CN113325448A - Large-altitude-difference CORS network resolving method considering troposphere delay reconstruction - Google Patents

Large-altitude-difference CORS network resolving method considering troposphere delay reconstruction Download PDF

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Publication number
CN113325448A
CN113325448A CN202110427496.0A CN202110427496A CN113325448A CN 113325448 A CN113325448 A CN 113325448A CN 202110427496 A CN202110427496 A CN 202110427496A CN 113325448 A CN113325448 A CN 113325448A
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Prior art keywords
elevation
troposphere
cors
difference
delay
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武瑞宏
许双安
冯威
周东卫
王建红
龚江峰
田社权
汤伟尧
袁永信
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China Railway First Survey and Design Institute Group Ltd
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China Railway First Survey and Design Institute Group 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to a large-altitude-difference CORS network resolving method considering troposphere delay reconstruction, which comprises the following steps: accurately estimating tropospheric delay of each CORS survey station by a precision single-point positioning technology; carrying out regional three-dimensional modeling on tropospheric delay of each station by using the accurate three-dimensional coordinates of each station; carrying out three-dimensional grid division on a CORS coverage area; calculating troposphere delay correction numbers with elevation attributes at the virtual grid points; and broadcasting the gridded virtual correction number with the elevation attribute. According to the method, the troposphere absolute delays of all stations are accurately estimated by using a precise single-point positioning technology, and then regional modeling is performed, so that the direct disregard of any large-altitude-difference terrain condition is realized for the first time, the high-precision position service requirement on a user can be met, and the difficult problem that the conventional network RTK resolving software cannot estimate the troposphere model due to the large altitude difference between the reference stations in the high-altitude mountain area is solved.

