CN111447550B - Method and device for monitoring differential quality and computer medium - Google Patents
Method and device for monitoring differential quality and computer medium Download PDFInfo
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- CN111447550B CN111447550B CN202010214074.0A CN202010214074A CN111447550B CN 111447550 B CN111447550 B CN 111447550B CN 202010214074 A CN202010214074 A CN 202010214074A CN 111447550 B CN111447550 B CN 111447550B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
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- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The invention relates to the technical field of high-precision positioning, and discloses a method for monitoring differential quality, which comprises the following steps: acquiring real position information of a first reference station and an observation message of a first VRS; the first reference station is a CORS station; calculating to obtain calculated position information of the first reference station according to the position information; and outputting a monitoring result of the differential quality according to the difference value between the calculated position of the first reference station and the real position of the first reference station. Some technical effects of the invention are as follows: the method provides a mechanism for carrying out quality inspection on CORS differential data under the condition of not deploying a reference station monitoring station, and conveniently and quickly ensures that the CORS differential service quality meets the requirements under the condition of not increasing construction and operation costs.
Description
Technical Field
The invention relates to the technical field of high-precision positioning, in particular to a method and a device for monitoring differential quality and a computer medium.
Background
When a user of a mobile terminal requests location service interaction, a Virtual Reference Station (VRS) observation message is issued by a CORS system, so that the quality of location data of the Virtual Reference Station (VRS) finally determines the stability, accuracy and reliability of the CORS service of the user.
At present, all CORS services are VRS observation messages which are generated virtually according to weights after calculation according to base lines of reference stations, a checking and verifying mechanism is not provided in advance, the quality of data is how, the quality effect can be known only by performing differential service after a mobile terminal user obtains the VRS observation messages, and in reality, some CORS operators can establish limited reference station monitoring stations in a service range to monitor the service quality.
Disclosure of Invention
In order to at least solve the technical problems of stability and precision reliability of low-cost differential quality service, the invention provides a method, a device and a computer medium for monitoring differential quality, wherein the technical scheme is as follows:
a method of differential quality monitoring comprising the steps of: acquiring real position information of a first reference station and an observation message of a first VRS; the first reference station is a CORS station; calculating to obtain calculated position information of the first reference station according to the position information; and outputting a monitoring result of the differential quality according to the difference value between the calculated position of the first reference station and the real position of the first reference station.
Preferably, judging whether the difference value of the real positions falls into a first threshold range; if the real position information of the first reference station falls into the first threshold range, selecting a first VRS near the first VRS as a first reference station, and acquiring real position information and an observation message of the first reference station; and calculating to obtain calculated position information of the second reference station, and outputting a first monitoring result of the differential quality if the difference value between the calculated position of the second reference station and the real position of the second reference station falls into a second threshold range.
Preferably, if the difference between the calculated position of the second reference station and the real position of the second reference station does not fall within the second threshold range, a second monitoring result of the differential quality is output.
Preferably, the monitoring result of the differential quality is output according to the difference value between the calculated position and the real position of the first VRS and the second VRS near the first reference station.
Preferably, the reference station with the positioning data transmission in a stable state is selected as the first reference station.
Preferably, the reference station closest to the mobile terminal is acquired as the first reference station according to the request instruction of the mobile terminal.
Preferably, the number of the first reference stations is three or more.
Preferably, the number of the second VRSs is two or more.
On the other hand, the invention also discloses a monitoring device of the differential quality, which comprises a positioning module, a resolving module and a storage module; the positioning module is used for acquiring the real position information of the first reference station and the observation message of the first VRS; the resolving module is used for resolving to obtain resolving position information of the first reference station; the storage module is used for outputting a monitoring result of differential quality according to a difference value between the resolving position of the first reference station and the real position of the first reference station.
Furthermore, a computer medium is disclosed, on which a computer program is stored, which, when being executed by a processor, carries out the above-mentioned method.
Some technical effects of the invention are as follows: the method provides a mechanism for carrying out quality inspection on CORS differential data under the condition of not deploying a reference station monitoring station, and conveniently and quickly ensures that the CORS differential service quality meets the requirements under the condition of not increasing construction and operation costs.
Drawings
For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:
fig. 1 is a schematic diagram illustrating a monitoring method for a reference station and a virtual reference station according to an embodiment.
