CN112230262B - GNSS wide area positioning method, device and positioning service system - Google Patents

GNSS wide area positioning method, device and positioning service system Download PDF

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CN112230262B
CN112230262B CN202011490409.8A CN202011490409A CN112230262B CN 112230262 B CN112230262 B CN 112230262B CN 202011490409 A CN202011490409 A CN 202011490409A CN 112230262 B CN112230262 B CN 112230262B
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reference station
current optimal
positioning
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CN112230262A (en
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张龙平
王宇翔
马民
张成军
肖继群
林祎
张新
柴现标
孙倩
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Aerospace Hongtu Information Technology Co Ltd
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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
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

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  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the application provides a GNSS wide area positioning method, a GNSS wide area positioning device and a positioning service system, and relates to the technical field of earth observation and navigation. The method comprises the following steps: receiving data quality information of each reference station sent by a WEB end; matching the current optimal reference station according to the data quality information, the first distance between the current optimal reference station and the reference station and a preset comprehensive factor self-adaptive model based on the data quality and the distance; sending a request instruction to the current optimal reference station to establish connection with the current optimal reference station; the method comprises the steps of receiving observation data sent by the current optimal reference station, obtaining a real-time positioning result of a user side according to the observation data and a preset data quality weight model, establishing communication between a user and the optimal reference station, serving massive users, having high positioning precision, and solving the problems that the existing method can only provide positioning service for a small number of users and the positioning precision is low.

Description

GNSS wide area positioning method, device and positioning service system
Technical Field
The application relates to the technical field of earth observation and navigation, in particular to a GNSS wide area positioning method, a GNSS wide area positioning device and a GNSS wide area positioning service system.
Background
With the development of public applications such as vehicle and ship navigation, object tracking, public security fire protection, driving test, automatic driving and the like, the requirements on centimeter-level high-precision real-time positioning based on GNSS are higher and higher. Currently, the commonly used methods for real-time high-precision positioning include RTK and network RTK, but these two methods can only provide positioning services for a small number of users, and have low positioning precision and low stability.
Disclosure of Invention
The embodiment of the application aims to provide a GNSS wide-area positioning method, a GNSS wide-area positioning device and a GNSS wide-area positioning service system, wherein a user establishes communication with an optimal reference station, can serve massive users, and performs real-time positioning by using a data quality weight model after matching the optimal reference station, so that the GNSS wide-area positioning method has high positioning accuracy and stability, and solves the problems that the existing method can only provide positioning service for a small number of users and the positioning accuracy is low.
The embodiment of the application provides a GNSS wide area positioning method, which is applied to a user side, and the method comprises the following steps:
receiving data quality information of each reference station sent by a WEB end;
matching the current optimal reference station according to the data quality information, the first distance between the current optimal reference station and the reference station and a preset comprehensive factor self-adaptive model based on the data quality and the distance;
sending a request instruction to the current optimal reference station to establish connection with the current optimal reference station;
and receiving observation data sent by the current optimal reference station so as to obtain a real-time positioning result of the user side according to the observation data and a preset data quality weight model.
In the implementation process, the user directly establishes communication with the optimal reference station, the service pressure of massive users is distributed to each reference station, the stability is higher, the user performs real-time positioning through observation data sent by the optimal reference station, namely, the virtual reference station is not required to be solved, the user performs positioning calculation by adopting real reference station data, the positioning accuracy and the availability are high, and the problems that the existing method can only provide positioning service for a small number of users and the positioning accuracy is lower are solved.
Further, the data quality information comprises a reference station coordinate, a coordinate precision, a multipath value and a completeness rate; the matching of the current optimal reference station according to the data quality information, the first distance between the current optimal reference station and the reference station and a preset comprehensive factor self-adaptive model based on the data quality and the distance comprises the following steps:
obtaining a probability coordinate according to the pseudo-range positioning so as to calculate a first distance between the pseudo-range positioning device and the reference station according to the probability coordinate;
acquiring a comprehensive factor library formed by comprehensive factors of all the reference stations according to the first distance;
the pool of integrated factors is represented as:
Figure DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 107439DEST_PATH_IMAGE002
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE003
wherein the content of the first and second substances,iwhich indicates the number of reference stations,P i is shown asiThe combination factor of the individual reference stations,l i indicating a first distance of the user terminal from the reference station,mp i 、dn i andrm i respectively representiMultipath values, integrity rates and coordinate accuracies of the individual reference stations,mp i t is shown astThe multi-path value of the particular satellite,dn i t is shown astThe integrity rate of the particular satellite or satellites,k 1、k 2andk 3are all data quality scale factors and are used as data quality scale factors,qwhich represents the overall scale factor of the image,a、brespectively setting a preset distance threshold value and a data quality threshold value;
and acquiring a minimum value of the comprehensive factor, wherein the reference station corresponding to the minimum value of the comprehensive factor is the current optimal reference station.