Description

Large-altitude-difference CORS network resolving method considering troposphere delay reconstruction
Technical Field
The invention relates to the technical field of railway engineering precision measurement, in particular to a large-height-difference CORS network resolving method considering troposphere delay reconstruction.
Background
The height difference between stations of original CORS (GNSS continuous operation reference station) of the Sichuan-Tibet railway is large, and the height difference between stations of random positions of users along the railway and CORS stations is large, but domestic and foreign continuous operation reference station service systems are all based on regions with gentle relief and are not suitable for high mountain canyon regions. Due to the fact that the accuracy of an original troposphere correction model is too low, an original network RTK (real-time kinematic relative positioning) algorithm is not suitable and cannot be solved frequently, or the calculation accuracy is too low.
The general network RTK algorithm is not suitable for high-altitude large-altitude-difference areas because the accuracy of the original troposphere correction model is too low, so that the troposphere model is updated by using the actually measured meteorological parameters, the troposphere parameters are synchronously calculated and played, and the CORS user positioning accuracy is improved conveniently.
Disclosure of Invention
The invention aims to provide a large-altitude-difference CORS network resolving method considering troposphere delay reconstruction.
The technical scheme adopted by the invention is as follows:
the large-altitude-difference CORS network resolving method considering troposphere delay reconstruction is characterized by comprising the following steps of:
the method comprises the following steps:
the method comprises the following steps: accurately estimating tropospheric delay of each CORS survey station by a precision single-point positioning technology;
step two: carrying out regional three-dimensional modeling on tropospheric delay of each station by using the accurate three-dimensional coordinates of each station;
step three: carrying out three-dimensional grid division on a CORS coverage area;
step four: calculating troposphere delay correction numbers with elevation attributes at the virtual grid points;
step five: and broadcasting the gridded virtual correction number with the elevation attribute.
In the first step, by a precise single-point positioning technology, the troposphere delay is estimated by adopting a deionization layer combination mode as a state parameter, and high-precision zenith troposphere delay information of each CORS observation station can be directly obtained.
And step two, modeling the acquired troposphere delay of each survey station into a function model about longitude, latitude and elevation, and estimating the coefficients of the function model by adopting a least square algorithm, so as to establish a three-dimensional troposphere function model of the area.
In the third step, the three-dimensional grid is divided mainly according to the longitude and latitude, the step length is firstly determined, and then the division is carried out according to the step length on the longitude and latitude; after the longitude and latitude of each grid point are determined, the approximate elevation of the longitude and latitude is interpolated by using a digital elevation model, and then the three-dimensional coordinates of the grid points can be obtained.
And step four, substituting the three-dimensional grid point coordinates divided in the step three into the troposphere delay function model established in the step two, and calculating the troposphere delay correction number with the elevation attribute at each virtual grid point.
In the fifth step, the user broadcasts the ranging code and the carrier phase observed value at the virtual grid point in the network RTK service, so that the grid virtual correction number with the elevation attribute can be broadcast after the calculated troposphere delay with the elevation attribute is corrected to the ranging code and the carrier phase observed value.
The invention has the following advantages:
according to the method, the troposphere absolute delays of all stations are accurately estimated by using a precise point positioning technology, and then the regional modeling is carried out, so that the direct disregard of any large-altitude-difference terrain condition is realized for the first time, and the high-precision position service requirement on a user can be met. And finally, establishing an area absolute troposphere delay model by using troposphere delays of all stations, and effectively correcting the troposphere delay of the CORS coverage area, so that the difficult problem that the conventional network RTK resolving software cannot estimate the troposphere model due to large elevation difference between base stations in high altitude mountainous areas is solved. The network service system for the continuous operation reference station facing to the high mountain canyon region is established and developed, and the requirement for high-precision dynamic positioning of the Sichuan-Tibet railway is met.
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FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific embodiments.
The invention relates to a large-height-difference CORS network resolving method considering troposphere delay reconstruction, which comprises the following steps of:
the method comprises the following steps: accurately estimating tropospheric delay of each CORS survey station by a precision single-point positioning technology;
step two: carrying out regional three-dimensional modeling on tropospheric delay of each station by using the accurate three-dimensional coordinates of each station;
step three: carrying out three-dimensional grid division on a CORS coverage area;
step four: calculating the number of delay corrections of the flow layer with the elevation attribute at the virtual grid point;
step five: and broadcasting the gridded virtual correction number with the elevation attribute.
In the first step, by a precise single-point positioning technology, the troposphere delay is estimated by adopting a deionization layer combination mode as a state parameter, and high-precision zenith troposphere delay information of each CORS observation station can be directly obtained.
And step two, modeling the acquired troposphere delay of each survey station into a function model about longitude, latitude and elevation, and estimating the coefficients of the function model by adopting a least square algorithm, so as to establish a three-dimensional troposphere function model of the area.
In the third step, the three-dimensional grid is divided mainly according to the longitude and latitude, the step length is firstly determined, and then the division is carried out according to the step length on the longitude and latitude; after the longitude and latitude of each grid point are determined, the approximate elevation of the longitude and latitude is interpolated by using a digital elevation model, and then the three-dimensional coordinates of the grid points can be obtained.
And step four, substituting the three-dimensional grid point coordinates divided in the step three into the troposphere delay function model established in the step two, and calculating the troposphere delay correction number with the elevation attribute at each virtual grid point.
In the fifth step, the user broadcasts the ranging code and the carrier phase observed value at the virtual grid point in the network RTK service, so that the grid virtual correction number with the elevation attribute can be broadcast after the calculated troposphere delay with the elevation attribute is corrected to the ranging code and the carrier phase observed value.
The invention is not limited to the examples, and any equivalent changes to the technical solution of the invention by a person skilled in the art after reading the description of the invention are covered by the claims of the invention.

