CN112711049A - Positioning system - Google Patents
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- CN112711049A CN112711049A CN202011479968.9A CN202011479968A CN112711049A CN 112711049 A CN112711049 A CN 112711049A CN 202011479968 A CN202011479968 A CN 202011479968A CN 112711049 A CN112711049 A CN 112711049A
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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
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
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- Radar, Positioning & Navigation (AREA)
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Abstract
The application discloses a positioning system. The positioning system includes: the positioning base station is used for providing positioning information for an object to be positioned, the rover station is used for providing a reference position, and the positioning base station and the rover station respectively comprise a positioning base station and a rover station; power supply system, thing networking chip, orientation module, communication module and antenna. Through the method and the device, the problem that a positioning system in the related art is difficult to meet the load requirement is solved.
Description
Technical Field
The application relates to the technical field of high-precision positioning, in particular to a positioning system.
Background
The Beidou satellite navigation system (Beidou for short) can provide all-weather, all-time and high-precision positioning, navigation and time service for global users after the GPS. The centimeter-level high-precision positioning equipment adopting Beidou and other satellites for positioning is widely applied to engineering, and brings new schemes for engineering lofting, terrain mapping, agricultural automation and various control and measurement, thereby greatly improving the outdoor operation efficiency.
In order to obtain a high-precision positioning signal, RTK [2-4] (Real-time kinematic) technology is generally adopted to implement the positioning. The RTK technology is a difference method for processing the carrier phase observed quantity of a reference station in real time, RTCM data acquired by the reference station are sent to a rover, and the rover carries out resolving according to an algorithm to obtain high-precision positioning coordinates.
The rtk positioning technology in the related art needs to use a network server for data transmission, and the conventional method is to use an ntrip protocol server as an intermediate device to transmit RTCM data. However, when the number of the mobile stations increases during data transmission by using the Ntrip server, the service support capability of the server using the Ntrip protocol will decrease in an avalanche manner, and when the number of the base stations and the mobile stations reaches a large number, such as more than 1000, the load of the Ntrip server will quickly reach 90%, and the server can no longer provide support to the outside.
Aiming at the problem that the positioning system in the related art is difficult to meet the load requirement, an effective solution is not provided at present.
Disclosure of Invention
The application provides a positioning system to solve the problem that the positioning system in the related art is difficult to meet the load requirement.
According to one aspect of the present application, a positioning system is provided. The positioning system includes: the positioning base station is used for providing positioning information for an object to be positioned, the rover station is used for providing a reference position, and the positioning base station and the rover station respectively comprise a positioning base station and a rover station; power supply system, thing networking chip, orientation module, communication module and antenna.
Optionally, the power supply system provides power supply voltage and power supply power for the internet of things chip, the positioning module and the communication module.
Optionally, the internet of things chip establishes a communication relationship with the positioning module and the communication module respectively, and performs parameter setting and data communication on the local device in a short-distance communication mode.
Optionally, the positioning module in the positioning base station is configured to output RTCM data, and the positioning module in the rover station is configured to output GGA data and RTCM data, wherein if the positioning base station and the rover station communicate with each other by using an Ntrip protocol, the positioning base station outputs RTCM3 data, and the rover station receives RTCM3 data.
Optionally, the communication module comprises at least one of: GPRS, CDMA or 4G modules.
Optionally, the antenna of the positioning base station adopts an omnidirectional multi-threshold multi-frequency point antenna, and the antenna of the rover station adopts at least one of the following: miniature lightweight helical antennas and reference station antennas.
Optionally, the power system comprises a lithium battery and an external VIN power supply, wherein the lithium battery is charged using the MCP73831 chip.
Optionally, the internet of things chip includes a plurality of chip interfaces for matching different types of communication devices.
Optionally, under the condition that an internet of things MQTT communication protocol is adopted between the positioning base station and the rover station, an internet of things server based on the MQTT internet of things protocol is set up, wherein the positioning base station issues RTCM data to the MQTT server by adopting the MQTT communication protocol, and the rover station subscribes an RTCM data stream of the server.
Optionally, the rover station is mounted at the top of the automatic rotating mechanism and used for testing data within a predetermined range, and data are transmitted between the rover station and the internet of things platform in an MQTT manner.