In the implementation process, a comprehensive factor self-adaptive model is established to match the optimal reference station through the probability coordinate of the self positioning of the user side and the received data quality information of each reference station, the data quality and the distance are comprehensively optimal, and the positioning precision and the stability are improved.
Further, the receiving the observation data sent by the current optimal reference station to obtain the real-time positioning result of the user side according to the observation data and a preset data quality weight model includes:
establishing an observation equation according to the observation data, wherein the observation data comprises a double-frequency pseudo-range observation value and a double-frequency carrier phase observation value;
the observation equation is expressed as:
Figure 828270DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE005
a double difference factor of the positioning is represented,
Figure 619771DEST_PATH_IMAGE006
representing a two-frequency pseudorange observation,
Figure DEST_PATH_IMAGE007
the distance between the satellite and the station is shown,TandIrespectively representing delay errors of the troposphere and the ionosphere,
Figure 717040DEST_PATH_IMAGE008
respectively representing the pseudorange and the carrier-phase observed noise,
Figure DEST_PATH_IMAGE009
representing a dual-frequency carrier-phase observation,Nrepresenting carrier phase ambiguity;
constructing an error equation according to the observation equation;
the error equation can be expressed as:
V=AX-L；
wherein the content of the first and second substances,Vwhich represents the positioning residual error,Aa matrix of coefficients is represented by a matrix of coefficients,Lwhich represents the residual of the observation,Xrepresenting the positioning coordinates of the user terminal to be calculated;
in that
Figure 221970DEST_PATH_IMAGE010
When the minimum value is obtained, obtaining a positioning result according to the data quality weight model;
the data quality weight model is represented as:
Figure DEST_PATH_IMAGE011
；
the positioning result is expressed as:
Figure 238337DEST_PATH_IMAGE012
；
wherein the content of the first and second substances,xand representing the calculated positioning coordinates of the user terminal.
In the implementation process, the user side can be accurately positioned by utilizing the observation data and resolving through real-time positioning, and the next optimal reference station can be matched in time when the current optimal reference station is exceeded, so that the high precision and the high stability in the data transmission process are ensured.
Further, the sending a request instruction to the current optimal reference station to establish a connection with the current optimal reference station includes:
sending the request instruction to the current optimal reference station;
if a reply message returned by the current optimal reference station is received within a preset delay time, connection is established;
and if not, sending the request instruction to a second optimal reference station.
In the implementation process, when the user side cannot establish connection with the current optimal reference station, the user side can establish connection with the second optimal reference station, and so on, so that the user side can perform normal communication with the reference station.
Further, the method further comprises:
judging whether the service range of the current optimal reference station is exceeded or not according to the real-time positioning result;
and if so, sending a service termination instruction to the current optimal reference station and re-matching the next optimal reference station.
In the implementation process, the real-time judgment is carried out according to the positioning result so as to match the next optimal reference station in time when the service range of the current optimal reference station is exceeded, and the communication between the user side and the optimal reference station is ensured to be normal and stable.
Further, judging whether the service range of the current optimal reference station is exceeded according to the real-time positioning result, including:
calculating a second distance to the current optimal reference station according to the positioning coordinates;
and judging whether the second distance is greater than a preset threshold value or not so as to determine whether the second distance exceeds the service range of the current optimal reference station or not.
In the implementation process, whether the service range of the current optimal reference station is exceeded or not is judged through the threshold value, if the service range of the current optimal reference station is exceeded, the optimal reference station is matched again, and therefore the advantage that the user side can always communicate with the matched optimal reference station is achieved, and high accuracy and high stability are guaranteed.
An embodiment of the present application further provides a GNSS wide-area positioning apparatus, including:
the receiving module is used for receiving the data quality information of each reference station sent by the WEB end;
the matching module is used for matching the current optimal reference station according to the data quality information, the first distance between the reference station and the matching module and a preset comprehensive factor self-adaptive model based on the data quality and the distance;
the connection establishing module is used for sending a request instruction to the current optimal reference station so as to establish connection with the current optimal reference station;
and the positioning module is used for receiving the observation data sent by the current optimal reference station so as to obtain a real-time positioning result of the user side according to the observation data and a preset data quality weight model.
