CN111386477A - Observation data conversion method, equipment, movable platform and storage medium - Google Patents
Observation data conversion method, equipment, movable platform and storage medium Download PDFInfo
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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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Abstract
An observation data conversion method, an observation data conversion device, a movable platform and a storage medium, wherein real-time RTCM data are acquired and stored in a storage unit (S101); sequentially placing RTCM data fragments of a preset data volume acquired from a storage unit in a buffer unit according to a time sequence (S102); the RTCM data fragments in the cache unit are resolved, and the resolved result is written into the pre-created RINEX data, thereby obtaining real-time RINEX data (S103). The real-time RTCM data are divided into the RTCM data fragments to be sequentially written into the RINEX data which are created in advance, so that the real-time RTCM data are converted into the real-time RINEX data, the satellite observation data can be analyzed and applied through the real-time RINEX data, and the RINEX data can be obtained only by exporting the complete RTCM data and then carrying out data conversion through a third party transcoding tool when the post-processing is not needed.
Description
Technical Field
The embodiment of the invention relates to the field of satellite navigation, in particular to an observation data conversion method, equipment, a movable platform and a storage medium.
Background
The rinex (receiver Independent exchange) format is a data exchange format Independent of the receiver, and the format stores data by using a text file, and the data recording format is Independent of the manufacturer and specific model of the receiver. Nowadays, the RINEX format is already a standard data format for GPS measurement applications and the like, and almost all data analysis processing software can directly read the data in the RINEX format, which means that in actual observation work, mixed formation can be performed by using receivers of different manufacturers and different models, and data processing can be performed by using a specific software.
Taking the existing general Post-processing differential (PPK) workflow as an example: the user needs to take a copy of observation data of the base station and a copy of observation data of the mobile station, export the corresponding data from the base station and the mobile station, then transcode the data through a third party transcoding tool, and import the data into specific processing software for post-processing after the observation data of the base station and the mobile station are transcoded into RINEX format. The existing observation data conversion method usually needs to be finished by post-processing, and a user cannot obtain a RINEX file in real time, so that the real-time data analysis processing cannot be carried out.
Disclosure of Invention
The embodiment of the invention provides an observation data conversion method, equipment, a movable platform and a storage medium, which are used for realizing the real-time conversion of real-time RTCM (real-time transform and real-time kinematic index) data into real-time RINEX data, and further carrying out satellite observation data analysis and application through the real-time RINEX data.
A first aspect of an embodiment of the present invention provides an observation data conversion method, including:
acquiring real-time RTCM data and storing the real-time RTCM data in a storage unit;
sequentially arranging RTCM data fragments of a preset data volume in a cache unit according to a time sequence;
and resolving the RTCM data fragments in the cache unit, and writing a resolving result into pre-created RINEX data so as to obtain real-time RINEX data.
A second aspect of an embodiment of the present invention is to provide observation data conversion apparatus, including: a memory and a processor;
the memory is used for storing program codes;
the processor calls the program code, and when the program code is executed, performs the following:
acquiring real-time RTCM data and storing the real-time RTCM data in a storage unit;
sequentially arranging RTCM data fragments of a preset data volume in a cache unit according to a time sequence;
and resolving the RTCM data fragments in the cache unit, and writing a resolving result into pre-created RINEX data so as to obtain real-time RINEX data.
A third aspect of an embodiment of the present invention is to provide a movable platform, including:
a body;
the power system is arranged on the machine body and used for providing power;
the positioning system is used for acquiring real-time RTCM data of the movable platform; and
the observation data converting apparatus according to the second aspect.
A fourth aspect of embodiments of the present invention is to provide a computer-readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the method according to the first aspect.
The observation data conversion method, the observation data conversion device, the movable platform and the storage medium provided by the embodiment acquire real-time RTCM data and store the real-time RTCM data in the storage unit; sequentially arranging RTCM data fragments of a preset data volume acquired from a storage unit in a cache unit according to a time sequence; and resolving the RTCM data fragments in the cache unit, and writing a resolving result into the pre-created RINEX data so as to obtain the real-time RINEX data. The embodiment divides the real-time RTCM data into the RTCM data fragments to be sequentially performed, and sequentially writes the calculation result into the RINEX data which is created in advance, so that the real-time RTCM data is converted into the real-time RINEX data, the satellite observation data can be analyzed and applied through the real-time RINEX data, and the RINEX data can be obtained only by exporting the complete RTCM data and performing data conversion through a third party transcoding tool when the post-processing is not needed.
