CN113985458A - System and method for outdoor high-precision positioning and displaying - Google Patents

Abstract

The system for outdoor high-precision positioning and display comprises a mobile terminal device, a server and a position correction network server, wherein a thousand-position searching network server is added in the framework of a simple and light RTK device, and correction data corresponding to the network server can be acquired in the thousand-position searching network server based on position data acquired by the RTK device; meanwhile, the position data with higher measurement precision can be displayed in a two-dimensional code mode, and subsequent secondary development is facilitated.

Description

System and method for outdoor high-precision positioning and displaying

Technical Field

The invention relates to the technical field of equipment positioning, in particular to an outdoor high-precision positioning and displaying system and method.

Background

Currently, when measurement or surveying and mapping work is performed outdoors, a fixed or moving target needs to be positioned to acquire the position of a target point, so as to complete the work. In order to obtain higher measurement accuracy, an RTK positioning measurement method is generally adopted. The RTK (Real-time kinematic) positioning measurement adopts an RTK carrier-phase differential technology, is a Real-time differential GPS (RTDGPS) technology based on carrier-phase observation, is a breakthrough in the development mileage of the measurement technology, and consists of a base station receiver, a data chain and a rover station receiver. A base station is provided with 1 receiver as a reference station, continuously observes the satellite, and transmits the observation data and station information to the mobile station in real time through a radio transmission device, the mobile station GPS receiver receives the GPS satellite signal and simultaneously receives the data transmitted by the base station through a wireless receiving device, and then, according to the principle of relative positioning, the three-dimensional coordinate and the precision of the mobile station are calculated in real time, thereby the positioning result with centimeter-level measurement precision can be achieved, therefore, the RTK positioning measurement method is widely applied to field operation, such as highway control measurement, electric power line measurement, hydraulic engineering control measurement, geodetic measurement, topographic mapping, construction loft, deformation monitoring, fine agriculture and the like.

However, because current RTK instruments have different applications and application scenarios, the hardware used in them is correspondingly different, resulting in different accuracy outputs. If the requirement of high-precision positioning needs to be met, a relatively complex hardware architecture and a correspondingly complex function are generally adopted, so that the common weight of the product is relatively large, and meanwhile, the output of the device needs to use a corresponding special handbook, so that the subsequent secondary development of applying the device is very complex.

Meanwhile, for the existing RTK positioning device, the measurement accuracy is usually centimeter level, but for some special measurement applications, such as occasions requiring millimeter level measurement accuracy, the conventional RTK positioning device cannot meet the requirement due to too large measurement accuracy error.

Therefore, how to make an RTK device capable of reducing weight by using a simple architecture, satisfying a measurement requirement of higher accuracy, and facilitating subsequent secondary development by a convenient output manner becomes a technical problem to be solved in the art.

Disclosure of Invention

In order to solve the technical problem, the invention provides an outdoor high-precision positioning and displaying system, which comprises a mobile terminal device, a server and a position correction network server, wherein the mobile terminal device comprises a positioning module, an RTK processing module, a communication module and a display module, the positioning module is connected with the RTK processing module in a data interaction manner, the RTK processing module is connected with the communication module in a data interaction manner, the communication module can perform data interaction with the position correction network server through a wireless network, and the display module is electrically connected with the RTK processing module; the positioning module obtains first position data of the mobile terminal device by receiving satellite data, the RTK processing module receives the first position data and sends the first position data to the position correction network server through the communication module, the position correction network server can generate corresponding correction data according to the first position data, the correction data can be sent to the RTK processing module through the communication module, and the RTK processing module obtains second position data of the mobile terminal device based on the first position data and the correction data and sends the second position data to the display module for displaying.

Further, the positioning module can receive data signals of at least one of a GPS, a Beidou satellite navigation system, GLONASS and GALILEO, the communication module selects a raspberry type (Raspberrypi), the display module comprises an ink screen, and the position correction network server is a thousand-searching position network server.

Further, the mobile terminal device further includes a data conversion module, the RTK processing module is connected to the communication module via the data conversion module, wherein the input/output port of the RTK processing module adopts a serial interface, the input/output port of the raspberry pi adopts a USB interface, and the data conversion module is configured to perform mutual conversion between a serial data format and a USB data format; the first position data adopts a GPGGA format, correction data corresponding to the first position data is stored in the multi-seek position network server, the correction data adopts an RTCM format, and the second position data is the position information of the mobile terminal equipment obtained by an RTK carrier phase difference technology.

Further, the display module refreshes display at first time preset at intervals, the second position data is displayed in the display module in a two-dimensional code mode, and images capable of indicating directions are displayed on the outer side of the two-dimensional code.