In the implementation process, the optimal reference station is matched and is in communication connection with the optimal reference station, the service pressure of massive users is distributed to the reference stations, the stability is high, the user side is accurately positioned by using the data quality weight model, real-time positioning calculation is carried out, and the high precision and the high stability are further guaranteed.
An embodiment of the present application further provides a location service system, where the system includes:
the data center is in communication connection with the reference stations and is used for receiving the observation data sent by each reference station and performing positioning calculation and data quality analysis on the observation data so as to send the obtained data quality information to the WEB terminal periodically;
the plurality of reference stations are used for periodically sending the working condition information and the observation data to the data center and establishing connection with the user side so as to send the observation data to the user side;
and the user side is used for matching the current optimal reference station by receiving the data quality information sent by the WEB side and receiving the observation data sent by the current optimal reference station so as to carry out real-time positioning.
In the implementation process, the data center manages all the reference stations in a unified mode, real-time positioning of mass wide-area users is carried out under a unified coordinate frame, positioning results are more accurate, the users do not establish communication with the data center, the users establish communication with the optimal reference station, service pressure of the mass users is distributed to all the reference stations, stability is higher, after the user reference stations are connected, the reference stations and the data center do not need to participate in data calculation, namely the reference stations send observation data to the users, all the users calculate the observation data by themselves, transmission delay and calculation pressure caused by unified transmission and calculation of the data center are reduced, and the users adopt real reference station data to carry out positioning calculation, and positioning accuracy and usability are higher.
An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the GNSS wide-area positioning method described in any of the above.
An embodiment of the present application further provides a readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the GNSS wide area positioning method described in any of the above is executed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of data transmission and positioning between a reference station, a data center, and a user terminal according to an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating a GNSS wide-area positioning method according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of matching a current optimal reference station provided by an embodiment of the present application;
fig. 4 is a flowchart of establishing a connection with a current optimal reference station according to an embodiment of the present application;
fig. 5 is a flowchart of a real-time positioning method using a data quality weighting model based on integrity rate and multipath according to an embodiment of the present application;
fig. 6 is a flowchart of determining a service range according to an embodiment of the present application;
FIG. 7 is a block diagram of a GNSS wide-area positioning apparatus according to an embodiment of the present invention;
FIG. 8 is a block diagram illustrating an exemplary embodiment of a GNSS wide-area positioning apparatus;
fig. 9 is a schematic diagram of a location service system according to an embodiment of the present application.
Icon:
100-a receiving module; 200-a matching module; 201-a first distance calculation module; 202-a comprehensive factor obtaining module; 203-current optimal reference station determination module; 300-a connection establishment module; 301-an instruction sending module; 302-a message receiving module; 303-a decision module; 400-a positioning module; 401-observation equation establishing module; 402-an error equation establishing module; 403-positioning result obtaining module; 500-service scope decision module; 600-a termination instruction sending module; 701-a data center; 702-a reference station; 703-the user side.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
In the implementation process of the method, GNSS reference stations 702 can be arranged at intervals such as 10-20km in a wide area in a large scale, each reference station 702 can be connected with a data center 701 through the Internet, the data center 701 is in communication connection with a WEB end, a user end 703 is in communication connection with the WEB end, and the user end 703 can be a mobile electronic device end with a positioning function, such as a smart phone.
Specifically, as shown in fig. 1, it is a flow chart of data transmission and positioning among the reference station 702, the data center 701, and the user terminal 703, where each reference station 702 periodically sends operating condition information and observation data to the data center 701, the operating condition information refers to information indicating a working state such as an operating state, a temperature, and a storage, and the observation data includes a dual-frequency pseudorange observation value, a dual-frequency carrier phase observation value, a navigation ephemeris, meteorological data, and the like; based on the received observation data sent by each reference station 702, the data center 701 periodically performs data quality analysis, unified precision positioning, and network adjustment calculation on each reference station 702, that is, data quality information such as accurate coordinates, coordinate precision, multipath values, integrity rate, and the like of each reference station 702 in a unified framework, such as WGS84, ITRF, CGCS2000, and the like, is obtained through the positioning calculation of the data center.