Drawings
In order to more clearly illustrate the technical solutions in 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 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 inventive labor.
FIG. 1 is a flow chart of a method for transforming observation data according to an embodiment of the present invention;
FIG. 2 is a flowchart of an observation data transformation method according to another embodiment of the present invention;
FIG. 3 is a flowchart of an observation data transformation method according to another embodiment of the present invention;
FIG. 4 is a flowchart of an observation data transformation method according to another embodiment of the present invention;
FIG. 5 is a flowchart of an observation data transformation method according to another embodiment of the present invention;
fig. 6 is a structural diagram of an observation data conversion apparatus according to an embodiment of the present invention;
fig. 7 is a block diagram of a movable platform according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides an observation data conversion method. Fig. 1 is a flowchart of an observation data conversion method according to an embodiment of the present invention. As shown in fig. 1, the method in this embodiment may include:
and S101, acquiring real-time RTCM data and storing the real-time RTCM data in a storage unit.
In this embodiment, the RTCM data is differential information data based on a standard formulated by the radio technical Commission for Maritime services (radio technical Commission). The method of this embodiment may be applied to a mobile platform (such as an unmanned aerial vehicle, a remote control car, and the like), a base station, a handheld RTK (Real-time kinematic), and the like, and may receive a satellite signal or a reference station signal through a receiver, so as to obtain Real-time RTCM data. In this embodiment, the real-time RTCM data is streaming data, and may be stored in the storage unit after the real-time RTCM data is acquired.
And step S102, acquiring RTCM data fragments with preset data volume from the storage unit according to time sequence and sequentially placing the RTCM data fragments in a cache unit.
In this embodiment, a buffer unit with an appropriate size is configured in advance, and the RTCM data segments with a predetermined data size are acquired from the storage unit and temporarily stored in the buffer unit, where the data size of the RTCM data segments may be smaller than or equal to the storage capacity of the buffer unit, and further, the RTCM data segments in the buffer unit may be solved. And when one RTCM data segment is finished, acquiring the next RTCM data segment after the finished RTCM data segment from the storage unit according to the time sequence, and temporarily storing the next RTCM data segment in the cache unit for resolving.
And step S103, resolving the RTCM data fragments in the cache unit, and writing a resolving result into pre-created RINEX data so as to obtain real-time RINEX data.
In this embodiment, the RTCM data segments in the cache unit are resolved into RINEX data, and a resolving method in the prior art may be adopted, which is not described herein again. In this embodiment, a RINEX data is created in advance, where the created RINEX data can be stored in a storage unit, the calculation result of the RTCM data fragment in the cache unit is written into the created RINEX data, and the real-time RINEX data is obtained by continuously calculating the RTCM data fragment and continuously updating the created RINEX data. Because the RTCM data can not be displayed in plaintext, the converted RINEX data can be displayed in plaintext, and further satellite observation data analysis and application can be performed through the real-time RINEX data. The method of the embodiment can directly obtain real-time RINEX data, does not need to export complete RTCM data during post-processing and then carry out data conversion by a third-party transcoding tool to obtain the RINEX data, avoids the need of only applying a specific third-party transcoding tool, saves time and cost, can be applied to embedded equipment such as a base station, a mobile station and the like, and can dynamically generate the RINEX data.
In the observation data conversion method of the embodiment, real-time RTCM data are acquired and stored in a storage unit; sequentially arranging RTCM data fragments of a preset data volume acquired from a storage unit in a cache unit according to a time sequence; and resolving the RTCM data fragments in the cache unit, and writing a resolving result into the pre-created RINEX data so as to obtain the real-time RINEX data. The embodiment divides the real-time RTCM data into the RTCM data fragments to be sequentially performed, and sequentially writes the calculation result into the RINEX data which is created in advance, so that the real-time RTCM data is converted into the real-time RINEX data, the satellite observation data can be analyzed and applied through the real-time RINEX data, and the RINEX data can be obtained only by exporting the complete RTCM data and performing data conversion through a third party transcoding tool when the post-processing is not needed.
On the basis of the above embodiment, the pre-created RINEX file includes a file header portion and an observation data portion.
