CN112099064A - Network type GNSS original data acquisition, transmission and positioning system - Google Patents
Network type GNSS original data acquisition, transmission and positioning system Download PDFInfo
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- CN112099064A CN112099064A CN202011282407.XA CN202011282407A CN112099064A CN 112099064 A CN112099064 A CN 112099064A CN 202011282407 A CN202011282407 A CN 202011282407A CN 112099064 A CN112099064 A CN 112099064A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The invention discloses a network type GNSS original data acquisition, transmission and positioning system, which relates to the technical field of satellite positioning communication.A terminal original data acquisition and transmission technology is adopted, the terminal does not perform any processing and resolving on data, the performance requirement on devices such as a processor of the terminal is extremely low, the series of problems of power consumption, manufacturing cost, field installation, stability, reliability and the like are fundamentally solved, and the adaptability to the field of field GNSS measurement is better; the complete satellite data is reserved in the data acquisition and transmission, and the satellite data can be more perfectly analyzed; the system works based on a GNSS differential positioning resolving mode, an RTK position resolving algorithm is adopted to resolve the complete satellite data packet, the calculating speed is high, the dynamic performance is good, the precision is high, and the positioning precision can reach a millimeter level in real time; the remote controllability is good, the performance can be analyzed through remote data, and the target point condition can be reflected in real time dynamically.
Description
Technical Field
The invention relates to the technical field of satellite positioning communication, in particular to a network type GNSS original data acquisition, transmission and positioning system.
Background
With the continuous development of GNSS (global navigation satellite system) positioning technology, it has started to be widely applied in various fields. In terms of technical implementation, as an emerging leading-edge technology, an RTK (Real-time kinematic) positioning technology can meet the precision requirement of positioning work and is beneficial to automation and Real-time of the positioning work compared with a conventional measurement method.
The Beidou/GNSS mainly receives the original data transmitted by the satellite and carries out related processing on the original data, so that the high-precision position of the measuring point is obtained, and the Beidou/GNSS has the functions of global, all-weather, continuous and real-time three-dimensional navigation and positioning, and has good anti-interference performance. The method has the advantages of strong adaptability, high measurement precision and uniform error distribution, and meanwhile, the measurement point and the base station do not need to communicate with each other, so the workload can be greatly reduced. Moreover, the observation data can be directly transmitted to a data processing center by utilizing a wireless communication technology so as to realize the application of remote high-precision positioning.
The RTK real-time dynamic measurement positioning technology generally includes operation stages of a measurement point, a base station, data acquisition, data processing and analysis, and the like. With the gradual improvement of the Beidou system and the continuous deep research of people on the satellite positioning technology, the Beidou satellite positioning technology becomes a mainstream means in China. Therefore, the Beidou/GNSS is integrated into a high-precision satellite positioning technology and is widely applied, and the significance is great.
At present, the measurement equipment of a multi-satellite multi-frequency GNSS is generally used for acquiring, transmitting and positioning satellite data, and the following defects mainly exist:
1) after the data is acquired by the equipment, the equipment needs to be processed and solved at a terminal, the requirements on the performance of devices such as a processor of the equipment are high, the cost is high, the equipment is large in size and difficult to install, and the installation difficulty of severe environments such as field mountains and snow mountains is huge;
2) the collected data has incomplete data, and the satellite data may not be comprehensive when being analyzed;
3) the remote control performance is insufficient, the equipment does not have the remote data analysis performance, and the target point condition cannot be dynamically reflected in real time.
Disclosure of Invention
The present invention provides a network type GNSS raw data acquisition, transmission and positioning system, which can alleviate the above problems.
In order to alleviate the above problems, the technical scheme adopted by the invention is as follows:
a network type GNSS original data acquisition, transmission and positioning system comprises a server-side operation center and two positioning devices, wherein the two positioning devices are respectively used as a reference station and a mobile station;
the positioning apparatus includes:
the GNSS data acquisition end module is used for receiving satellite original data;
the acquisition end data center module is used for screening the original satellite data to obtain a complete satellite data packet;
the network communication module is used for uploading the complete satellite data packet to the server-side operation center;
and the server-side operation center is used for calculating the complete satellite data packet by adopting an RTK position calculation algorithm.
The scheme adopts the terminal original data acquisition and transmission technology, the terminal does not process and resolve data, the requirements on the performance of devices such as a processor of the terminal are extremely low, the series problems of power consumption, manufacturing cost, field installation, stability, reliability and the like are fundamentally solved, and the adaptability to the field of field GNSS measurement is better; the complete satellite data is reserved in the data acquisition and transmission, and the satellite data can be more perfectly analyzed; the system works based on a GNSS differential positioning resolving mode, an RTK position resolving algorithm is adopted to resolve the complete satellite data packet, the calculating speed is high, the dynamic performance is good, the precision is high, and the positioning precision can reach a millimeter level in real time; the remote controllability is good, the performance can be analyzed through remote data, and the target point condition can be reflected in real time dynamically.