The data center 701 performs unified maintenance and updating on the information of each reference station, and specifically, periodically sends the data quality information such as the name of the reference station, the accurate coordinate and coordinate precision of the reference station 702, the multipath value, the integrity rate and the like to each GNSS reference station 702, so that each reference station 702 can update the information of the reference station in time; meanwhile, the data center 701 regularly pushes a reference station library to the WEB end, the reference station library includes data quality information such as a reference station name, an accurate coordinate and coordinate precision of the reference station 702, multiple paths, a complete rate and the like, so that the data quality information received by each user end 703 from the WEB end is latest updated information, and meanwhile, the data quality information is uniformly processed by the data center 701, so that the data quality information received among the reference stations 702 has no error, and the accuracy of the data quality information received from the WEB end is ensured.
Referring to fig. 2, fig. 2 is a flowchart illustrating a GNSS wide-area positioning method according to an embodiment of the present disclosure. The process of locating the user end 703 specifically includes the following steps:
step S100: receiving data quality information of each reference station 702 sent by a WEB end;
step S200: matching the current optimal reference station according to the data quality information, a first distance between the reference station 702 and the preset data quality and distance-based comprehensive factor adaptive model;
the data quality information includes reference station coordinates, coordinate accuracy, multipath values and integrity rate, wherein the multipath values refer to errors generated because the reference station 702 receives satellite signals reflected once or many times by ground objects around an antenna besides directly receiving signals transmitted by a satellite; the integrity rate is the percentage of actual observed data to theoretical data of the reference station 702; as shown in fig. 3, the step is a flowchart for matching the current optimal reference station, and specifically includes the following steps:
step S201: obtaining a probability coordinate from the pseudorange location to compute a first range from the probability coordinate to the reference station 702;
the user terminal 703 obtains a probability coordinate by pseudo-range positioning using its own positioning function, and calculates an approximate distance (since the probability coordinate is inaccurate), that is, a first distance from each reference station 702, based on the probability coordinate and the reference station coordinate of the reference station 702.
Step S202: acquiring a comprehensive factor library formed by comprehensive factors of the reference stations 702 according to the first distance;
the pool of integrated factors is represented as:
Figure 359876DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 260836DEST_PATH_IMAGE002
；
wherein the content of the first and second substances,
Figure 823536DEST_PATH_IMAGE003
wherein the content of the first and second substances,iindicates the number of reference stations 702,P i is shown asiThe aggregate factor of the individual reference stations 702,l i indicating a first distance of the user terminal 703 from the reference station 702,mp i 、dn i andrm i respectively representiMultipath values, integrity rates and coordinate accuracies of the individual reference stations 702,mp i t is shown astThe multi-path value of the particular satellite,dn i t is shown astThe integrity rate of the particular satellite or satellites,k 1、k 2andk 3are all data quality scale factors and are used as data quality scale factors,qwhich represents the overall scale factor of the image,a、brespectively setting a preset distance threshold value and a data quality threshold value;
step S203: and acquiring a minimum value of the comprehensive factor, wherein the reference station 702 corresponding to the minimum value of the comprehensive factor is the current optimal reference station.
Inputting the first distance between the user terminal 703 and each reference station 702 into the corresponding synthesis factor of each reference station 702 in the synthesis factor library, so as to obtain the synthesis factor between the user terminal 703 and each reference station 702, and finding the minimum value of the synthesis factor, where the corresponding reference station 702 is the current optimal reference station.
The method takes data quality and distance into consideration, namely the data quality and the distance are comprehensively optimal and are the current optimal reference station, illustratively, the minimum value of the comprehensive factorP min1The corresponding reference station 702 is the current optimal reference station A, the lowest value of the combination factorP min2The corresponding reference station 702 is the second best reference station B, the lowest value of the combination factorP min3The corresponding reference station 702 is the third best reference station C.
Step S300: sending a request instruction to the current optimal reference station to establish connection with the current optimal reference station;
as shown in fig. 4, the step of establishing a connection with the current optimal reference station may specifically include:
step S301: sending the request instruction to the current optimal reference station;
step S302: if a reply message returned by the current optimal reference station is received within a preset delay time, connection is established;
step S303: if not, the request command is sent to the second reference station 702.
Illustratively, the user terminal 703 sends a request instruction to the current optimal reference station a, and if the current optimal reference station a replies an available message within a preset delay time, the current optimal reference station a and the current optimal reference station a successfully establish a connection, and always receives data sent by the current optimal reference station a before the connection is disconnected; if the current optimal reference station A does not reply or reply is unavailable within a certain delay time, sending request information to a second optimal reference station B; by analogy, if A, B, C none of the three reference stations 702 can provide service, the user terminal 703 is notified to check the relevant settings.