The header portion is a description of the approximate profile of the file, and the observation data portion is various types of observation data for each satellite. Taking the version of RINEX3.03 as an example, the format of the file header part of the RINEX file is as follows:
(1) RINEX VERSION/TYPE: RINEX VERSION number, such as 3.03, following character "O" indicating that the file TYPE is an observed value, TYPE indicating an observed value data TYPE, blank space or G indicating that the observed is GPS data, R is GLONASS, S is a geostationary satellite GPS signal generator payload, T is an NNSS meridional satellite, and M is a hybrid system;
(2) PGM/RUN BY/DATE: creating the name of the program adopted by the data file; creating the name of the data file unit; the date the data file was created;
(3) COMMENT: an annotation line;
(4) MARKER NAME: roll calling;
(5) MARKER NUMBER: counting;
(6) OBSERVER/AGENCY: observer name/observation unit name;
(7) REC #/TYPE/VERS: receiver sequence number, type and version;
(8) ANT #/TYPE: antenna number and type.
(9) APPROX POSITION XYZ: station approximation coordinates (WGS 84);
(10) ANTENNA DELTA H/E/N: the antenna is eccentric. Namely antenna height (higher than the antenna lower surface height of the sign) and eccentricity of the antenna center in the east and north directions with respect to the sign;
(11) #/OBS TYPES: the number of different observation value types and an observation value type list are stored in the data file;
(12) #/OBS SHIFT: the phase shifts of the satellite systems for different observation types are stored in the data file.
The observation data section of the RINEX file is as follows:
(1) observing epoch time: year (2 digits), month, day, hour, minute, second;
(2) and (3) epoch marking: 0 represents normal, 1 represents that power failure occurs between the previous epoch and the current epoch, and more than 1 is an event mark; 2 denotes the start of the antenna movement; 3 denotes new station set (dynamic data end) (at least record MARKER NAME needs to be followed later); 4, followed by information similar to the header of the file, for explaining some special cases that occur during the observation; 5 external events (epoch time belongs to the same time frame as the observation time scale), if epoch flag 6, then the following is a record describing the detected and repaired cycle slip (same format as OBSERVATIONS records, however, the observation is replaced by cycle slip, LLI and signal strength are blank or 0);
(3) the number of satellites observed by the current epoch is used to illustrate the number of records immediately following, i.e. there are a few lines following for the description of the event;
(4) the PRN list of satellites observed by the current epoch.
In this embodiment, by creating a RINEX file including the file header portion and the observation data portion in the above format in advance, and when subsequently calculating the RTCM data fragment, acquiring information required in the file header portion and the observation data portion, that is, S103, calculating the RTCM data fragment in the cache unit, as shown in fig. 2, specifically includes:
step S201, resolving the RTCM data segment in the cache unit to obtain satellite system information, observation epoch information and satellite observation data.
The satellite system information includes, for example, a satellite system type (e.g., GPS, GALILEO, GLONASS, BEIDOU, etc.), a satellite number, etc., observation epoch information such as an observation epoch time, an epoch flag, etc., and satellite observation data such as a phase shift type, an observation value, etc.
Further, when the RTCM data segments in the cache unit are solved, the RTCM data segments need to be solved according to the system UTC time, so that the solution result is an analysis result under the GPS weekly time system required by the RINEX file.
In this embodiment, the RINEX file needs to record Time in the GPS week Time system, so the Time in the RTCM data fragment can be automatically converted into the GPS week needed to generate the RINEX file according to the system UTC Time (Coordinated Universal Time, world standard Time), that is, the RTCM data fragment is resolved according to the system UTC Time, so that the resolved result is the resolved result in the GPS week Time system needed by the RINEX file.
In addition, in this embodiment, the base station POSITION (i.e., approximate coordinates of the APPROX POSITION XYZ station required in item 9 of the header section) can be automatically obtained from the virtual base station POSITION contained in the 1005/1006 th data frame in the RTCM data, so that the base station POSITION does not need to be manually input, thereby facilitating the creation of the header section of the RINEX file.
On the basis of the foregoing embodiment, as shown in fig. 2, writing the solution result into the RINEX file after S201 may specifically include:
and step S202, updating the header part of the file according to the calculation result, and writing the calculation result into the observation data part.
In this embodiment, since the multiple RTCM data fragments are resolved to obtain one RINEX file, and one file header is shared as an introduction of the approximate outline of the RINEX file, the RINEX file is continuously updated during the resolving process, so that it is necessary to continuously update the file header portion according to the resolving result, and write the resolving result into the observation data portion. It should be noted that, when a solution is performed on an RTCM data fragment, the solution result is written into the observation data portion in real time, and after the solution of the RTCM data fragment is completed, the header portion of the RINEX file may be updated according to the solution result.