FIG. 2 is a schematic diagram illustrating a method for monitoring differential quality according to an embodiment
Detailed Description
The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.
On the general idea, the invention discloses a method for monitoring differential quality, which comprises the following steps: acquiring real position information of a first reference station and an observation message of a first VRS; the first reference station is a CORS station; calculating to obtain calculated position information of the first reference station according to the position information; and outputting a monitoring result of the differential quality according to the difference value between the calculated position of the first reference station and the real position of the first reference station.
A CORS station (continuous Operating Reference Stations) refers to a satellite positioning service Reference station, abbreviated as CORS station, and for those skilled in the art, a CORS station is a Reference station, as shown in fig. 1, and a, B, and C are CORS Stations or Reference Stations. The method comprises the steps of acquiring real position information of a first reference station, namely selecting any one of A, B and C reference stations as the first reference station and acquiring the real position information of the reference station, wherein the real position information refers to the position information of the reference station acquired by a surveying and mapping technical method when the CORS station is built, and generally speaking, the real position information of the reference station is stored in a CORS station data management system.
The Virtual Reference Station (VRS) technique is also called Virtual Reference Station (RTK) technique, and is a Real Time Kinematic (RTK) technique based on a CORS Station, and is to establish a plurality of Reference stations forming a mesh coverage in a certain area, establish a Virtual Reference Station near the Reference stations, and calculate a Virtual observation value of the Virtual Reference Station according to the actual observation values of the surrounding Reference stations, thereby realizing high-precision positioning of a user. Therefore, the observation message of the first VRS is shown in fig. 1, in the figure, the five-pointed star is represented as a corresponding VRS virtual reference station, that is, according to the first reference station, a virtual reference station grid is generated near the first reference station, and the observation message of each virtual reference station is obtained by resolving according to the observation messages of the reference station a, the reference station B, and the reference station C, generally speaking, the first VRS is a VRS closest to the first reference station, and as shown in fig. 1, the five-pointed star labeled 1 is a first VRS closest to the reference station a, the reference station B, and the reference station C, respectively.
The calculated position information of the first reference station is calculated according to the observed message of the first reference station and the observed message of the first VRS, and the corresponding monitoring result of the differential quality is output according to the difference value between the calculated position and the real position of the first reference station, in order to ensure the reliability of the service quality of the high-precision positioning data, generally speaking, the difference value should be controlled in the centimeter-level range, that is, the difference value should be between 0 (including 0 centimeter) and 10 centimeters (excluding 10 centimeters), for example, the difference value may be between 0 and 2 centimeters, between 0 and 3 centimeters, or between 0 and 5 centimeters, and the like, and a person skilled in the art can preset the value of the difference value according to actual technical requirements.
The monitoring result of the differential quality may be represented by characters as excellent, good, qualified, unqualified or the like, for example, by passing, failing or the like, or by a change in color, or by broadcasting different voices, or by a percentage, or by different graphic representations, etc., and those skilled in the art can preset the expression form of the monitoring result according to actual technical needs.
In some embodiments, determining whether the difference in the true positions falls within a first threshold range; if the real position information of the first reference station falls into the first threshold range, selecting a first VRS near the first VRS as a first reference station, and acquiring real position information and an observation message of the first reference station; and calculating to obtain calculated position information of the second reference station, and outputting a first monitoring result of the differential quality if the difference value between the calculated position of the second reference station and the real position of the second reference station falls into a second threshold range.
In general, the first threshold range may be associated with a difference between the resolved position of the first reference station and the true position of the first reference station, that is, the difference is within the difference range and also within the first threshold range, so to meet the requirement of high-precision positioning, the first threshold range should also be controlled in the centimeter level, and should be between 0 (including 0 centimeter) and 10 centimeters (excluding 10 centimeters), that is, the difference may be preset to 0 to 2 centimeters, and then the first threshold range is associated to be set to 0 to 2 centimeters, although those skilled in the art may also set other threshold ranges in the centimeter level according to technical requirements.
And if the difference value is within the first threshold value range, selecting the second VRS near the first reference station as the second reference station, and further verifying the differential quality of the first VRS. Because the VRSs are generally generated according to the rule of 5 kilometers, when the position information of the reference station is known, the real position information of each VRS in the VRS grid represented by the five-pointed star shown in fig. 1 is also known, that is, the real position information of the second reference station is known, the real position information and the observation messages of the second reference station are obtained, and the calculated position information of the second reference station is obtained by calculation in combination with the observation messages of the first VRS.