Step S400: and receiving observation data sent by the current optimal reference station to obtain a real-time positioning result of the user terminal 703 according to the observation data and a preset data quality weight model.
After the user terminal 703 successfully establishes a connection with the current optimal reference station a, the current optimal reference station a sends observation data to the user terminal 703 in real time, where the observation data includes a dual-frequency pseudorange observation value, a dual-frequency carrier phase observation value, a navigation ephemeris, and the like.
After receiving observation data of the building reference station 702, a user performs real-time double-difference baseline positioning calculation by combining navigation ephemeris and observation data acquired by the user, so as to perform real-time positioning by using a data quality weight model based on integrity rate and multipath, as shown in fig. 5, which is a flow chart for performing real-time positioning by using a data quality weight model based on integrity rate and multipath, and the specific steps are as follows:
step S401: establishing an observation equation according to the observation data, wherein the observation data comprises a double-frequency pseudo-range observation value and a double-frequency carrier phase observation value;
the observation equation is expressed as:
Figure 355011DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 760585DEST_PATH_IMAGE005
a double difference factor of the positioning is represented,
Figure 91334DEST_PATH_IMAGE006
representing a two-frequency pseudorange observation,
Figure 836436DEST_PATH_IMAGE007
the distance between the satellite and the station is shown,TandIrespectively representing delay errors of the troposphere and the ionosphere,
Figure 601130DEST_PATH_IMAGE008
respectively representing the pseudorange and the carrier-phase observed noise,
Figure 103787DEST_PATH_IMAGE009
representing a dual-frequency carrier-phase observation,Nrepresenting carrier phase ambiguity;
step S402: constructing an error equation according to the observation equation;
the error equation can be expressed as:
V=AX-L；
wherein the content of the first and second substances,Vwhich represents the positioning residual error,Aa matrix of coefficients is represented by a matrix of coefficients,Lwhich represents the residual of the observation,Xrepresenting the positioning coordinates of the user terminal 703 to be calculated;
step S403: in that
Figure 549812DEST_PATH_IMAGE010
When the minimum value is obtained, a positioning result is obtained according to the data quality weight model;
the data quality weight model is represented as:
Figure 211737DEST_PATH_IMAGE011
；
the positioning result is expressed as:
Figure 85015DEST_PATH_IMAGE012
；
wherein the content of the first and second substances,xthe calculated positioning coordinates of the user terminal 703 are represented.
Data quality weight model based on integrity rate and multipath for real-time positioning and obtaining accurate coordinates of user terminal 703x。
As shown in fig. 6, in the flowchart for determining the service scope, after obtaining the real-time positioning result of the user end 703, the method further includes:
step S500: judging whether the service range of the current optimal reference station is exceeded or not according to the real-time positioning result;
the judgment of the service range comprises the following steps:
calculating a second distance to the current optimal reference station according to the positioning coordinates; and judging whether the second distance is greater than a preset threshold value or not so as to determine whether the second distance exceeds the service range of the current optimal reference station or not.
Step S600: and if so, sending a service termination instruction to the current optimal reference station and re-matching the next optimal reference station.
Calculating a second distance from the user end 703 to the current optimal reference station by using the positioning coordinates of the user end 703 in the real-time positioning result and the observation data of the current optimal reference station, if the second distance between the user end 703 and the reference station 702 does not exceed the service range, if the second distance is smaller than a preset threshold valuedContinuously receiving observation data sent by the current optimal reference station, and performing real-time accurate positioning by using the data quality weight model; if the service range of the current optimal reference station is exceeded, for example, the second distance between the user terminal 703 and the reference station 702 is greater than or equal to a preset thresholddIf so, the user end 703 sends a termination instruction to the current optimal reference station to disconnect the connection, and the user end 703 re-matches the current optimal reference station to perform high-precision RTK real-time positioning.
The user terminal 703 does not directly establish communication with the data center 701, that is, the user terminal 703 receives data quality information through a WEB terminal and receives observation data through the reference stations 702, so that the service pressure of a large number of users is distributed to each reference station 702, and the stability is higher; positioning calculation is realized at the user side 703, the reference station 702 and the data center 701 do not need to perform data calculation, the calculation pressure of the data center 701 and the reference station 702 is reduced, and the calculation pressure is respectively sent to the corresponding user side 703 through the current optimal reference station, so that the transmission delay probability is reduced; the user adopts the data of the real reference station 702 to perform positioning calculation, so that the positioning precision and the usability are higher; by considering the comprehensive optimization of data quality and distance, constructing a comprehensive factor self-adaptive model of the data quality and the distance to match with the current optimal reference station, constructing a data quality weight model of integrity rate and multipath, and performing real-time positioning calculation, the high precision and the high stability are further guaranteed.