Further, the RTK processing module calculates and obtains the second position data at a predetermined first frequency, and stores the second position data in a memory of the RTK processing module in a time-sequential manner; when the amount of the second position data in the memory exceeds a first limit value, processing the second position data of the first amount which is latest in time to obtain third position data, and sending the processed third position data to the display module, wherein the second position data of the first amount are processed in a median filtering mode, a mean filtering mode or a Kalman filtering mode to obtain the third position data; and when the quantity of the second position data in the memory does not exceed the first limit value, the second position data which is latest in time is taken as third position data and sent to the display module.

Further, comparing the newly received third position data with the currently displayed third position data, and when the difference value between the newly received third position data and the currently displayed third position data does not exceed a first threshold, displaying the currently displayed third position data by the display module; and when the difference value between the newly received third position data and the currently displayed third position data exceeds a first threshold value, the display module displays the newly received third position data.

Further, the RTK processing module calculates and obtains the second position data at a predetermined first frequency, and stores the second position data in a memory of the RTK processing module in a time-sequential manner; comparing the newly calculated second position data with the processing value of the currently displayed second position data, and when the difference value between the newly received second position data and the currently displayed second position data does not exceed a second threshold value, continuing to display the currently displayed second position data by the display module; when the difference value between the newly received second position data and the currently displayed second position data exceeds a second threshold value, the RTK processing module processes the newly received second position data and a second number of second position data adjacent to the newly received second position data in front of the newly received second position data, and sends a fourth position data obtained after processing to the display module for displaying; and processing the newly received second position data and the second quantity of second position data by adopting a median filtering, mean filtering or Kalman filtering mode, and further defining the fourth position data as the second position data to be displayed next.

Further, the mobile terminal device further comprises an upload data control button, and when the upload data control button is activated, the first location data and/or the second location data and/or the correction data and/or the third location data and/or the fourth location data are transmitted to the server; the mobile terminal equipment also comprises a display module refresh prohibition button, and when the display module refresh prohibition button is activated, the position data displayed by the display module is kept unchanged.

The raspberry group can communicate with the server and receive an upgrade file when the latest version number in the server is superior to the current version number of the mobile terminal device, so that the software of the mobile terminal device is upgraded, and when the upgrade is completed successfully, the current version number of the software of the mobile terminal device is updated to the latest version number in the server.

The invention also provides a method for outdoor high-precision positioning and displaying, which utilizes the system for outdoor high-precision positioning and displaying, and comprises the following steps:

step 1: the mobile terminal equipment receives a satellite signal through a positioning module to obtain first position data of the mobile terminal equipment;

step 2: the RTK processing module receives the first position data and transmits the first position data of the mobile terminal equipment to a position correction network server, and the position correction network server generates corresponding correction data based on the received first position data and transmits the correction data to the mobile terminal equipment;

and step 3: the mobile terminal equipment processes the first position data and the corresponding correction data to obtain second position data;

and 5: storing the second position data in a memory of an RTK processing module in a time sequencing mode, judging the quantity of the second position data, processing the second position data with the latest first quantity in time to obtain third position data when the quantity of the second position data in the memory exceeds a first limit value, and sending the processed third position data to the display module, wherein when the quantity of the second position data in the memory does not exceed the first limit value, the second position data with the latest in time is taken as the third position data to be sent to the display module;

step 6: comparing the newly received third position data with the currently displayed third position data, and when the difference value between the newly received third position data and the currently displayed third position data does not exceed a first threshold value, continuing to display the currently displayed third position data by the display module; when the difference value between the newly received third position data and the currently displayed third position data exceeds a first threshold value, the newly received third position data is displayed by the display module;

and 7: and the display module displays the third position data in a two-dimensional code mode.

Further, the step 2 further includes detecting the first position data, and when the first position data lacks at least one of longitude, latitude, altitude, GPS status, number of used satellites, and end code, determining that the first position data is incomplete data, and discarding the first position data.

In another embodiment, there is also provided a method for outdoor high-precision positioning and displaying, the method using the system for outdoor high-precision positioning and displaying of the present invention, the method comprising:

step 1: the mobile terminal equipment receives a satellite signal through a positioning module to obtain first position data of the mobile terminal equipment;

step 2: detecting the first position data, judging that the first position data is incomplete data when the first position data lacks at least one of longitude, latitude, altitude, GPS state, satellite number and end code, and abandoning the first position data;

and step 3: the RTK processing module receives the first position data and transmits the first position data of the mobile terminal equipment to a position correction network server, and the position correction network server generates corresponding correction data based on the received first position data and transmits the correction data to the mobile terminal equipment;

