CN111736191B - Automatic selection method, equipment and medium for optimal mounting point of CORS server - Google Patents
Automatic selection method, equipment and medium for optimal mounting point of CORS server Download PDFInfo
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- CN111736191B CN111736191B CN202010477457.7A CN202010477457A CN111736191B CN 111736191 B CN111736191 B CN 111736191B CN 202010477457 A CN202010477457 A CN 202010477457A CN 111736191 B CN111736191 B CN 111736191B
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- 238000010187 selection method Methods 0.000 title claims abstract description 16
- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 title claims abstract 10
- 238000012937 correction Methods 0.000 claims abstract description 57
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Information Transfer Between Computers (AREA)
Abstract
The invention provides an automatic selection method of an optimal mounting point of a CORS server, which comprises the steps of controlling RTK equipment to obtain differential correction data corresponding to each second in a preset duration from each mounting point in a preset mounting point list according to a mounting point list on the CORS server; calculating a positioning accuracy average value corresponding to each mounting point according to all the differential correction data corresponding to each mounting point in a preset time period; and comparing the average value of the positioning accuracy corresponding to all the mounting points, and taking the mounting point corresponding to the average value of the positioning accuracy with the highest value as the optimal mounting point. According to the automatic selection method of the optimal mounting point of the CORS server, the optimal mounting point on the CORS server is automatically selected, no manual operation is needed in the whole process, and the selection efficiency of the optimal mounting point is improved.
Description
Technical Field
The invention relates to the field of measurement control, in particular to an automatic selection method, equipment and medium for an optimal mounting point of a CORS server.
Background
The high-precision positioning technology RTK (Real-Time dynamic positioning) is an important positioning technology in the current mapping field. The RTK host machine can not realize high-precision positioning effect by using RTK positioning technology, when the RTK host machine works normally, the RTK host machine usually needs to receive differential correction data transmitted by a certain mounting point of a CORS (continuous operation reference base station: continuously Operating Reference Stations) server in real time through a mobile network (such as a 4G network function) to participate in positioning calculation, so that high-precision position information can be obtained, and the positioning precision of the RTK host machine is closely related to the quality of the differential data received by the corresponding mounting point. In general, after the same RTK device receives differential data of two different mounting points in the same environment, a great gap exists in final positioning accuracy. Therefore, when the RTK host works normally, a proper CORS server mounting point is selected, and the final positioning accuracy is greatly affected. More mounting points generally exist on the CORS server, and after the RTK host is powered on, a client is required to manually select the mounting points from the CORS server. The existing selection of hanging points on the CORS server is performed through manual selection, the selection process needs to compare data manually for many times, the whole selection process can cause low selection efficiency due to manual judgment, and deviation can occur in the selection result.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide an automatic selection method of the optimal mounting point of the CORS server, which can solve the problems that the selection of the hanging point on the CORS server is manually selected, the selection process needs to manually compare data for a plurality of times, the selection efficiency is low due to manual judgment in the whole selection process, and the deviation of the selection result occurs.
The second purpose of the invention is to provide an electronic device, which can solve the problems that the existing selection of hanging points on a CORS server is performed manually, the selection process needs to compare data manually for a plurality of times, the selection efficiency is low due to manual judgment in the whole selection process, and the selection result is biased.
The third objective of the present invention is to provide a computer readable storage medium, which can solve the existing problems that the selection of hanging points on a CORS server is performed manually, the selection process needs to compare data manually for multiple times, the selection efficiency is low due to manual judgment in the whole selection process, and the selection result is biased.
One of the purposes of the invention is realized by adopting the following technical scheme:
an automatic selection method of an optimal mounting point of a CORS server, which is applied to RTK equipment, comprises the following steps:
obtaining differential correction data, and controlling RTK equipment to obtain the differential correction data corresponding to each second in a preset duration from each mounting point in a preset mounting point list according to a mounting point list on a CORS server;
calculating a positioning accuracy average value, and calculating the positioning accuracy average value corresponding to each mounting point according to all the difference correction data corresponding to each mounting point in a preset time length;
and selecting an optimal mounting point, comparing the positioning accuracy average values corresponding to all the mounting points, and taking the mounting point corresponding to the positioning accuracy average value with the highest value as the optimal mounting point.