Example 2
An embodiment of the present invention provides a GNSS wide-area positioning apparatus, which is applied to implement the GNSS wide-area positioning method in fig. 1, as shown in fig. 7, and is a structural block diagram of the GNSS wide-area positioning apparatus, where the apparatus includes but is not limited to:
a receiving module 100, configured to receive data quality information of each reference station 702 sent by a WEB end;
a matching module 200, configured to match a current optimal reference station according to the data quality information, a first distance from the reference station 702, and a preset data quality and distance-based comprehensive factor adaptive model;
a connection establishing module 300, configured to send a request instruction to the current optimal reference station to establish a connection with the current optimal reference station;
a positioning module 400, configured to receive observation data sent by the current optimal reference station, so as to obtain a real-time positioning result of the user end 703 according to the observation data and a preset data quality weight model.
As shown in fig. 8, which is a detailed structural block diagram of a GNSS wide-area positioning apparatus, the matching module 200 includes:
a first distance calculation module 201, configured to obtain a probability coordinate according to the pseudorange location, so as to calculate a first distance from the reference station 702 according to the probability coordinate;
an integrated factor obtaining module 202, configured to obtain, according to the first distance, an integrated factor library formed by integrated factors of each reference station 702;
the pool of integrated factors is represented as:
Figure 589815DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 573951DEST_PATH_IMAGE002
；
wherein the content of the first and second substances,
Figure 355962DEST_PATH_IMAGE003
wherein the content of the first and second substances,iindicates the number of reference stations 702,P i is shown asiThe aggregate factor of the individual reference stations 702,l i indicating a first distance of the user terminal 703 from the reference station 702,mp i 、dn i andrm i respectively representiMultipath values, integrity rates and coordinate accuracies of the individual reference stations 702,mp i t is shown astThe multi-path value of the particular satellite,dn i t is shown astThe integrity rate of the particular satellite or satellites,k 1、k 2andk 3are all data quality scale factors and are used as data quality scale factors,qwhich represents the overall scale factor of the image,a、brespectively setting a preset distance threshold value and a data quality threshold value;
and a current optimal reference station determining module 203, configured to obtain a minimum value of an integration factor, where the reference station 702 corresponding to the minimum value of the integration factor is the current optimal reference station.
The positioning module 400 includes:
an observation equation establishing module 401, configured to establish an observation equation according to the observation data, where the observation data includes a dual-frequency pseudo-range observation value and a dual-frequency carrier phase observation value;
the observation equation is expressed as:
Figure 72246DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 877391DEST_PATH_IMAGE005
a double difference factor of the positioning is represented,
Figure 727535DEST_PATH_IMAGE006
representing a two-frequency pseudorange observation,
Figure 301736DEST_PATH_IMAGE007
the distance between the satellite and the station is shown,TandIrespectively representing delay errors of the troposphere and the ionosphere,
Figure 205232DEST_PATH_IMAGE008
respectively representing the pseudorange and the carrier-phase observed noise,
Figure 232094DEST_PATH_IMAGE009
representing a dual-frequency carrier-phase observation,Nrepresenting carrier phase ambiguity;
an error equation establishing module 402, configured to establish an error equation according to the observation equation;
the error equation can be expressed as:
V=AX-L；
wherein the content of the first and second substances,Vwhich represents the positioning residual error,Aa matrix of coefficients is represented by a matrix of coefficients,Lwhich represents the residual of the observation,Xrepresenting the positioning coordinates of the user terminal 703 to be calculated;
a positioning result obtaining module 403 for obtaining a positioning result
Figure 885929DEST_PATH_IMAGE010
When the minimum value is obtained, a positioning result is obtained according to the data quality weight model;
the data quality weight model is represented as:
Figure 314636DEST_PATH_IMAGE011
；
the positioning result is expressed as:
Figure 372722DEST_PATH_IMAGE012
；
wherein the content of the first and second substances,xthe calculated positioning coordinates of the user terminal 703 are represented.
The connection establishment module 300 includes:
an instruction sending module 301, configured to send the request instruction to the current optimal reference station;
a message receiving module 302, configured to establish a connection if a reply message returned by the current optimal reference station is received within a preset delay time;
the determining module 303 is configured to send the request instruction to a second optimal reference station if a reply message returned by the current optimal reference station is not received within a preset delay time.