According to the method, at least one positioning base station and a mobile station are adopted, wherein the positioning base station is used for providing positioning information for an object to be positioned, the mobile station is used for providing a reference position, and the positioning base station and the mobile station respectively comprise the positioning base station and the mobile station; the power supply system, the Internet of things chip, the positioning module, the communication module and the antenna solve the problem that the positioning system in the related technology is difficult to meet the load requirement. The positioning system is constructed through the Internet of things protocol, and the effect of improving the load bearing capacity of the positioning system is further achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a schematic diagram of a positioning system provided in accordance with an embodiment of the present application;
fig. 2 is a schematic structural diagram of a positioning base station or a rover station in a positioning system provided according to an embodiment of the present application;
fig. 3 is a schematic diagram of communication between a positioning base station and a rover station in a positioning system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an accuracy testing system of a positioning system provided in accordance with an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a result of an accuracy test of a positioning system according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, a positioning system is provided.
FIG. 1 is a schematic diagram of a positioning system according to an embodiment of the present application. As shown in fig. 1, the positioning system comprises the following steps:
the positioning base station is used for providing positioning information for an object to be positioned, the rover station is used for providing a reference position, and the positioning base station and the rover station respectively comprise a positioning base station and a rover station; power supply system, thing networking chip, orientation module, communication module and antenna.
Specifically, location base station and rover in this embodiment of the application are for internet of things protocol based big dipper location base station and rover, as shown in fig. 2, big dipper location base station and rover all include electrical power generating system, human-computer interface, internet of things chip, orientation module (can be high accuracy orientation module), communication module, antenna, for the convenience of operation control, can also include human-computer interface, for example, human-computer interface selects miniature 128 × 32, I2C serial communication mode liquid crystal to cooperate a plurality of touch button, realize input and output and show.
The positioning system provided by the embodiment of the application comprises at least one positioning base station and a mobile station, wherein the positioning base station is used for providing positioning information for an object to be positioned, the mobile station is used for providing a reference position, and the positioning base station and the mobile station respectively comprise; the power supply system, the Internet of things chip, the positioning module, the communication module and the antenna solve the problem that the positioning system in the related technology is difficult to meet the load requirement. The positioning system is constructed through the Internet of things protocol, and the effect of improving the load bearing capacity of the positioning system is further achieved.
Optionally, in the positioning system provided in the embodiment of the present application, the power supply system provides a supply voltage and a supply power for the chip of the internet of things, the positioning module, and the communication module.
Specifically, the power supply system is mainly used for meeting different power supply voltage and power supply power requirements of an internet of things chip, a positioning module, a communication module and the like.
Optionally, in the positioning system provided in this embodiment of the present application, the power supply system includes a lithium battery and an external VIN power supply, where the MCP73831 chip is used to charge the lithium battery.
In consideration of power consumption of the reference station and the rover station, the power station can be externally charged and internally provided with a lithium battery, and the power station can be used for a short time under the support of the internally provided lithium battery once an external power supply is powered off.
Specifically, the external VIN power supply is connected, and meanwhile, the MCP73831 chip is used for charging the lithium battery, the charging current is 500mA, and the capacity of the lithium battery is 2000 mAh. In addition, the output of the lithium battery and the output of the MCP73831 can be jointly used as the input of a PL5900 DC-DC power conversion chip to realize 3.3V output, wherein the PL5900 output current can reach 400 mA.
Optionally, in the positioning system provided in this embodiment of the application, the chip of the internet of things establishes communication relationships with the positioning module and the communication module, respectively, and performs parameter setting and data communication on the local device in a short-distance communication manner.
Specifically, the internet of things chip still utilizes the short distance communication mode that self has with communications such as big dipper high accuracy orientation module, communication module on the one hand, like modes such as wifi, bluetooth, realizes local parameter setting and data communication. The chip needs a certain speed, and the chip with the operation frequency exceeding 100Mhz and the chip with the firmware storage capacity exceeding 1Mbyte, such as 4Mbyte, can be selected.
It should be noted that, the thing networking chip is as the core processing chip, realizes communicating with big dipper high accuracy orientation module and communication module, has the functioning speed height, and the characteristics of low power dissipation can utilize wifi and the bluetooth communication function of self to realize short distance data communication with the external world, reducible system design complexity.
Optionally, in the positioning system provided in the embodiment of the present application, the chip of the internet of things includes multiple chip interfaces for matching different types of communication devices.
It should be noted that, in the aspect of chip selection of the internet of things, interfaces with various chips need to be considered, and more communication means can be provided. In chip selection, the supporting capability of the manufacturer bottom layer code needs to be considered, and a chip with a large number of SDKs and instances is preferably selected.