In this scheme, the second threshold range may be preset to the same value as the first threshold range, or may be preset to another range according to a difference between the calculated position of the first reference station and the actual position of the first reference station, for example, the difference may be preset to be within 2 centimeters, the first threshold range is preset to be within 0 to 2 centimeters, and the second threshold is also preset to be 0 to 2 centimeters.
As shown in fig. 2, if the difference between the calculated position of the first reference station and the real position of the first reference station is within a preset difference range and the difference between the calculated position of the second reference station and the real position of the second reference station is within a second threshold range, it may be determined that the difference quality of service of the first virtual reference station is satisfactory, and at this time, a first monitoring result of the difference quality may be output. The first monitoring result is a positive monitoring result, the first differential quality monitoring result may be represented by a text, such as by a text, a color change, a different voice, a percentage, a different graphic representation, and the like, and the expression form of the monitoring result may be preset by a person skilled in the art according to actual technical requirements.
In some embodiments, if the difference between the resolved position of the second reference station and the true position of the second reference station does not fall within a second threshold range, a second monitoring result of differential quality is output.
As shown in fig. 2, if the difference between the calculated position of the first reference station and the real position of the first reference station is within a preset difference range and the difference between the calculated position of the second reference station and the real position of the second reference station is not within a second threshold range, it may be determined that the difference quality of service of the first virtual reference station is not satisfactory, and at this time, a second monitoring result of the difference quality may be output. The second monitoring result is a negative monitoring result, the second differential quality monitoring result may be a failure expressed by characters or similar expressions, such as failure, or the like, or may be expressed by a change in color, or may be expressed by broadcasting different voices, or may be expressed by a percentage, or may be expressed by different graphs, or the like, and a person skilled in the art may preset an expression form of the monitoring result according to actual technical needs.
In some embodiments, a differential quality monitoring result is output based on a difference between the calculated position and the true position of the first VRS and the second VRS in the vicinity of the first reference station.
As shown in fig. 2, this technical solution means that a differential quality monitoring result of the first VRS is determined by calculating a difference between a calculated position of the first reference station and a real position of the first reference station and a difference between a calculated position of the second reference station and a real position of the second reference station, and a differential quality monitoring result of the second VRS is determined by the same principle. As shown in fig. 1, the base station a, the base station B, and the base station C form a triangular region covering a virtual reference station grid, complete the differential quality monitoring for all virtual reference stations (including a first VRS and a second VRS, and after a certain virtual reference station is selected as the first VRS and the remaining virtual reference stations are the second VRS) in the triangular region, and output the differential quality monitoring for the entire base station a, the base station B, and the base station C covering the triangular region of the virtual reference station grid.
In some embodiments, the reference station with the positioning data transmission in a stable state is selected as the first reference station.
The steady state refers to a state in which the transmission of high-precision positioning data between the reference station and the gnss can smoothly transmit data at the acquisition frequency of the reference station. Generally, when high-precision positioning is performed, a reference station is required to acquire high-precision positioning data of a global navigation satellite system at a frequency of once a second, so that only the reference station in a stable state is used as a first reference station to stably acquire an observation message, which is beneficial to monitoring the differential quality of a virtual reference station.
In some embodiments, the reference station closest to the mobile terminal is obtained as the first reference station according to the request instruction of the mobile terminal.
In the selection of the reference station, generally, the reference station closest to the mobile terminal is selected as the first reference station according to a high-precision positioning request instruction of the mobile terminal.
In some embodiments, the number of first reference stations is three or more.
And screening more than three reference stations to form a coverage range covering the mobile terminal according to the position of the mobile terminal, and monitoring the differential quality of the virtual reference stations in the coverage range, thereby being beneficial to the selection of the virtual reference stations.
In some embodiments, the number of second VRSs is two or more.