Further, when the number of mounting points corresponding to the average value of the positioning accuracy with the highest value is multiple, the mounting point corresponding to the average value of the positioning accuracy with the highest value is used as the best mounting point to be confirmed, and the selecting the best mounting point further comprises the following steps:
calculating a differential correction data delay time length average value, controlling RTK equipment to record differential correction data delay time length in a preset time length obtained from each mounting point, and calculating the differential correction data delay time length average value corresponding to each mounting point according to the differential correction data delay time length of each mounting point in the preset time length;
and determining an optimal mounting point, comparing the average value of the delay time duration of the differential correction data corresponding to the optimal mounting point to be confirmed, and taking the optimal mounting point to be confirmed corresponding to the average value of the delay time duration of the differential correction data with the minimum value as the optimal mounting point.
Further, the calculating the average value of the delay time length of the differential correction data specifically includes: and controlling RTK equipment to record the differential correction data delay time length corresponding to each second when the differential correction data corresponding to each second in the preset time length is obtained from each mounting point, and calculating the differential correction data delay time length average value corresponding to each mounting point in the preset time length according to the differential correction data delay time length corresponding to each second in the preset time length.
Further, the calculating the average value of the positioning accuracy is specifically: and calculating a positioning accuracy value corresponding to each second of each mounting point in the preset time according to the differential correction data corresponding to each second of each mounting point in the preset time, and calculating a positioning accuracy average value of each mounting point in the preset time according to the positioning accuracy value corresponding to each second of each mounting point in the preset time.
Further, before the differential correction data are acquired, acquiring a mounting point list, and acquiring the mounting point list containing a plurality of mounting points on the CORS server through RTK equipment.
Further, before the mounting point list is obtained, communication connection is established, the RTK equipment is powered on, and the RTK equipment is controlled to establish communication connection with the CORS server through a 4G or 5G network.
Further, the preset duration is 30 seconds.
The second purpose of the invention is realized by adopting the following technical scheme:
an electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising an automatic selection method for executing a CORS server best mount point of the present application.
The third purpose of the invention is realized by adopting the following technical scheme:
a computer readable storage medium having stored thereon a computer program for execution by a processor of a method of automatically selecting an optimal mounting point for a CORS server of the present application.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic selection method of the optimal mounting points of the CORS server, RTK equipment is controlled to acquire differential correction data corresponding to each second in a preset duration from each mounting point in a preset mounting point list according to a mounting point list on the CORS server; calculating a positioning accuracy average value corresponding to each mounting point according to all the differential correction data corresponding to each mounting point in a preset time period; and comparing the average value of the positioning accuracy corresponding to all the mounting points, and taking the mounting point corresponding to the average value of the positioning accuracy with the highest value as the optimal mounting point. The optimal mounting point on the CORS server is automatically selected by automatically acquiring the differential correction data in the preset time length on the mounting point on the CORS server and obtaining the average value of positioning accuracy according to the differential correction data, no manual operation is needed in the whole process, the selection efficiency of the optimal mounting point is improved, and the deviation of a selection result is avoided.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings. Specific embodiments of the present invention are given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a flow chart of an automatic selection method of an optimal mounting point of a CORS server according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
An automatic selection method of an optimal mounting point of a CORS server in this embodiment as shown in fig. 1, where the automatic selection method is applied to an RTK device, specifically includes the following steps:
and establishing communication connection, powering on the RTK equipment, and controlling the RTK equipment to establish communication connection with the CORS server through a 4G or 5G network. And normally powering on the RTK equipment, dialing the RTK equipment through a network module of the RTK equipment to realize a 4G or 5G internet function, and establishing communication connection with a CORS server through a 4G or 5G network.
