference threshold, confirming that the input location data is not authentic.
According to an embodiment of the present invention, the apparatus 600 further comprises:
a calibration module 640 for using the trusted input position data as calibration position data for the reference station.
Optionally, the calibration module 640 is further configured to: and configuring the credible input position data onto a GNSS receiving chip. Further, the trusted input position data is taken as position output data of 1005/1006 in the output RTCM data of the reference station.
Optionally, when the trusted input position data is used as the calibration position data of the reference station, prompting the user that the position calibration of the reference station is successful; and when the input position data is confirmed to be not credible, prompting the user that the position calibration of the reference station fails. The possibility that the user inputs the calibration position by mistake is avoided by feeding back the result of the position calibration to the user.
According to an embodiment of the present invention, the apparatus 600 further comprises:
and the saving module 650 saves the input position data. For example, to a "location fix file".
Because the position calibration needs to be performed again after the existing reference station is restarted, great inconvenience is brought to a user, for example, the position of the reference station is not changed all the time, and the workload of the user is greatly increased by performing calibration every time of restarting. Therefore, the position calibration method of the reference station in the embodiment of the invention judges the position after restarting, and automatically uses the calibration position before restarting if the reference station is confirmed not to move; and if the position is changed, the calibration is carried out again. Thus, the problem of requiring the user to recalibrate the position after a restart when the reference station is not moving is avoided.
According to an embodiment of the present invention, the apparatus 600 further comprises:
the restarting module 660 is configured to, after the reference station is restarted, obtain standard location data before restarting and observation location data after restarting.
Optionally, the difference calculating module 620 further includes:
and a second difference calculation module 623, configured to calculate a second difference between the standard position data before the restart and the observed position data after the restart.
Optionally, the data determining module 630 may be further configured to:
and determining whether to adopt the standard position data before restarting as the standard position data or not based on the second difference and a preset second difference threshold.
Optionally, the calibration module 640 may be further configured to: when the second difference is smaller than or equal to the second difference threshold, adopting the standard position data before restarting as the standard position data; and when the second difference is larger than the second difference threshold, not adopting the standard position data before restarting as the standard position data.
According to an embodiment of the present invention, the apparatus 600 further comprises:
a query module 670, configured to send the standard position data of the reference station when receiving a query request, where the query request includes information for querying the standard position data of the reference station.
According to an embodiment of the present invention, the apparatus 600 further comprises:
a clearing module 680, configured to clear the reference station at the specified position data when a clearing request is received, where the clearing request includes information for clearing the reference station at the specified position data.
Optionally, the purge module 680 is further configured to: and if the standard position data before restarting is not adopted as the standard position data, the standard position data before restarting is clear.
Referring to fig. 7, a position calibration apparatus of a reference station according to another embodiment of the present invention is described, the apparatus 700 including:
a mode setting module 710, configured to set the reference station to a handheld mode or a reference mode;
a data acquiring module 720, configured to acquire RTCM data from an RTK base station or a network RTK, and satellite observation data;
the data calculating module 730 is used for calculating and obtaining the reference point position data of the reference station in the handheld mode based on the RTCM data and the satellite observation data;
a position setting module 740 configured to configure the guiding point position data to the GNSS receiver of the reference station.
According to an embodiment of the present invention, the mode setting module 710 is further configured to: and setting the GNSS receiving chip in the reference station to be in a mobile station mode.
According to an embodiment of the present invention, the data obtaining module 720 further includes: receiving RTCM data sent by a remote control device, wherein the RTCM data comprises the RTCM data sent to the remote control device by an RTK base station or a network RTK period.
Optionally, the apparatus 700 is further configured to send the reference station in the handheld mode to a remote control device for display.
Optionally, the apparatus 700 further comprises: a correction module (not shown) for correcting said satellite observation data or waypoint location data.
According to the method, the device and the system for calibrating the position of the reference value, provided by the embodiment of the invention, when a user sets the coordinate of the RTK reference station, the data validity judgment of the RTK reference station is realized, the calibration result is visually displayed to the user, and the user is prevented from inputting wrong data and being unaware of the data; after the RTK reference station is restarted, if no position movement occurs, the coordinate calibrated at the last time is automatically used, the user does not need to input again, and the user experience is improved; the user can also inquire or clear the coordinates used by the current RTK reference point, so that the usability of the reference station is improved; through the one-key guide point calibration function in the handheld mode, a user can quickly and conveniently acquire and set the position of the RTK reference station.
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.
FIG. 8 shows a schematic block diagram of a position calibration system 800 of a reference station according to an embodiment of the invention. The position calibration system 800 of the reference station includes a storage device 810 and a processor 820,
the storage 810 stores program codes for implementing respective steps in the position calibration method of the reference station according to the embodiment of the present invention.
The processor 820 is configured to run the program codes stored in the storage 810 to perform the corresponding steps of the position calibration method of the reference station according to the embodiment of the present invention, and is configured to implement the corresponding modules in the position calibration device of the reference station according to the embodiment of the present invention.
Furthermore, according to an embodiment of the present invention, there is also provided a storage medium on which program instructions are stored, which when executed by a computer or a processor are used for executing the respective steps of the position calibration method of the reference station of an embodiment of the present invention, and for implementing the respective modules in the position calibration device of the reference station according to an embodiment of the present invention. The computer readable storage medium can be any combination of one or more computer readable storage media, e.g., one containing computer readable program code for randomly generating sequences of action instructions and another containing computer readable program code for canine-only management.