The device also includes:
a service range determining module 500, configured to determine whether the service range of the current optimal reference station is exceeded according to the real-time positioning result;
the judgment of the service range comprises the following steps:
calculating a second distance to the current optimal reference station according to the positioning coordinates; and judging whether the second distance is greater than a preset threshold value or not so as to determine whether the second distance exceeds the service range of the current optimal reference station or not.
A termination instruction sending module 600, configured to send a service termination instruction to the current optimal reference station and re-match a next optimal reference station if the service range of the current optimal reference station is exceeded.
Example 3
An embodiment of the present application provides a location service system, as shown in fig. 9, which is a schematic diagram of the system, where the system includes:
the data center 701 is in communication connection with the reference stations 702 and is used for receiving observation data sent by the reference stations 702, performing positioning calculation and data quality analysis on the observation data and sending obtained data quality information to a WEB terminal periodically;
the plurality of reference stations 702 are configured to periodically send the operating condition information and the observation data to the data center 701, and establish a connection with the user side 703 to send the observation data to the user side 703;
and the user terminal 703 is configured to match the current optimal reference station by receiving the data quality information sent by the WEB terminal, and receive observation data sent by the current optimal reference station, so as to perform real-time positioning.
An embodiment of the present application provides an electronic device, where the electronic device includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the GNSS wide area positioning method of embodiment 1.
An embodiment of the present application provides a readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the GNSS wide area positioning method according to any one of embodiment 1 is executed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims (9)

1. A GNSS wide-area positioning method is applied to a user side, and the method comprises the following steps:
receiving data quality information of each reference station sent by a WEB end;
matching the current optimal reference station according to the data quality information, the first distance between the current optimal reference station and the reference station and a preset comprehensive factor self-adaptive model based on the data quality and the distance, wherein the data quality information comprises the coordinates, the coordinate precision, the multipath value and the integrity rate of the reference station:
obtaining a probability coordinate according to the pseudo-range positioning so as to calculate a first distance between the pseudo-range positioning device and the reference station according to the probability coordinate;
acquiring a comprehensive factor library formed by comprehensive factors of all the reference stations according to the first distance;
the pool of integrated factors is represented as:
Figure 144840DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 881852DEST_PATH_IMAGE002
；
wherein the content of the first and second substances,
Figure 467554DEST_PATH_IMAGE003
wherein the content of the first and second substances,iwhich indicates the number of reference stations,P i is shown asiThe combination factor of the individual reference stations,l i indicating a first distance of the user terminal from the reference station,mp i 、dn i andrm i respectively representiMultipath values, integrity rates and coordinate accuracies of the individual reference stations,mp i t is shown astThe multi-path value of the particular satellite,dn i t is shown astThe integrity rate of the particular satellite or satellites,k 1、k 2andk 3are all data quality scale factors and are used as data quality scale factors,qwhich represents the overall scale factor of the image,a、brespectively setting a preset distance threshold value and a data quality threshold value;
acquiring a minimum value of a comprehensive factor, wherein a reference station corresponding to the minimum value of the comprehensive factor is the current optimal reference station;
sending a request instruction to the current optimal reference station to establish connection with the current optimal reference station;
and receiving observation data sent by the current optimal reference station so as to obtain a real-time positioning result of the user side according to the observation data and a preset data quality weight model.
2. The GNSS wide-area positioning method of claim 1, wherein the receiving observation data sent by the current optimal reference station to obtain a real-time positioning result of the user terminal according to the observation data and a preset data quality weight model comprises:
establishing an observation equation according to the observation data, wherein the observation data comprises a double-frequency pseudo-range observation value and a double-frequency carrier phase observation value;
the observation equation is expressed as:
Figure 897398DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 139024DEST_PATH_IMAGE005
a double difference factor of the positioning is represented,
Figure 414147DEST_PATH_IMAGE006
representing a two-frequency pseudorange observation,
Figure 621400DEST_PATH_IMAGE007
the distance between the satellite and the station is shown,TandIrespectively representing delay errors of the troposphere and the ionosphere,
Figure 956566DEST_PATH_IMAGE008
respectively representing the pseudorange and the carrier-phase observed noise,
Figure 747805DEST_PATH_IMAGE009
representing a dual-frequency carrier-phase observation,Nrepresenting carrier phase ambiguity;
constructing an error equation according to the observation equation;
the error equation can be expressed as:
V=AX-L；
wherein the content of the first and second substances,Vwhich represents the positioning residual error,Aa matrix of coefficients is represented by a matrix of coefficients,Lwhich represents the residual of the observation,Xrepresenting the positioning coordinates of the user terminal to be calculated;
in that
Figure 826619DEST_PATH_IMAGE010
When the minimum value is obtained, a positioning result is obtained according to the data quality weight model;
the data quality weight model is represented as:
Figure 324597DEST_PATH_IMAGE011
；
the positioning result is expressed as:
Figure 158561DEST_PATH_IMAGE012
；
wherein the content of the first and second substances,xand representing the calculated positioning coordinates of the user terminal.