Furthermore, the digital circuit and the analog circuit of the GNSS data acquisition end module are packaged in a partitioned mode.
The scheme can avoid mutual interference between the digital circuit and the analog circuit to a great extent.
Furthermore, the data center module of the acquisition end checks whether the original data of each frame of satellite is complete or not according to the protocol of the data output by the satellite data sending module, and discards the incomplete data.
The scheme can well ensure the integrity of satellite data.
Furthermore, the data center module at the acquisition end is provided with a data packet byte threshold, and when the byte number of the complete satellite data packet is greater than the data packet byte threshold, the complete satellite data packet is divided into a plurality of independent and complete frames of data and then uploaded to the operation center at the server end through the network communication module.
The scheme can improve the data uploading efficiency.
Furthermore, the data center module at the acquisition end encrypts each frame of independent and complete data by Base64, and uploads the data to the operation center at the server end through the network communication module.
The scheme can ensure the safety in the data transmission process.
Furthermore, the server-side operation center can remotely control the positioning device, and in the remote control process, the acquisition-side data center module needs to verify the received control instruction and send response information to the server-side operation center.
The scheme can ensure the reliability of remote control.
Further, the satellite data includes four-star RAW observation RAW data and ephemeris data.
Further, the GNSS data acquisition end module acquires the satellite RAW data based on a chip of RAW observation RAW data and ephemeris data.
The chip adopted by the scheme has the characteristics of small size, high reliability, high accuracy and low power consumption.
Further, the data center module at the acquisition end processes the original data of the satellite based on a micro control unit.
The chip that this scheme adopted is low cost, and market share is high.
Further, the network communication module is an 2/3/4G/NB network module.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a block diagram of a network-based GNSS raw data acquisition, transmission and positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic circuit diagram of a GNSS data acquisition end module according to an embodiment of the present invention;
fig. 3 is a schematic circuit diagram of a network communication module according to an embodiment of the present invention.
Fig. 4 is a schematic circuit diagram of a data center module at a collection end according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present embodiment of a network-based GNSS raw data acquisition, transmission and positioning system includes a server-side computing center and two positioning devices, where the two positioning devices are respectively used as a reference station and a mobile station. The positioning apparatus includes: the GNSS data acquisition end module is used for receiving satellite original data; the acquisition end data center module is used for screening the original satellite data to obtain a complete satellite data packet; and the network communication module is used for uploading the complete satellite data packet to the server-side operation center. The server-side operation center adopts a high-performance and high-throughput design and is used for calculating the complete satellite data packet by adopting an RTK position calculation algorithm.
In this embodiment, the system further comprises a local alarm and real-time data uploading function, the working state of the terminal device can be accurately mastered through the real-time uploading function, the system has the alarm broadcasting function of the controlled remote server, and when the background resolving data exceed a preset threshold value in the application of the monitoring field, the field device alarm can be started remotely.
The system works based on a GNSS differential positioning resolving mode, so that at least two positioning devices are needed, and for a user, any one positioning device can be designated as a reference station, and the other positioning device is a mobile station. The base station is installed at a stable and reliable position and is used for resolving a datum of data.
The server side builds a web server and a monitoring platform system, and a user can check corresponding position data at a corresponding client side (for example, a mobile phone and a computer).
In the embodiment, the power management of each unit module is independent, the unit power modules are ensured to be controlled by the processing center, the power is ensured to be turned off when no data is acquired, and energy conservation and reliability are achieved.
In this embodiment, the digital circuit and the analog circuit of the GNSS data acquisition end module are packaged in a partitioned manner. Fig. 2 is a circuit diagram included in the GNSS data collection module of this embodiment, the GNSS data collection module is implemented by a chip (for example, NEO-M8T) based on RAW observation RAW data and ephemeris data, and the module can collect RAW observation RAW and ephemeris satellite data of four satellites, and receives RAW data of BDS, GPS, GLONSS, and Galine satellites through a GNSS high-precision antenna, where P2 is a GNSS antenna interface.
Fig. 3 is a schematic circuit diagram of the network communication module according to this embodiment, in which data is transmitted through 2/3/4G/NB network, and under the condition that the requirement for monitoring accuracy is not high, the network communication module may adopt network communication only including 2G network communication or NB network communication required in some specific areas in some environments.
Fig. 4 is a schematic circuit diagram of the data center module at the acquisition end according to this embodiment, which is based on a micro control unit (for example, STM32F103VFT6 chip) to process the original data of the satellite, and has low cost and high market share.
The working principle of the positioning equipment is as follows: the method comprises the steps of firstly connecting an antenna through an antenna interface P2 in a GNSS data acquisition end module, acquiring satellite RAW data through a chip (such as NEO-M8T) of RAW observation RAW data and ephemeris data, then transmitting the satellite RAW data to a micro control unit (such as STM32F103VFT 6) of an acquisition end data center module for data processing, and finally transmitting the processed data to a server operation center (NB) through a 4G (such as Q560_4G _ LET) chip, a 2G (such as D560_ DTU _ 2G) chip and an NB chip in a network communication module.