Claims (6)

1. The large-altitude-difference CORS network resolving method considering troposphere delay reconstruction is characterized by comprising the following steps of:
the method comprises the following steps:
the method comprises the following steps: accurately estimating tropospheric delay of each CORS survey station by a precision single-point positioning technology;
step two: carrying out regional three-dimensional modeling on tropospheric delay of each station by using the accurate three-dimensional coordinates of each station;
step three: carrying out three-dimensional grid division on a CORS coverage area;
step four: calculating troposphere delay correction numbers with elevation attributes at the virtual grid points;
step five: and broadcasting the gridded virtual correction number with the elevation attribute.
2. The large-elevation-difference CORS network solving method considering tropospheric delay improvement according to claim 1, characterized in that:
in the first step, by a precise single-point positioning technology, the troposphere delay is estimated by adopting a deionization layer combination mode as a state parameter, and high-precision zenith troposphere delay information of each CORS observation station can be directly obtained.
3. The large-elevation-difference CORS network solution method considering tropospheric delay improvement according to claim 2, characterized in that:
and step two, modeling the acquired troposphere delay of each survey station into a function model about longitude, latitude and elevation, and estimating the coefficients of the function model by adopting a least square algorithm, so as to establish a three-dimensional troposphere function model of the area.
4. The large-elevation-difference CORS network solution method considering tropospheric delay improvement according to claim 3, characterized in that:
in the third step, the three-dimensional grid is divided mainly according to the longitude and latitude, the step length is firstly determined, and then the division is carried out according to the step length on the longitude and latitude; after the longitude and latitude of each grid point are determined, the approximate elevation of the longitude and latitude is interpolated by using a digital elevation model, and then the three-dimensional coordinates of the grid points can be obtained.
5. The large-elevation-difference CORS network solution method considering tropospheric delay improvement according to claim 4, characterized in that:
and step four, substituting the three-dimensional grid point coordinates divided in the step three into the troposphere delay function model established in the step two, and calculating the troposphere delay correction number with the elevation attribute at each virtual grid point.
6. The large-elevation-difference CORS network solution method considering tropospheric delay improvement according to claim 5, characterized in that:
in the fifth step, the user broadcasts the ranging code and the carrier phase observed value at the virtual grid point in the network RTK service, so that the grid virtual correction number with the elevation attribute can be broadcast after the calculated troposphere delay with the elevation attribute is corrected to the ranging code and the carrier phase observed value.
CN202110427496.0A 2021-04-21 2021-04-21 Large-altitude-difference CORS network resolving method considering troposphere delay reconstruction Pending CN113325448A (en)

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CN114019584A (en) * 2021-10-11 2022-02-08 武汉大学 VRS resolving method for high-precision CORS network in large-altitude-difference area
CN114019585A (en) * 2021-10-11 2022-02-08 武汉大学 High-precision positioning CORS network FKP resolving method for large-altitude-difference area
CN114910939A (en) * 2022-07-13 2022-08-16 武汉大学 Troposphere delay actual measurement meteorological correction method in short-distance large-altitude-difference RTK
CN116304520A (en) * 2023-05-12 2023-06-23 中铁第一勘察设计院集团有限公司 Multi-source data fusion-based method for constructing correction model of elevation difference of stratum
CN114019585B (en) * 2021-10-11 2024-06-11 武汉大学 High-precision positioning CORS network FKP resolving method for large-height-difference region

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114019584A (en) * 2021-10-11 2022-02-08 武汉大学 VRS resolving method for high-precision CORS network in large-altitude-difference area
CN114019585A (en) * 2021-10-11 2022-02-08 武汉大学 High-precision positioning CORS network FKP resolving method for large-altitude-difference area
CN114019585B (en) * 2021-10-11 2024-06-11 武汉大学 High-precision positioning CORS network FKP resolving method for large-height-difference region
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CN114910939B (en) * 2022-07-13 2022-11-04 武汉大学 Troposphere delay actual measurement meteorological correction method in short-distance large-altitude-difference RTK
CN116304520A (en) * 2023-05-12 2023-06-23 中铁第一勘察设计院集团有限公司 Multi-source data fusion-based method for constructing correction model of elevation difference of stratum

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