CN111812697B - Combined positioning gesture measurement data processing method based on multi-mode precise positioning - Google Patents
Combined positioning gesture measurement data processing method based on multi-mode precise positioning Download PDFInfo
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- CN111812697B CN111812697B CN202010447837.6A CN202010447837A CN111812697B CN 111812697 B CN111812697 B CN 111812697B CN 202010447837 A CN202010447837 A CN 202010447837A CN 111812697 B CN111812697 B CN 111812697B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention discloses a combined positioning gesture measurement data processing method based on multi-mode precise positioning, which comprises the following steps of: loading position and attitude measurement system data, checking and configuring a precise positioning mode and a coordinate conversion relation, preprocessing GNSS data, preprocessing inertial navigation data, carrying out data fusion on the preprocessed GNSS data and the preprocessed inertial navigation data to obtain a measurement system integration result and an attached file, outputting the position and attitude measurement system integration result and the attached file, outputting engineering processing inspection data inspection result, and checking and confirming the engineering processing data inspection result and the position and attitude measurement system integration result. On the premise of ensuring high positioning precision, the invention does not need to know a control point and erect a reference station receiver on the control point, does not need to consider the longest distance between the reference station and the mobile station, has flexible and convenient operation, does not need to wait for GNSS data of the reference station, does not need to manually input parameters of the reference station, and is easy to operate and process by one key.
Description
Technical Field
The invention belongs to the technical field of data processing of position and attitude measurement systems, and particularly relates to a combined positioning attitude measurement data processing method based on multi-mode precise positioning.
Background
The position and posture measurement system integrates the GNSS (Global Navigation SATELLITE SYSTEM) technology and the inertial navigation (Inertial Navigation System) technology, and the combined navigation positioning system combining the long-term high-precision characteristic of the GNSS technology and the short-term high-precision characteristic of the inertial navigation technology can well make up the defects of the two technologies and form complementary advantages.
The GNSS single-point positioning mode is influenced by satellite ephemeris error, clock error, troposphere error, ionosphere error and other factors, and the positioning longitude is generally in the meter level, so that the requirement of high-precision positioning is difficult to meet, and the application breadth and depth of the GNSS single-point positioning mode are limited. In order to improve the system performance, a GNSS reference station is generally erected within 30-50 km in an operation area, and two or more receivers are adopted to obtain centimeter-level positioning results afterwards by using carrier phase observation values. In this manner, however, the control point coordinates need to be known and the reference station installed at the control point prior to each operation, and the maximum baseline lengths of the reference station and the rover station need to be taken into account.
With the development of real-time precision positioning technology, real-time dynamic centimeter-level positioning has become reality, such as: a thousand-view location FindCM service, a CORS service, an RTK, and real-time PPP. Compared with the post carrier wave difference, the real-time precise positioning mode is adopted, the operation is more flexible, a reference station is not required to be erected on a known point, and the restriction of the maximum baseline length of the reference station and the mobile station is avoided.
And (5) finding the position: based on Beidou satellite system (compatible GPS, GLONASS, galileo) basic positioning data, over 2200 foundation enhancement stations and independently developed positioning algorithms are utilized throughout the country, various positioning technologies are fused, big data operation is carried out through an internet technology, 7 x 24 hours high-availability differential broadcasting service is provided, various terminals and application systems in the 32 provincial city range of the country are oriented, positioning capability up to dynamic centimeter level and static millimeter level is provided, and accurate positioning and extension service is provided for users throughout the country.
CORS service: a continuous running reference station network (CORS) based on GNSS positioning is one of the modern information infrastructures for acquiring spatial data and geographic features in real time, quickly, and with high accuracy. The core of the CORS technology is that a navigation satellite data tracking reference station network is formed by a plurality of permanent GNSS reference stations and is connected with a corresponding data communication network, and according to the real-time requirement of a user, the CORS technology provides various high-precision space positioning and multi-element information services, which has the significance that the CORS technology is a new generation of infrastructure for providing three-dimensional position and precision timing services and can be used for establishing and maintaining an area and national coordinate frame.
RTK positioning techniques: the position of the user carrier is determined in real time or afterwards by using two or more receivers using the carrier phase observations. Because of the advantages of low operation cost, all-weather observation, more separated positioning precision and the like, the method is widely applied to the research fields of geodetic measurement, engineering measurement, geospatial science and the like.
Precision single point positioning technology PPP: the precise satellite orbit and precise satellite clock error products issued by the organization such as IGS and the like or obtained by self-resolving are utilized to comprehensively consider the precise correction of each error model, and the non-differential positioning resolving is carried out on the phase and pseudo-range observation values acquired by a single receiver, so that a positioning method of high-precision frame coordinates is obtained. The user does not need to erect a ground reference station by himself, is not limited by the operation distance, is flexible and flexible, works alone, has low use cost, and can directly obtain the high-precision station measurement coordinates corresponding to the international earth reference frame.