On the basis of any of the foregoing embodiments, the updating the header portion according to the solution result in S202 includes:
counting the satellite system information and the observation epoch information according to the resolving result;
and updating the file header part according to the satellite system information and the observation epoch information.
In this embodiment, the number of different observation types and the observation type list, and the phase SHIFT of the satellite systems of different observation types are counted according to the calculation result, and then the "#/obstype" of the 11 th item and the "#/OBS SHIFT" of the 12 th item in the header portion are updated according to the above information, that is, the number of different observation types and the observation type list stored in the rintex file, and the phase SHIFT of the satellite systems of different observation types are updated.
On the basis of any of the foregoing embodiments, the writing of the solution result into the observation data portion in S202 includes:
writing the satellite system information, the observation epoch information, and the satellite observation data into the observation data portion.
In this embodiment, the satellite system information, the observation epoch information, and the satellite observation data in the solution result of the RTCM data fragment are directly recorded in the observation data portion of the foregoing RINEX file, and specifically, the observation epoch time, the epoch flag, the number of satellites observed by the current epoch, the description of the observation event, and the PRN (pseudo random noise code) list of the satellites observed by the current epoch, and the like can be recorded.
On the basis of any of the above embodiments, as shown in fig. 3, the observation data conversion method may further include:
step S301, receiving an output instruction of the real-time RINEX data;
and step S302, after updating the file header part according to the output instruction, outputting the real-time RINEX data.
In this embodiment, if no real-time RINEX data output command is received, the steps described in S101-S103 are continuously executed; when an output instruction of the real-time RINEX data is received, it is indicated that the real-time RINEX data needs to be output, because the RTCM data segment in the current cache unit may not be completely resolved at this time, that is, the header part of the real-time RINEX data may not be updated according to the resolving result at this time, if the current real-time RINEX data is directly output at this time, a certain error may exist in the header part, and the general view of the real-time RINEX data cannot be truly reflected, therefore, before the real-time RINEX data is output according to the output instruction, the header part of the file needs to be updated, and specifically, the header part of the file can be updated according to the resolving result that the RTCM data segment in the current cache unit has been resolved. Of course, in another optional embodiment, an output condition of the real-time rintex data may also be set, and it may be determined in real time during the calculation process of the RTCM data segment whether the output condition of the real-time rintex data is satisfied, if so, the real-time rintex data is output after updating the header portion of the file, and if not, the calculation process of the RTCM data segment is continued.
On the basis of any embodiment, the observation data conversion method is applied to a movable platform; wherein the movable platform includes unmanned vehicles, unmanned vehicles includes fuselage, driving system, positioning system etc. and driving system installs the fuselage for provide power, positioning system are used for acquireing movable platform's real-time RTCM data. Of course the movable platform may comprise other movable platforms such as a remote control car.
In this embodiment, the acquiring the real-time RTCM data in S101 may specifically include:
and acquiring real-time RTCM data of the movable platform through a positioning system of the movable platform.
In this embodiment, the mobile platform obtains the real-time RTCM data of the mobile platform through the positioning system, specifically, the positioning system may include a receiver (e.g., a GNSS receiving chip board card) to receive a satellite signal or a reference station signal, so as to obtain the real-time RTCM data of the mobile platform.
It should be noted that, as shown in fig. 4, before the real-time RTCM data of the movable platform is acquired by the positioning system of the movable platform, it is further required to:
step S401, configuring the positioning system of the movable platform as a mobile station mode, and calibrating the coordinate information of the positioning system.
In this embodiment, the movable platform first needs to configure the positioning system in a mobile station mode, and specifically, may be switched to a base station mode through a key, so as to configure a GNSS reception chip board card built in the movable platform in the mobile station mode, and calibrate the coordinate position of the base station. Further, the UTC time of the mobile platform positioning system may also be obtained and converted to GPS cycles.
Correspondingly, the acquiring real-time RTCM data of the movable platform by the positioning system of the movable platform includes:
and S402, receiving satellite observation data through a positioning system of the movable platform, and outputting real-time RTCM data based on the coordinate information.
Further, steps S403-S405 may be performed:
and S403, storing the real-time RTCM data in a storage unit.