3. The GNSS wide-area positioning method of claim 1, wherein the sending a request command to the current optimal reference station to establish a connection with the current optimal reference station comprises:
sending the request instruction to the current optimal reference station;
if a reply message returned by the current optimal reference station is received within a preset delay time, connection is established;
and if not, sending the request instruction to a second optimal reference station.
4. The GNSS wide area positioning method of claim 2, further comprising:
judging whether the service range of the current optimal reference station is exceeded or not according to the real-time positioning result;
and if so, sending a service termination instruction to the current optimal reference station and re-matching the next optimal reference station.
5. The GNSS wide-area positioning method of claim 4, wherein determining whether the service range of the current optimal reference station is exceeded according to the real-time positioning result comprises:
calculating a second distance to the current optimal reference station according to the positioning coordinates;
and judging whether the second distance is greater than a preset threshold value or not so as to determine whether the second distance exceeds the service range of the current optimal reference station or not.
6. A GNSS wide-area positioning apparatus, characterized in that the apparatus comprises:
the receiving module is used for receiving the data quality information of each reference station sent by the WEB end;
the matching module is used for matching the current optimal reference station according to the data quality information, the first distance between the current optimal reference station and the reference station and a preset comprehensive factor self-adaptive model based on the data quality and the distance, wherein the data quality information comprises a reference station coordinate, a coordinate precision, a multipath value and a integrity rate, and specifically comprises the following steps:
the first distance calculation module is used for obtaining a probability coordinate according to pseudo-range positioning so as to calculate a first distance between the first distance calculation module and the reference station according to the probability coordinate;
the comprehensive factor acquisition module is used for acquiring a comprehensive factor library formed by the comprehensive factors of each reference station according to the first distance;
the pool of integrated factors is represented as:
Figure 109199DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 991704DEST_PATH_IMAGE002
；
wherein the content of the first and second substances,
Figure 406505DEST_PATH_IMAGE003
wherein the content of the first and second substances,iwhich indicates the number of reference stations,P i is shown asiThe combination factor of the individual reference stations,l i indicating a first distance of the user terminal from the reference station,mp i 、dn i andrm i respectively representiMultipath values, integrity rates and coordinate accuracies of the individual reference stations,mp i t is shown astThe multi-path value of the particular satellite,dn i t is shown astThe integrity rate of the particular satellite or satellites,k 1、k 2andk 3are all data quality scale factors and are used as data quality scale factors,qwhich represents the overall scale factor of the image,a、brespectively setting a preset distance threshold value and a data quality threshold value;
the current optimal reference station determining module is used for acquiring a minimum value of a comprehensive factor, and the reference station corresponding to the minimum value of the comprehensive factor is the current optimal reference station;
the connection establishing module is used for sending a request instruction to the current optimal reference station so as to establish connection with the current optimal reference station;
and the positioning module is used for receiving the observation data sent by the current optimal reference station so as to obtain a real-time positioning result of the user side according to the observation data and a preset data quality weight model.
7. A location services system, the system comprising:
the data center is in communication connection with the reference stations and is used for receiving the observation data sent by each reference station and performing positioning calculation and data quality analysis on the observation data so as to send the obtained data quality information to the WEB terminal periodically;
the plurality of reference stations are used for periodically sending the working condition information and the observation data to the data center and establishing connection with the user side so as to send the observation data to the user side;
the user side comprises the GNSS wide-area positioning apparatus according to claim 6, configured to perform real-time positioning by receiving data quality information sent by the WEB side, matching a current optimal reference station by using a synthesis factor adaptive model, and receiving observation data sent by the current optimal reference station.
8. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to perform the GNSS wide area positioning method according to any of the claims 1 to 5.
9. A readable storage medium, wherein computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and executed by a processor, the GNSS wide area positioning method according to any one of claims 1 to 5 is executed.
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