For example, the internet of things chip selects the ESP32 chip, the chip is internally provided with a dual-core processor, the operating frequency is 240Mhz, the chip has wifi and bluetooth communication functions, a large number of SDKs and examples are provided by a manufacturer, application and development are facilitated, and the internet of things chip is internationally high in utilization rate.
Optionally, in the positioning system provided in the embodiment of the present application, the communication module includes at least one of: GPRS, CDMA or 4G modules.
Specifically, the communication module may adopt a GPRS, CDMA, or 4G module, and in consideration that a CDMA network may be replaced by 4G, a 4G module or a module compatible with 4G standard is adopted in the design.
Further, when selecting the communication module, the data amount of the base station and the rover station needs to be considered, the base station needs to continuously transmit the RTCM data at present, but the data packets are not large, each RTCM data packet is about 400 bytes, and the uploading speed is lower than 1Mbps through evaluation.
Specifically, the sim7000 module can be selected by selecting the communication module, and the module adopts an NBIOT system, so that the module has the characteristics of stable operation, low power consumption and the like, and can meet the requirements of the project.
Optionally, in the positioning system provided in this embodiment of the present application, the positioning module in the positioning base station is configured to output RTCM data, and the positioning module in the rover station is configured to output GGA data and RTCM data, where if the positioning base station and the rover station communicate using an Ntrip protocol, the positioning base station outputs RTCM3 data, and the rover station receives RTCM3 data.
Specifically, the positioning module can be a Beidou high-precision positioning module, local GGA or RTCM data are input/output, and if the positioning module is a reference station, the RTCM data are output; and if the mobile station is the mobile station, outputting GGA data and RTCM data. Considering now compatibility with the Ntrip protocol, the base station outputs RTCM3 data and the rover receives RTCM3 data. In addition, the high-precision positioning module is communicated with the Internet of things chip through a serial port, and for the base station, the serial port sends RTCM data to the Internet of things chip; for a rover, the serial port receives RTCM data from a base station.
It should be noted that, in the aspect of selecting a high-precision positioning module, the capability of receiving satellites by a chip needs to be considered, multiple satellite signals such as GPS, beidou, glonass, galileo and the like need to be received to realize signal complementation, and in addition, the power consumption, the size and the development difficulty of the chip need to be considered comprehensively. The embodiment can select an f9p high-precision positioning module, the module can receive gps, beidou, glonass and galileo satellite positioning information and can output RTCM data, and meanwhile, the module can be used for designing a base station and a rover station.
Optionally, in the positioning system provided in the embodiment of the present application, an internet of things server based on an MQTT internet of things protocol is set up under the condition that the MQTT communication protocol is adopted between the positioning base station and the rover station, wherein the positioning base station issues RTCM data to the MQTT server by adopting the MQTT communication protocol, and the rover station subscribes an RTCM data stream of the server.
It should be noted that, the traditional base station and the rover station adopt the Ntrip protocol to realize communication, the embodiment adopts the internet of things MQTT communication protocol, and builds the internet of things platform to realize data communication between the base station and the rover station, and the test realizes large-scale management of the base station and the rover station. As shown in fig. 3. The base station adopts MQTT protocol to publish RTCM data to MQTT server brooker, the mobile station subscribes RTCM data stream of the server, and the server adopts MQTT protocol for publishing and subscribing RTCM data, so that the method has the characteristics of less server resource consumption, support of more Internet of things devices and the like.
Specifically, the reference station establishes a fixed publishing topic with the MQTT server and publishes the RTCM data stream to the topic at a fixed frequency, with the transmission interval generally set to 2S. And the mobile station needs to firstly issue the GGA data of the mobile station to the server because the mobile station is in a moving state, the server calculates the base station closest to the mobile station, the server sends the base station data closest to the mobile station to ensure that the mobile station obtains the RTCM data of the closest base station, and the communication interval between the mobile station and the server is 2S.
Optionally, in the positioning system provided in the embodiment of the present application, the rover station is installed on the top of the automatic rotation mechanism and used for testing data within a predetermined range, and data is transmitted between the rover station and the internet of things platform in an MQTT manner.