When the difference between the calculated position of the first reference station and the real position of the first reference station and the difference between the calculated position of the second reference station and the real position of the second reference station are calculated to determine the differential quality monitoring result of the first VRS, as shown in fig. 1, after the five-pointed star labeled as 1 is selected as the first VRS, the virtual reference stations in the directions of the first VRS, such as up, down, left, right, left, up, left, down, right, up, right, etc., are taken as the second VRS in the virtual reference station grid, and the second VRS is taken as the second reference station, whether the difference between the calculated position of each second reference station and the real position is within a second threshold range is calculated, and if the difference between the calculated position of each second reference station and the real position is within the second threshold range, the monitoring method that the differential quality of the first VRS meets the requirements is output. After the differential quality of the first VRS meets the requirement, the virtual reference stations in the directions of up, down, left, right, left upper, left lower, right upper, right lower, etc. are continuously selected as the second reference stations for each second VRS, the differential quality of each second VRS is monitored by the method, if the coverage area of the virtual reference stations is formed by the reference stations, as shown in fig. 1, a triangular area formed by the reference station a, the reference station B and the reference station C needs to be monitored by selecting the virtual reference stations in the directions of up, down, left, right, left upper, left lower, right upper, right lower, etc. as the second reference stations for all the virtual reference stations in the triangular area according to the virtual reference stations. Therefore, in actual use, the number of the second VRSs is two or more.
On the other hand, the invention also discloses a monitoring device of the differential quality, which comprises a positioning module, a resolving module and a storage module; the positioning module is used for acquiring the real position information of the first reference station and the observation message of the first VRS; the resolving module is used for resolving to obtain resolving position information of the first reference station; the storage module is used for outputting a monitoring result of differential quality according to a difference value between the resolving position of the first reference station and the real position of the first reference station.
In some embodiments, the modules, i.e., the positioning module, the resolving module and the storage module, may be integrated into a single working unit and may be operated in cooperation with each other in independent working units.
In addition, the present invention also discloses a computer medium characterized in that: the computer medium having stored thereon a computer program which, when executed by a processor, implements the method described above
It will be understood by those skilled in the art that all or part of the steps in the embodiments may be implemented by hardware instructions associated with a computer program, and the program may be stored in a computer readable medium, which may include various media capable of storing program code, such as a flash memory, a removable hard disk, a read-only memory, a random access memory, a magnetic or optical disk, and the like.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail, so as to facilitate the reader's understanding of 1, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (8)
1. A method for monitoring differential quality is characterized in that: the method comprises the following steps:
acquiring real position information of a first reference station and an observation message of a first VRS;
the first reference station is a CORS station;
calculating to obtain calculated position information of the first reference station according to the real position information of the first reference station and the observation message of the first VRS;
if the difference value between the resolving position of the first reference station and the real position of the first reference station is within a preset difference value range, selecting a second VRS near the first VRS as a second reference station, and acquiring real position information and an observation message of the second reference station; and resolving to obtain resolved position information of the second reference station by combining with the observation message of the first VRS, and outputting a first monitoring result of the differential quality if the difference value between the resolved position of the second reference station and the real position of the second reference station falls into a second threshold range.
2. The method of claim 1, wherein:
and if the difference value between the calculated position of the second reference station and the real position of the second reference station does not fall into a second threshold range, outputting a second monitoring result of the differential quality.
3. The method of claim 1, wherein:
and selecting the reference station with positioning data transmission in a stable state as the first reference station.
4. The method of claim 1, wherein:
and acquiring the reference station closest to the mobile terminal as a first reference station according to the request instruction of the mobile terminal.
5. The method of claim 1, wherein:
the number of the first reference stations is more than three.
6. The method of claim 1, wherein:
the number of the second VRSs is more than two.
7. A differential quality monitoring device, characterized by:
the monitoring device of the differential quality comprises a positioning module, a resolving module and a storage module;
the positioning module is used for acquiring the real position information of the first reference station and the observation message of the first VRS;
the resolving module is used for resolving to obtain resolved position information of the first reference station according to the real position information of the first reference station and the observation message of the first VRS;
the storage module is used for selecting a second VRS near the first VRS as a second reference station when judging that the difference value between the calculated position of the first reference station and the real position of the first reference station is within a preset difference value range, and acquiring real position information and an observation message of the second reference station; and resolving to obtain resolved position information of the second reference station by combining with the observation message of the first VRS, and outputting a first monitoring result of the differential quality when the difference value between the resolved position of the second reference station and the real position of the second reference station falls into a second threshold range.
8. A computer medium, characterized in that: the computer medium has stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1 to 6.
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| CN115856942B (en) * | 2022-11-21 | 2024-01-30 | 国网思极位置服务有限公司 | Virtual station-based foundation enhancement network type optimization method and storage medium |
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