The network type GNSS raw data acquisition, transmission and positioning system has the following characteristics:
1) the terminal machine is used for acquiring and transmitting the original data, the terminal machine does not process and resolve the data, the requirement level on the performance of devices such as a processor of the terminal is low, the series problems of power consumption, manufacturing cost, stability, reliability and the like are fundamentally solved, and the adaptability to the field of field GNSS measurement is better;
2) the background server is used for resolving, the algorithm adopts a high-precision algorithm, the calculation speed is higher, the dynamic performance is better, the precision is higher, and the real-time millimeter level positioning precision can be achieved; the complete GNSS original data are reserved in the data acquisition and transmission, the satellite data can be more perfectly analyzed, and the resolving algorithm and the resolving precision are improved by adopting the artificial intelligence technology;
3) ensuring integrity of GNSS raw data acquisition
And the data center module of the acquisition end checks whether the original data of each frame of satellite is complete or not according to the protocol of the data output by the satellite data sending module, and discards the incomplete data.
4) Anti-interference processing of GNSS raw data signals in transmission among modules of circuit board
The design of each module of the circuit board meets the requirement of electromagnetic compatibility, and the digital circuit and the analog circuit module are partitioned to avoid mutual interference; and performing signal matching processing on part of design signals of the GNSS module to achieve the optimal design of each module of the circuit.
5) The data center module of the acquisition end is provided with a data packet byte threshold, when the byte number of the complete satellite data packet is larger than the data packet byte threshold, the complete satellite data packet is divided into a plurality of independent and complete frames of data, and the data are encrypted by adopting Base64 and then uploaded to the operation center of the server end through the network communication module.
6) Remote reliable control of background server to acquisition terminal
The server-side operation center can remotely control the positioning equipment, and in the remote control process, the acquisition-side data center module needs to verify the received control instruction and send response information to the server-side operation center.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A network type GNSS original data acquisition, transmission and positioning system is characterized by comprising a server-side operation center and two positioning devices, wherein the two positioning devices are respectively used as a reference station and a mobile station;
the positioning apparatus includes:
the GNSS data acquisition end module is used for receiving satellite original data;
the acquisition end data center module is used for screening the original satellite data to obtain a complete satellite data packet;
the network communication module is used for uploading the complete satellite data packet to the server-side operation center;
and the server-side operation center is used for calculating the complete satellite data packet by adopting an RTK position calculation algorithm.
2. The network-based GNSS raw data collection, transmission and positioning system of claim 1, wherein the digital circuit and the analog circuit of the GNSS data collection end module are packaged in a partitioned manner.
3. The network-based GNSS raw data collection, transmission and positioning system of claim 1, wherein the collection-side data center module checks whether each frame of satellite raw data is complete according to a protocol of data output from the satellite data transmission module, and discards incomplete data.
4. The network-based GNSS raw data acquisition, transmission and positioning system according to claim 1, wherein the acquisition-side data center module is provided with a data packet byte threshold, and when the number of bytes of the complete satellite data packet is greater than the data packet byte threshold, the acquisition-side data center module divides the complete satellite data packet into a plurality of independent complete frames of data, and uploads the data to the server-side operation center through the network communication module.
5. The system of claim 4, wherein the data center module at the collection end encrypts each frame of independent and complete data using Base64, and uploads the encrypted data to the operation center at the server end through the network communication module.
6. The system of claim 1, wherein the server-side computing center is capable of remotely controlling the positioning device, and during the remote control process, the data center module at the collection end is required to verify the received control command and send a response message to the server-side computing center.
7. The network-based GNSS RAW data acquisition transmission and positioning system of claim 1 wherein the satellite data comprises four-satellite RAW observation RAW data and ephemeris data.
8. The network-based GNSS RAW data collection, transmission and positioning system of claim 7, wherein the GNSS data collection side module collects the satellite RAW data based on RAW observation RAW data and ephemeris data-like chips.
9. The network-based GNSS raw data collection, transmission and positioning system of claim 8, wherein the collection-side data center module processes the satellite raw data based on a micro control unit.
10. The network-based GNSS raw data collection, transmission and positioning system of claim 1, wherein the network communication module is an 2/3/4G/NB network module.
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Cited By (2)
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| CN113819837A (en) * | 2021-11-24 | 2021-12-21 | 水利部交通运输部国家能源局南京水利科学研究院 | Low-power-consumption low-cost high-precision navigation satellite surface deformation monitoring system |
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| CN113819837A (en) * | 2021-11-24 | 2021-12-21 | 水利部交通运输部国家能源局南京水利科学研究院 | Low-power-consumption low-cost high-precision navigation satellite surface deformation monitoring system |
| CN113819837B (en) * | 2021-11-24 | 2022-03-01 | 水利部交通运输部国家能源局南京水利科学研究院 | Low-power-consumption low-cost high-precision navigation satellite surface deformation monitoring system |
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Application publication date: 20201218 |
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