In the building of the platform of the Internet of things, an MQTT protocol needs to be supported, in the aspect of supporting the protocol and the aspect of accessing, the platform of the Internet of things of the open source thingsboard serves as an MQTT server, a sharing attribute RTCM-stream is newly built, and the base station publishes RTCM data streams of the base station to the sharing attribute in an MQTT mode for the mobile station to subscribe. Meanwhile, considering requirements of equipment access and the like, the thingsbaurd adopts Java language, so that the stability is high, the platform can support protocols such as Http, MQTT, CoaP and the like, and the method is suitable for development and application. And the rover sends the GGA data to a thingsboard platform in real time, a rule chain technology built in the platform is utilized to calculate the nearest base station of the rover, and the platform subscribes the base station RTCM-stream shared attribute data stream to the rover.
Optionally, in the positioning system provided in this embodiment of the present application, the antenna of the positioning base station employs an omnidirectional multi-threshold multi-frequency point antenna, and the antenna of the rover station employs at least one of the following antennas: miniature lightweight helical antennas and reference station antennas.
It should be noted that the difference between the internet of things protocol-based Beidou positioning base station and the rover station is not large in hardware, and specifically, the receiving antenna of the base station is an omnidirectional multi-threshold antenna to collect multi-satellite signals in real time, so that high-quality RTCM3 data can be generated conveniently. And the mobile station is due to the consideration of factors such as use conditions and installation conditions, for example, in the use of the unmanned aerial vehicle, because the bearing capacity of the unmanned aerial vehicle is limited and the required size is small, a miniature light spiral antenna is suggested to be adopted, and if the mobile station is a scene with relaxed requirements on weight or size, such as a driving test vehicle, a reference station antenna can be adopted.
In an optional implementation manner, the positioning accuracy of the positioning system Beidou base station, the rover station and the Internet of things system of the embodiment of the application is tested, and the RTK positioning accuracy testing system adopts a circumference method to test the RTK accuracy of the positioning device in different scenes such as tree shade, electromagnetic radiation and open field.
Specifically, as shown in FIG. 4, the rover station is mounted on top of an automatic rotating mechanism, the circle radius of the test system is 61cm, and the constant rotating speed is 38 rpm. Data are transmitted between the mobile station and the Internet of things platform in an MQTT mode. The Beidou rover station carries out comprehensive calculation by combining self GGA data and RTCM3 data, so that high-precision positioning data are obtained. The Beidou rover station sends the high-precision positioning data to the Internet of things platform, and the Internet of things platform finishes dotting and describing each positioning point on a built-in map.
The positioning system of the embodiment is tested in an open ground environment, the testing time is 42 minutes, and 12500 positioning points are obtained. And calculating the accuracy distribution of the collected positioning data by adopting a statistical analysis method, wherein the accuracy distribution meets the normal statistical distribution.
Fig. 5 is original data of the Beidou positioning device measured by using the circle, and it can be seen that each positioning point is almost distributed around the circle, and a part of point positions are deviated more. Generally speaking, the data validity needs to be screened to remove the error data, the embodiment adopts the least square method to remove, and the number of removed valid data is 12480.
According to calculation, under the requirement of positioning accuracy that 2D error is 7mm in open land, about 68% of positioning points meet the requirement; as the requirements decrease, 95.5% of the data points will meet the requirements, as required by the 1.7cm positioning accuracy.
Thereafter, the test system was tested in other environments, in which the test was conducted in both tree shadow (the area covered after the sky was orthographically projected on the ground was about 50%), and in an environment with a certain amount of electromagnetic radiation (the intensity of the electric field was 4 kv/m, the intensity of the magnetic field was 533 microtesla, and the open ground scene), and counted in the same manner.
TABLE 1 test accuracy under different environments
Tests show that the precision of the positioning equipment is slightly influenced under tree shade and electromagnetic interference environments respectively. Aiming at 7mm high-precision positioning, the reduction is 42% under the electromagnetic interference environment; the influence is the largest under the tree shade environment, and the reduction rate is 70 percent; for example, in the aspect of the positioning accuracy of 1.7cm and 3.8cm, the reduction rate is small, and about 10% reduction is achieved, that is, the positioning accuracy of the positioning system of the embodiment is 1.7 cm.
In an alternative implementation, the performance comparison between the positioning system of the embodiment of the present application and the positioning system using NTRIP is tested:
because the transmission of the RTK data depends on the thingsBoard Internet of things platform, the load rate of the Internet of things platform and the number of the mobile stations have a certain relation. The embodiment builds a thingsboard pressure test system to test the relation between the RTK rover number and the server pressure. The hardware of the test server is an internal memory of E5640@2.67GHz 2,32GB ddr2, a 100M network router is adopted, the test software is loadrunner [16], and the loadrunner simulates a rover. Because the thingsBoard can forward rtcm data in two modes of http and mqtt, wherein http can imitate an ntrip network service mode, and mqtt is an internet of things mode, the performance comparison of the rtcm data and the mqtt can be completed.