The four approaches described above each have disadvantages: the thousand-view location service and the CORS service cannot realize the whole coverage at present; RTK needs to erect the reference station receiver and the radio station equipment on the known control point, and needs to consider the longest baseline distance between the mobile station and the base station; the thousand-seeking location service and the CORS service need to purchase precise positioning service in advance; the CORS service does not realize comprehensive unified networking, each region operates independently, at least one service account is purchased according to the distribution of the operation regions, and the problems of non-uniform coordinate frames of each service region and disordered results exist.
Therefore, it is important that the four modes of the position and posture measurement system hardware equipment and the data post-processing are compatible with the thousands of seeking/CORS/RTK/PPP.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a combined positioning gesture measurement data processing method based on multi-mode precise positioning, which has high precision, convenience, stability, reliability and excellent economy.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the combined positioning gesture measurement data processing method based on multi-mode precise positioning comprises the following steps:
The first step: the position and attitude measurement system data is loaded,
And a second step of: the method is to check and configure the precise positioning mode,
And a third step of: the coordinate conversion relation is checked and configured,
Fourth step: the pre-processing of the GNSS data is performed,
Fifth step: the inertial navigation data is preprocessed to obtain the inertial navigation data,
Sixth step: performing data fusion on the GNSS data preprocessed in the fourth step and the inertial navigation data preprocessed in the fifth step to obtain a measurement system integration result and an attached file,
Seventh step: outputting the integrated result of the position and posture measurement system in the step six and the attached file,
Eighth step: outputting the inspection result of the engineering processing inspection data,
Ninth step: and checking and confirming engineering processing data checking results and position and attitude measurement system integration results.
Further, the data of the loading position and posture measurement system in the first step includes the mobile station GNSS observation data, the inertial navigation raw observation data and the configuration information file.
Further, the checking and configuring the precise positioning mode in the second step includes thousand-finding position service positioning, CORS service positioning, RTK positioning and real-time PPP positioning.
Further, the looking up and configuring the coordinate conversion relation in the third step includes default conversion parameter setting or custom conversion parameter setting.
Furthermore, the preprocessing of the GNSS data in the fourth step includes extracting positioning result information, such as time, position, speed, middle error, positioning quality, satellite number, etc., positioning result inspection and abnormal data rejection.
Furthermore, the preprocessing of the inertial navigation data in the fifth step comprises the analysis of the inertial navigation raw data such as time, triaxial gyro, triaxial adding table, temperature and the like, the inertial navigation data inspection, abnormal data rejection and lost data restoration.
In the sixth step, the data fusion of the GNSS and the inertial navigation includes the synchronization of the GNSS and the inertial navigation data, the combined calculation of the GNSS and the inertial navigation, and the combined inspection of the GNSS and the inertial navigation. The GNSS and inertial navigation combined solution is established through a Kalman filter equation, and according to the positioning quality of a precise positioning result, the error and inertial navigation precision and filter parameter setting, error parameter estimation, forward and reverse filter solution and forward direction solution result fusion are carried out.
In the seventh step, the integrated result of the position and posture measurement system and the attached file are output, including the data of the precise positioning result, the output of the inertial navigation analysis result and the output of the combined GNSS and inertial navigation analysis result.
And outputting data inspection results in the step eight, wherein the data inspection results comprise a precision positioning result inspection report, an inertial navigation data inspection report, a GNSS and inertial navigation combined inspection report, and summarizing and outputting all inspection results.
By adopting the technical scheme of the invention, the beneficial effects of the invention are as follows: compared with the normal mode, the one-key high-precision post-hoc integrated navigation integrated application mode suitable for the thousands of seeking/CORS/RTK/PPP has the following advantages and effects:
(1) Adopts a real-time precise positioning technology:
On the premise of ensuring high positioning precision, a known control point is not needed, a reference station receiver is erected on the control point, the longest distance between the reference station and the mobile station is not needed, and the operation is flexible and convenient.
(2) One-key post-hoc integrated navigation:
Due to the application of the real-time precise positioning technology, the post-combination navigation resolving only needs to load the position and posture measurement system data file, the post-resolving of the position and posture measurement system data can be immediately carried out after the engineering data acquisition is completed, the reference station GNSS data is not required to be waited, the reference station parameters are not required to be manually input, and the one-key operation processing is easy.
Drawings
FIG. 1 is a flow chart of a combined positioning and attitude measurement data processing method based on multi-mode precise positioning.
Detailed Description
Specific embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in the figure, the combined positioning and attitude measurement data processing method based on multi-mode precise positioning comprises the following steps of:
The first step: and loading position and attitude measurement system data, including mobile station GNSS observation data, inertial navigation raw observation data and configuration information files.
And a second step of: and checking and configuring precise positioning modes, including thousands of locating service positioning, CORS service positioning, RTK positioning and real-time PPP positioning.