And acquiring a mounting point list, and acquiring the mounting point list containing a plurality of mounting points on the CORS server through RTK equipment. The mount point list in this embodiment is a list including all mount point names on the CORS server, and for convenience of description, it is assumed that the CORS server has N mount points, such as mount point1, mount point2, mount point3 … … mount point N.
And obtaining differential correction data, and controlling the RTK equipment to obtain the differential correction data corresponding to each second in a preset duration from each mounting point in the preset mounting point list according to the mounting point list on the CORS server. The preset duration in this embodiment is determined according to actual requirements, in this embodiment, the preset duration is preferably selected to be 30 seconds, and the time is too short to obtain accurate data, so that the whole automatic selection time is longer. That is, all the differential correction data within 30 seconds are acquired in seconds from all mount points in mount points 1, mount point2, mount point3 … … mount point n described above.
And calculating a positioning accuracy average value, and calculating the positioning accuracy average value corresponding to each mounting point according to all the differential correction data corresponding to each mounting point in the preset time length. The method comprises the following steps: and calculating a positioning accuracy value corresponding to each mounting point in each second in a preset time period according to the differential correction data corresponding to each mounting point in each second in the preset time period, wherein positioning data sent by a satellite is stored in RTK equipment in advance, and the positioning data is corrected according to the differential correction data, so that the positioning accuracy value is judged. And calculating the average value of the positioning accuracy of each mounting point in the preset time according to the positioning accuracy value corresponding to each second of each mounting point in the preset time. Taking the mount point as the mount point, wherein the positioning accuracy value corresponding to each second of the mount point in the preset time period is Pdop, and all the positioning accuracy in the preset time period are as follows: pdop1, pdop2, pdop3, … …, pdop3, let the positioning accuracy value of Mountpointi in the preset time period be Pi, pi= (Pdop 1+ Pdop2+ Pdop3+ … … + Pdop 3)/30, and the preset time period is exemplified as 30 seconds. And respectively calculating the average value of the positioning accuracy corresponding to each mounting point according to the method.
And selecting an optimal mounting point, comparing the positioning accuracy average values corresponding to all the mounting points, and taking the mounting point corresponding to the positioning accuracy average value with the highest value as the optimal mounting point. In this embodiment, when the number of mounting points corresponding to the average value of the positioning accuracy with the highest numerical value is one, the mounting point is output as the optimal mounting point. When the number of mounting points corresponding to the average value of the positioning accuracy with the highest numerical value is multiple, the mounting point corresponding to the average value of the positioning accuracy with the highest numerical value is used as the best mounting point to be confirmed, and the best mounting point is selected, and the method further comprises the following steps:
calculating a differential correction data delay time length average value, controlling RTK equipment to record differential correction data delay time length corresponding to each second when differential correction data corresponding to each second in preset time length is obtained from each mounting point, wherein the value is automatically recorded by the RTK equipment, and calculating the differential correction data delay time length average value corresponding to each mounting point in the preset time length according to the differential correction data delay time length corresponding to each second in the preset time length of each mounting point. In this embodiment, with Mountpointi as the mounting point, the positioning accuracy value corresponding to each second of Mountpointi in the preset duration is Delay, and all the positioning accuracy in the preset duration is: let the positioning accuracy value of the Mountpointi in the preset time period be Di, if Delay1, delay2, delay3, … …, delay3 is di= (Delay 1+delay2+delay3+ … … +delay 3)/30, the preset time period is taken as 30 seconds as an example. And respectively calculating the average value of the delay time length of the differential correction data corresponding to each mounting point according to the method.
And determining an optimal mounting point, comparing the average value of the delay time duration of the differential correction data corresponding to the optimal mounting point to be confirmed, and taking the optimal mounting point to be confirmed corresponding to the average value of the delay time duration of the differential correction data with the minimum value as the optimal mounting point.
The application also provides an electronic device comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising an automatic selection method for executing a CORS server best mount point of the present application.
The present application also provides a computer readable storage medium having stored thereon a computer program for execution by a processor of a method of automatic selection of an optimal mounting point of a CORS server of the present application.