Through tests, when the number of the mobile stations reaches 1000, the load of the NTRIP server reaches up to 90% each time the RTCM data is 400 bytes, and the load of the server is kept at about 5% by adopting the MQTT protocol. The embodiment adopts the MQTT protocol mode, so that the server load can be greatly reduced, and the application of high-precision positioning service is facilitated.
That is, through testing, the positioning system of the application can obtain the positioning accuracy of 1.7cm under the condition of open field testing, and meanwhile, the RTK high-precision positioning system adopting the MQTT protocol has higher expansibility and can meet the requirement of large-scale use.
It should also be noted that 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 the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A positioning system, comprising: the positioning base station is used for providing positioning information for an object to be positioned, the rover station is used for providing a reference position, and the positioning base station and the rover station respectively comprise a positioning base station and a rover station; power supply system, thing networking chip, orientation module, communication module and antenna.
2. The system of claim 1, wherein the power system provides a supply voltage and a supply power for the internet of things chip, the positioning module, and the communication module.
3. The system of claim 1, wherein the chip of the internet of things establishes communication relationships with the positioning module and the communication module, respectively, and performs parameter setting and data communication on local equipment in a short-distance communication manner.
4. The system of claim 1, wherein the positioning module in the positioning base station is configured to output RTCM data and the positioning module in the rover station is configured to output GGA data and RTCM data, wherein the positioning base station outputs RTCM3 data and the rover station receives RTCM3 data if the positioning base station and the rover station communicate using an Ntrip protocol.
5. The system of claim 1, wherein the communication module comprises at least one of: GPRS, CDMA or 4G modules.
6. The system of claim 1, wherein the antenna of the positioning base station is an omni-directional multi-threshold multi-frequency point antenna, and wherein the antenna of the rover station is an antenna that comprises at least one of: miniature lightweight helical antennas and reference station antennas.
7. The system of claim 1, wherein the power system comprises a lithium battery and an external VIN power source, and wherein the lithium battery is charged using MCP73831 chips.
8. The system of claim 1, wherein the internet of things chip comprises a plurality of chip interfaces for matching different types of communication devices.
9. The system according to claim 1, wherein an internet of things server based on the MQTT internet of things protocol is established under the condition that the MQTT communication protocol is adopted between the positioning base station and the rover station, wherein the positioning base station issues RTCM data to the MQTT server by adopting the MQTT communication protocol, and the rover station subscribes to RTCM data stream of the server.
10. The system of claim 1, wherein the rover station is mounted on top of the automatic rotating mechanism and used for testing data within a predetermined range, and data is transmitted between the rover station and the platform of the internet of things in an MQTT manner.
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| CN202011479968.9A CN112711049A (en) | 2020-12-15 | 2020-12-15 | Positioning system |
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| CN202011479968.9A CN112711049A (en) | 2020-12-15 | 2020-12-15 | Positioning system |
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| CN109283560A (en) * | 2018-09-26 | 2019-01-29 | 哈尔滨铁路科研所科技有限公司 | The positioning system and localization method of server end progress RTK resolving |
| CN208847839U (en) * | 2018-09-26 | 2019-05-10 | 哈尔滨铁路科研所科技有限公司 | The positioning system of server end progress RTK resolving |
| CN111337962A (en) * | 2020-03-26 | 2020-06-26 | 湖南科技大学 | RTK positioning system in thunder field detection |
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- 2020-12-15 CN CN202011479968.9A patent/CN112711049A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106908824A (en) * | 2017-04-18 | 2017-06-30 | 冯本勇 | A kind of precise positioning system for being applied to railway |
| CN109283560A (en) * | 2018-09-26 | 2019-01-29 | 哈尔滨铁路科研所科技有限公司 | The positioning system and localization method of server end progress RTK resolving |
| CN208847839U (en) * | 2018-09-26 | 2019-05-10 | 哈尔滨铁路科研所科技有限公司 | The positioning system of server end progress RTK resolving |
| CN111337962A (en) * | 2020-03-26 | 2020-06-26 | 湖南科技大学 | RTK positioning system in thunder field detection |
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