And a third step of: and checking and configuring coordinate conversion relations, wherein the coordinate conversion relations comprise default conversion parameter settings or custom conversion parameter settings.
Fourth step: the GNSS data is preprocessed, and positioning result information such as time, position, speed, middle error, positioning quality, satellite number and the like is extracted, and positioning result checking and abnormal data removing are carried out.
Fifth step: preprocessing inertial navigation data, including analysis of inertial navigation original data such as time, triaxial gyro, triaxial adding table, temperature and the like, inertial navigation data inspection, abnormal data rejection and lost data restoration.
Sixth step: and D, carrying out data fusion on the GNSS data preprocessed in the fourth step and the inertial navigation data preprocessed in the fifth step to obtain a measurement system integration result and an attached file, wherein the measurement system integration result and the attached file comprise GNSS and inertial navigation data synchronization, GNSS and inertial navigation combination calculation and GNSS and inertial navigation combination inspection. The GNSS and inertial navigation combined solution is established through a Kalman filter equation, and according to the positioning quality of a precise positioning result, the error and inertial navigation precision and filter parameter setting, error parameter estimation, forward and reverse filter solution and forward direction solution result fusion are carried out.
Seventh step: outputting the integrated result and the attached file of the position and posture measurement system in the step six, wherein the integrated result and the attached file comprise data of a precise positioning result, output of an inertial navigation analysis result and output of a GNSS and inertial navigation combination analysis result.
Eighth step: and outputting inspection results of engineering processing inspection data, including a precision positioning result inspection report, an inertial navigation data inspection report, a GNSS and inertial navigation combined inspection report, and summarizing and outputting all inspection results.
Ninth step: and checking and confirming engineering processing data checking results and position and attitude measurement system integration results.
As shown in the figure, during specific operation, data and configuration information are loaded firstly, including loading position and attitude measurement system data, specifically, the first step is described above.
And judging whether the configuration information is consistent with the acquisition state, and if not, checking, modifying and confirming the configuration information, namely the second step and the third step.
If the judgment is consistent, the one-touch processing is directly carried out, and the method comprises the steps four to eight, namely, the GNSS data is preprocessed, the inertial navigation data is preprocessed, then the GNSS and the inertial navigation are subjected to data fusion, the inheritance structure and the attached file are output, and the data checking result is output.
And finally, checking and confirming engineering processing checking results and position and attitude measurement system integration results.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (1)
1. The combined positioning gesture measurement data processing method based on multi-mode precise positioning is characterized by comprising the following steps of:
The first step: loading position and attitude measurement system data, including mobile station GNSS observation data, inertial navigation original observation data and configuration information files;
and a second step of: checking and configuring precise positioning modes, including thousands of locating service positioning, CORS service positioning, RTK positioning and real-time PPP positioning;
and a third step of: viewing and configuring coordinate conversion relationships including default conversion parameter settings or custom conversion parameters
Setting;
fourth step: preprocessing GNSS data, including extracting positioning result information, checking positioning results and eliminating abnormal data;
Fifth step: preprocessing inertial navigation data, including analysis of inertial navigation original data, inertial navigation data inspection, abnormal data rejection and lost data repair;
sixth step: performing data fusion on the GNSS data preprocessed in the fourth step and the inertial navigation data preprocessed in the fifth step to obtain a measurement system integration result and an attached file, wherein the measurement system integration result and the attached file comprise GNSS and inertial navigation data synchronization, GNSS and inertial navigation combination calculation and GNSS and inertial navigation combination inspection; the GNSS and inertial navigation combined solution is established through a Kalman filter equation, errors in the positioning quality of a precise positioning result, inertial navigation precision and filter parameter setting are carried out, error parameters are estimated, forward and reverse filter solutions are carried out, and forward direction solution results are fused;
Seventh step: outputting the integrated result and the attached file of the position and posture measurement system in the step six, wherein the integrated result and the attached file comprise data of a precise positioning result, output of an inertial navigation analysis result and output of a GNSS and inertial navigation combination analysis result;
eighth step: outputting inspection results of engineering processing inspection data, including a precision positioning result inspection report, an inertial navigation data inspection report, a GNSS and inertial navigation combined inspection report, and summarizing and outputting all inspection results;
ninth step: checking and confirming engineering processing data checking results and position and attitude measurement system integration results;
During specific operation, firstly, loading data and configuration information, including loading position and attitude measurement system data, specifically, the first step;
judging whether the configuration information is consistent with the acquisition state, if not, checking, modifying and confirming the configuration information, namely, the second step and the third step;
If the judgment is consistent, directly performing one-key processing, wherein the steps four to eight are included, namely, preprocessing GNSS data, preprocessing inertial navigation data, fusing the GNSS and the inertial navigation data, outputting an inheritance structure and an attached file, and outputting a data checking result;
And finally, checking and confirming engineering processing checking results and position and attitude measurement system integration results.
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