S404, acquiring RTCM data fragments with preset data volume from the storage unit according to a time sequence and sequentially placing the RTCM data fragments in a cache unit;
step S405, calculating the RTCM data segment in the cache unit, and writing a calculation result into the pre-created RINEX data, thereby obtaining real-time RINEX data.
Wherein steps S403 to S405 are the same as those in the above embodiments, and the detailed method is not described herein again.
On the basis of any of the above embodiments, as shown in fig. 5, the observation data conversion method may further include:
s501, acquiring image acquisition time of a movable platform;
step S502, acquiring the position information of the movable platform from the real-time RINEX data according to the image acquisition time;
and S503, associating the acquired image with the position information.
In this embodiment, the movable platform is further provided with a photographing device, mounted on the body, for capturing images. When the movable platform collects images through the shooting equipment, the image collecting time is recorded, then the position information of the movable platform is obtained from the real-time RINEX data according to the image collecting time, and then the images collected by the shooting equipment are associated with the obtained position information, namely the position information of the movable platform when the images are collected can be recorded, so that the subsequent image processing is facilitated.
The embodiment of the invention provides observation data conversion equipment. Fig. 6 is a block diagram of an observation data conversion device according to an embodiment of the present invention, and as shown in fig. 6, the observation data conversion device 60 includes a memory 61 and a processor 62.
The memory 61 is used for storing program codes;
the processor 62 calls the program code, and when the program code is executed, performs the following:
acquiring real-time RTCM data and storing the real-time RTCM data in a storage unit;
sequentially arranging RTCM data fragments of a preset data volume in a cache unit according to a time sequence;
and resolving the RTCM data fragments in the cache unit, and writing a resolving result into pre-created RINEX data so as to obtain real-time RINEX data.
Furthermore, the observation data converting apparatus 60 further includes a communication interface 63.
On the basis of the above embodiment, the pre-created RINEX file includes a file header portion and an observation data portion;
when the processor 62 writes the solution results into pre-created RINEX data, the processor 62 is configured to:
and updating the file header part according to the resolving result, and writing the resolving result into an observation data part.
On the basis of any of the above embodiments, when the processor 62 performs resolution on the RTCM data segments in the cache unit, the processor 62 is configured to:
and resolving the RTCM data segment in the cache unit to acquire satellite system information, observation epoch information and satellite observation data.
On the basis of any of the above embodiments, when the processor 62 updates the file header portion according to the solution result, the processor 62 is configured to:
counting the satellite system information and the observation epoch information according to the resolving result;
and updating the file header part according to the satellite system information and the observation epoch information.
On the basis of any of the above embodiments, when the processor 62 writes the solution result into the observation data portion, the processor 62 is configured to:
writing the satellite system information, the observation epoch information, and the satellite observation data into the observation data portion.
On the basis of any of the above embodiments, the processor 62 is further configured to:
receiving an output instruction of the real-time RINEX data;
and outputting the real-time RINEX data after updating the file header part according to the output instruction.
On the basis of any of the above embodiments, when the processor 62 performs resolution on the RTCM data segments in the cache unit, the processor 62 is configured to:
and resolving the RTCM data fragment according to the UTC time of the system so that the resolving result is the resolving result under the GPS weekly time system required by the RINEX file.
On the basis of any of the above embodiments, the observation data conversion device is configured on the movable platform;
when the processor 62 acquires real-time RTCM data, the processor 62 is configured to:
and acquiring real-time RTCM data of the movable platform through a positioning system of the movable platform.
On the basis of any of the above embodiments, before the processor 62 acquires the real-time RTCM data of the movable platform through the positioning system of the movable platform, the processor 62 is further configured to:
configuring a positioning system of the movable platform into a mobile station mode, and calibrating coordinate information of the positioning system;
accordingly, when the processor 62 obtains real-time RTCM data of the movable platform via the positioning system of the movable platform, the processor 62 is configured to:
and receiving satellite observation data through a positioning system of the movable platform, and outputting real-time RTCM data based on the coordinate information.
On the basis of any of the above embodiments, the processor 62 is further configured to:
acquiring the image acquisition time of the movable platform;
acquiring the position information of the movable platform from the real-time RINEX data according to the image acquisition time;
correlating the acquired image with the location information.
On the basis of any of the above embodiments, the movable platform comprises an unmanned aerial vehicle.