Technical terms used in the embodiments of the present invention are only used for illustrating specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, the use of "including" and/or "comprising" in the specification is intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or components.
The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below, if any, are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Various modifications and alterations to this invention will become apparent to those skilled in the art without departing from the scope and spirit of this invention. The embodiments described herein are further intended to explain the principles of the invention and its practical application and to enable others skilled in the art to understand the invention.
The flow chart described in the present invention is only an example, and various modifications can be made to the diagram or the steps in the present invention without departing from the spirit of the present invention. For instance, the steps may be performed in a differing order, or steps may be added, deleted or modified. It will be understood by those skilled in the art that all or a portion of the above-described embodiments may be practiced and equivalents thereof may be resorted to as falling within the scope of the invention as claimed.
Claims (23)
1. A method for calibrating a position of a reference station, the method comprising:
acquiring input position data and observation position data of the reference station;
calculating a first difference value between the input position data and the observed position data;
confirming whether the input position data is authentic based on the first difference value and a predetermined first difference value threshold.
2. The method of claim 1, wherein the input location data and/or observed location data comprises altitude, longitude, and latitude.
3. The method of claim 2, wherein the observed position data comprises a mean of satellite observations received by the reference station.
4. The method of claim 3, wherein the calculating a first difference between the input location and observed location data comprises:
respectively converting the input position data and the observation position data into coordinates under a geocentric coordinate system;
calculating the first difference value based on the converted input position data and the observation position data.
Earth center earth-solid coordinate system earth center earth-solid coordinate system
5. The method of claim 4, wherein calculating the first difference value comprises: calculating a distance between the input location data and the observed location data at Earth-centered-Earth-fixed (ECEF) coordinates. Earth-centered earth-fixed coordinates (ECEF).
6. The method of any of claims 1-5, wherein confirming whether the input location data is authentic based on the difference and a predetermined difference threshold comprises: confirming that the input position data is authentic when the difference is less than or equal to the difference threshold.
7. The method of claim 6, wherein the method further comprises: and taking the credible input position data as standard position data.
8. The method of claim 6, wherein the obtaining the input location data comprises: receiving the input position data set by the user through a wireless link.
9. The method of claim 1, wherein when the reference station is restarted, the method further comprises:
acquiring standard position data before restarting and observation position data after restarting;
calculating a second difference value between the standard position data before restarting and the observation position data after restarting;
and determining whether to adopt the standard position data before restarting as the standard position data or not based on the second difference and a preset second difference threshold.
10. A method as claimed in claim 9, wherein said confirming whether or not to employ the nominal position data before restart based on said second difference and a predetermined second difference threshold comprises: when the second difference is smaller than or equal to the second difference threshold, adopting the standard position data before restarting as the standard position data; and when the second difference is larger than the second difference threshold, not adopting the standard position data before restarting as the standard position data.
11. The method of claim 1, wherein the method further comprises: and when receiving an inquiry request, sending the standard position data of the reference station, wherein the inquiry request comprises information for inquiring the standard position data of the reference station.
12. The method of claim 1, wherein the method further comprises: and clearing the standard position data of the reference station when a clearing request is received, wherein the clearing request comprises information for clearing the standard position data of the reference station.
13. A method for calibrating a position of a reference station, the method comprising:
setting the reference station to a handheld mode;
acquiring RTCM data from an RTK base station or a network RTK and satellite observation data;
and calculating and obtaining the reference point position data of the reference station in the handheld mode based on the RTCM data and the satellite observation data.
14. The method of claim 13, wherein the method further comprises: and switching the handheld mode of the reference station to a reference mode, and taking the position data of the guide point as standard position data.
15. The method of claim 14, wherein the acquiring RTCM data derived from an RTK base station or a network RTK comprises: receiving RTCM data sent by a remote control device, wherein the RTCM data comprises the RTCM data sent to the remote control device by an RTK base station or a network RTK period.
16. The method of claim 15 wherein the reference station in the hand-held mode transmits the waypoint location data to a remote control device for display.
17. A position calibration system, the system comprising:
a data source device for providing RTCM data;
the reference station in a handheld mode is used for obtaining the reference point position data of the basic station based on the RTCM data and the satellite observation data;
and the remote control device is used for transmitting the RTCM data of the data source device to the reference station in the handheld mode.
18. The system of claim 17, wherein the data source device comprises: a reference station or a network of reference stations.
19. The system of claim 18, wherein the remote control device is further configured to select the data source device.
20. The system of claim 19, wherein the remote control device is further configured to receive lead location data for the base station.
21. A system according to claim 18, wherein the reference station uses the method of any of claims 1 to 16 for position calibration of the reference station.
22. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions which are executed for implementing the method of any one of claims 1 to 12.
23. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions which are executed for implementing the method of any one of claims 13 to 16.
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| CN113115209A (en) * | 2021-04-13 | 2021-07-13 | 杭州启飞智能科技有限公司 | Method and system for acquiring RTK reference point |
| CN112965087A (en) * | 2021-04-25 | 2021-06-15 | 上海井融网络科技有限公司 | Data processing method for reference station, measuring system and RTK receiver |
| CN112965087B (en) * | 2021-04-25 | 2024-03-19 | 苏州天硕导航科技有限责任公司 | Data processing method, measuring system and RTK receiver for reference station |
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| WO2020124494A1 (en) | 2020-06-25 |
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