According to the automatic selection method of the optimal mounting points of the CORS server, RTK equipment is controlled to acquire differential correction data corresponding to each second in a preset duration from each mounting point in a preset mounting point list according to a mounting point list on the CORS server; calculating a positioning accuracy average value corresponding to each mounting point according to all the differential correction data corresponding to each mounting point in a preset time period; and comparing the average value of the positioning accuracy corresponding to all the mounting points, and taking the mounting point corresponding to the average value of the positioning accuracy with the highest value as the optimal mounting point. The optimal mounting point on the CORS server is automatically selected by automatically acquiring the differential correction data in the preset time length on the mounting point on the CORS server and obtaining the average value of positioning accuracy according to the differential correction data, no manual operation is needed in the whole process, the selection efficiency of the optimal mounting point is improved, and the deviation of a selection result is avoided.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; those skilled in the art can smoothly practice the invention as shown in the drawings and described above; however, those skilled in the art will appreciate that many modifications, adaptations, and variations of the present invention are possible in light of the above teachings without departing from the scope of the invention; meanwhile, any equivalent changes, modifications and evolution of the above embodiments according to the essential technology of the present invention still fall within the scope of the present invention.
Claims (4)
1. An automatic selection method of an optimal mounting point of a CORS server, which is applied to RTK equipment, is characterized in that: the method comprises the following steps:
obtaining differential correction data, and controlling RTK equipment to obtain the differential correction data corresponding to each second in a preset duration from each mounting point in a preset mounting point list according to a mounting point list on a CORS server;
calculating a positioning accuracy average value, and calculating the positioning accuracy average value corresponding to each mounting point according to all the difference correction data corresponding to each mounting point in a preset time length;
selecting an optimal mounting point, comparing the average value of the positioning accuracy corresponding to all the mounting points, and taking the mounting point corresponding to the average value of the positioning accuracy with the highest numerical value as the optimal mounting point; when the number of mounting points corresponding to the average value of the positioning accuracy with the highest numerical value is multiple, the mounting point corresponding to the average value of the positioning accuracy with the highest numerical value is used as the best mounting point to be confirmed, and the best mounting point is selected, and the method further comprises the following steps:
calculating a differential correction data delay time length average value, controlling RTK equipment to record differential correction data delay time length in a preset time length obtained from each mounting point, and calculating the differential correction data delay time length average value corresponding to each mounting point according to the differential correction data delay time length of each mounting point in the preset time length;
determining an optimal mounting point, comparing the average value of the delay time durations of the differential correction data corresponding to the optimal mounting point to be confirmed, and taking the optimal mounting point to be confirmed corresponding to the average value of the delay time durations of the differential correction data with the minimum value as the optimal mounting point;
the calculating of the average value of the delay time length of the differential correction data is specifically as follows: controlling RTK equipment to record differential correction data delay time length corresponding to each second when differential correction data corresponding to each second in a preset time length are obtained from each mounting point, and calculating a differential correction data delay time length average value corresponding to each mounting point in the preset time length according to the differential correction data delay time length corresponding to each second in the preset time length;
the calculation and positioning accuracy average value is specifically as follows: calculating a positioning accuracy value corresponding to each mounting point in a preset time period according to the differential correction data corresponding to each second of each mounting point in the preset time period, and calculating a positioning accuracy average value of each mounting point in the preset time period according to the positioning accuracy value corresponding to each second of each mounting point in the preset time period;
before the differential correction data are acquired, acquiring a mounting point list, and acquiring a mounting point list containing a plurality of mounting points on a CORS server through RTK equipment;
before the mounting point list is obtained, communication connection is established, the RTK equipment is electrified, and the RTK equipment is controlled to establish communication connection with the CORS server through a 4G or 5G network.
2. The automatic selection method of optimal mounting points of a CORS server according to claim 1, wherein: the preset duration is 30 seconds.
3. An electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by a processor, the program comprising instructions for performing the method of claim 1.
4. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program is executed by a processor to perform the method of claim 1.
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