The specific principle and implementation manner of the observation data conversion device provided by the embodiment of the present invention are similar to those of the above embodiments, and are not described herein again.
The observation data conversion device provided by the embodiment acquires real-time RTCM data and stores the real-time RTCM data in the storage unit; sequentially arranging RTCM data fragments of a preset data volume acquired from a storage unit in a cache unit according to a time sequence; and resolving the RTCM data fragments in the cache unit, and writing a resolving result into the pre-created RINEX data so as to obtain the real-time RINEX data. The embodiment divides the real-time RTCM data into the RTCM data fragments to be sequentially performed, and sequentially writes the calculation result into the RINEX data which is created in advance, so that the real-time RTCM data is converted into the real-time RINEX data, the satellite observation data can be analyzed and applied through the real-time RINEX data, and the RINEX data can be obtained only by exporting the complete RTCM data and performing data conversion through a third party transcoding tool when the post-processing is not needed.
The embodiment of the invention provides a movable platform. FIG. 7 is a block diagram of a movable platform provided in accordance with another embodiment of the present invention; as shown in fig. 7, the movable platform 70 includes:
a body 71;
a power system 72 mounted on the body 71 for providing power;
a positioning system 73 for acquiring real-time RTCM data of said movable platform 70; and
the observation data converting apparatus 60 according to the above embodiment.
On the basis of any of the above embodiments, the movable platform 70 further includes: and a photographing device 74 mounted to the body 71 for capturing an image.
On the basis of any of the above embodiments, the movable platform 70 may include at least one of the following: remote control car, unmanned vehicles.
The specific principle and implementation of the movable platform provided by the embodiment of the present invention are similar to those of the embodiment shown in fig. 2, and are not described herein again.
The movable platform provided by the embodiment acquires real-time RTCM data and stores the real-time RTCM data in the storage unit; sequentially arranging RTCM data fragments of a preset data volume acquired from a storage unit in a cache unit according to a time sequence; and resolving the RTCM data fragments in the cache unit, and writing a resolving result into the pre-created RINEX data so as to obtain the real-time RINEX data. The embodiment divides the real-time RTCM data into the RTCM data fragments to be sequentially performed, and sequentially writes the calculation result into the RINEX data which is created in advance, so that the real-time RTCM data is converted into the real-time RINEX data, the satellite observation data can be analyzed and applied through the real-time RINEX data, and the RINEX data can be obtained only by exporting the complete RTCM data and performing data conversion through a third party transcoding tool when the post-processing is not needed.
In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the observation data conversion method described in the above embodiment.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (26)
1. An observation data conversion method, comprising:
acquiring real-time RTCM data and storing the real-time RTCM data in a storage unit;
sequentially arranging RTCM data fragments of a preset data volume in a cache unit according to a time sequence;
and resolving the RTCM data fragments in the cache unit, and writing a resolving result into pre-created RINEX data so as to obtain real-time RINEX data.
2. The method according to claim 1, wherein the pre-created RINEX file comprises a file header portion and an observation data portion;
the writing of the solution result into the pre-created RINEX data includes:
and updating the file header part according to the resolving result, and writing the resolving result into an observation data part.
3. The method of claim 2, wherein resolving the RTCM data segments in the cache unit comprises:
and resolving the RTCM data segment in the cache unit to acquire satellite system information, observation epoch information and satellite observation data.
4. The method according to claim 3, wherein the updating the header portion according to the solution result comprises:
counting the satellite system information and the observation epoch information according to the resolving result;
and updating the file header part according to the satellite system information and the observation epoch information.
5. The method of claim 3, wherein the writing the solution to the observation data portion comprises:
writing the satellite system information, the observation epoch information, and the satellite observation data into the observation data portion.
6. The method of claim 4, further comprising:
receiving an output instruction of the real-time RINEX data;
and outputting the real-time RINEX data after updating the file header part according to the output instruction.
7. The method according to any one of claims 1-6, wherein the resolving the RTCM data segments in the cache memory unit comprises:
and resolving the RTCM data fragment according to the UTC time of the system so that the resolving result is the resolving result under the GPS weekly time system required by the RINEX file.
8. The method according to any one of claims 1-7, wherein the method is applied to a movable platform;
the acquiring real-time RTCM data comprises the following steps:
and acquiring real-time RTCM data of the movable platform through a positioning system of the movable platform.
9. The method of claim 8, wherein prior to the obtaining real-time RTCM data for the movable platform by the positioning system of the movable platform, further comprising:
configuring a positioning system of the movable platform into a mobile station mode, and calibrating coordinate information of the positioning system;
correspondingly, the acquiring real-time RTCM data of the movable platform by the positioning system of the movable platform includes:
and receiving satellite observation data through a positioning system of the movable platform, and outputting real-time RTCM data based on the coordinate information.
10. The method according to claim 8 or 9, characterized in that the method further comprises:
acquiring the image acquisition time of the movable platform;
acquiring the position information of the movable platform from the real-time RINEX data according to the image acquisition time;
correlating the acquired image with the location information.
11. The method of any one of claims 8-10, wherein the movable platform comprises an unmanned aerial vehicle.
12. An observation data conversion apparatus, characterized by comprising: a memory and a processor;
the memory is used for storing program codes;
the processor calls the program code, and when the program code is executed, performs the following:
acquiring real-time RTCM data and storing the real-time RTCM data in a storage unit;
sequentially arranging RTCM data fragments of a preset data volume in a cache unit according to a time sequence;
and resolving the RTCM data fragments in the cache unit, and writing a resolving result into pre-created RINEX data so as to obtain real-time RINEX data.
13. The apparatus of claim 12, wherein the pre-created RINEX file comprises a file header portion and an observation data portion;
when the processor writes a solution result in pre-created RINEX data, the processor is configured to:
and updating the file header part according to the resolving result, and writing the resolving result into an observation data part.
14. The device of claim 13, wherein when the processor resolves the RTCM data segments in the cache unit, the processor is configured to:
and resolving the RTCM data segment in the cache unit to acquire satellite system information, observation epoch information and satellite observation data.
15. The apparatus of claim 14, wherein when the processor updates the file header portion according to the solution result, the processor is configured to:
counting the satellite system information and the observation epoch information according to the resolving result;
and updating the file header part according to the satellite system information and the observation epoch information.
16. The apparatus of claim 14, wherein when the processor writes the solution into an observation data portion, the processor is configured to:
writing the satellite system information, the observation epoch information, and the satellite observation data into the observation data portion.
17. The device of claim 15, wherein the processor is further configured to:
receiving an output instruction of the real-time RINEX data;
and outputting the real-time RINEX data after updating the file header part according to the output instruction.
18. The device according to any one of claims 12-17, wherein when the processor resolves the RTCM data segments in the cache unit, the processor is configured to:
and resolving the RTCM data fragment according to the UTC time of the system so that the resolving result is the resolving result under the GPS weekly time system required by the RINEX file.
19. The apparatus according to any one of claims 12 to 18, wherein the observation data converting apparatus is configured to a movable platform;
while the processor is acquiring real-time RTCM data, the processor is configured to:
and acquiring real-time RTCM data of the movable platform through a positioning system of the movable platform.
20. The apparatus of claim 19, wherein prior to the processor acquiring the real-time RTCM data of the movable platform via a positioning system of the movable platform, the processor is further configured to:
configuring a positioning system of the movable platform into a mobile station mode, and calibrating coordinate information of the positioning system;
accordingly, when the processor acquires real-time RTCM data of the movable platform via a positioning system of the movable platform, the processor is configured to:
and receiving satellite observation data through a positioning system of the movable platform, and outputting real-time RTCM data based on the coordinate information.
21. The device of claim 19 or 20, wherein the processor is further configured to:
acquiring the image acquisition time of the movable platform;
acquiring the position information of the movable platform from the real-time RINEX data according to the image acquisition time;
correlating the acquired image with the location information.
22. The apparatus of any one of claims 19-21, wherein the movable platform comprises an unmanned aerial vehicle.
23. A movable platform, comprising:
a body;
the power system is arranged on the machine body and used for providing power;
the positioning system is used for acquiring real-time RTCM data of the movable platform; and
the observation data converting device of any one of claims 12 to 22.
24. The movable platform of claim 23, further comprising:
and the shooting equipment is arranged on the machine body and used for acquiring images.
25. The movable platform of claim 23 or 24, wherein the movable platform comprises at least one of:
remote control car, unmanned vehicles.
26. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-11.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/124874 WO2020133214A1 (en) | 2018-12-28 | 2018-12-28 | Observation data conversion method, device, movable platform, and storage medium |
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| CN111386477A true CN111386477A (en) | 2020-07-07 |
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| WO (1) | WO2020133214A1 (en) |
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