and 4, step 4: the mobile terminal equipment processes the first position data and the corresponding correction data to obtain second position data;

and 5: storing the second position data in a memory of an RTK processing module in a time sequencing mode, comparing the newly calculated second position data with a processing value of the currently displayed second position data, and when the difference value between the newly received second position data and the currently displayed second position data does not exceed a second threshold value, continuing to display the currently displayed second position data by the display module; when the difference value between the newly received second position data and the currently displayed second position data exceeds a second threshold value, the RTK processing module processes the newly received second position data and a second number of second position data adjacent to the newly received second position data in front of the newly received second position data, and sends a fourth position data obtained after processing to the display module for displaying; and processing the newly received second position data and the second quantity of second position data by adopting a median filtering, mean filtering or Kalman filtering mode, and further defining the fourth position data as the second position data to be displayed next.

Step 6: and the display module displays the received new second position data in a two-dimensional code mode.

The implementation of the invention has the following beneficial effects: according to the system and the method for outdoor high-precision positioning and displaying, the thousand-position network server is added in by utilizing the simple and light structure of the RTK device, the corresponding correction data can be obtained in the thousand-position network server based on the position data obtained by the RTK device, and then the RTK device can obtain the position data with higher measurement precision in a particularly simple mode without separately additionally arranging a reference station by utilizing the position data and the correction data, so that the weight of equipment can be reduced, the difficulty in system construction can be simplified, the cost can be saved, and the data with higher precision can be obtained; meanwhile, the position data with higher measurement precision can be displayed in a two-dimensional code mode, and subsequent secondary development is facilitated.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a system diagram of the system for high precision positioning and display outdoors of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

To solve the above technical problem, as shown in fig. 1, the present invention provides an outdoor high-precision positioning and displaying system, which includes a mobile terminal device, a server and a location correction network server. The mobile terminal equipment is a commonly used handheld instrument used in outdoor work and is used for fixedly or movably measuring the position information of the point where the mobile terminal equipment is located; the server is related to companies or projects for implementing outdoor operation, and is used for storing the history of data obtained by the mobile terminal equipment; the position correction network server is selected as a location finding network server, corresponding correction data can be given in the location finding network server based on the position data measured by the mobile terminal equipment, and the mobile terminal equipment can calculate position data with higher precision based on the position data measured by the mobile terminal equipment and the corresponding correction data.

The mobile terminal equipment comprises a positioning module, an RTK processing module, a communication module and a display module, wherein the positioning module is connected with the RTK processing module in a data interaction mode, the RTK processing module is connected with the communication module in a data interaction mode, the communication module can perform data interaction with the position correction network server through a wireless network, and the display module is electrically connected with the RTK processing module.

Here, the positioning module is configured to receive a signal sent by a GNSS, and further, the positioning module is capable of receiving a data signal of at least one of a GPS, a beidou satellite navigation system, a GLONASS, and a GALILEO, so that the stability of the operation of the mobile terminal device during outdoor measurement operation can be ensured by receiving a data signal of a currently mainstream global satellite positioning system. The positioning module obtains first position data of the mobile terminal equipment by receiving satellite data. The positioning module can select a UB482 board card, and the UB482 board card is a brand-new generation compact high-precision board card which is introduced by a core satellite communication based on a NebulasII high-performance high-precision chip and supports full-system multi-frequency point high-precision positioning and orientation.

The RTK processing module receives the first position data, the first position data adopts a GPGGA format, the GPGGA is a GPS data output format statement, means main data of a frame of GPS positioning, and is one of the most widely used data in the NMEA format. The statement includes 17 fields: statement header, universal time, latitude hemisphere, longitude hemisphere, location quality indication, number of satellites in use, HDOP-level accuracy factor, ellipsoid height, altitude unit, geoid altitude anomaly difference, altitude unit, differential GPS data deadline, differential reference base station designation, checksum end marker (with carriage return symbol < CR > and linefeed symbol < LF >), separated by 14 commas, respectively. The RTK processing module can select a Nebulas second-generation multi-system multi-frequency high-performance SoC chip.

In order to realize communication and interaction between the RTK processing module and the network server at the location of the hit, the communication module of the mobile terminal device is selected to be raspberry pi (Raspberrypi), which is a microcomputer motherboard based on ARM, the SD/MicroSD card is used as a memory hard disk, 1/2/4 USB interfaces and a 10/100 ethernet interface (a type a does not have a network port) are arranged around the motherboard of the card, the card can be connected with a keyboard, a mouse and a network cable, and the card simultaneously has a television output interface with a video analog signal and a high-definition HDMI video output interface, and all the above components are integrated on a motherboard which is only slightly larger than a credit card.

The input and output port of the RTK processing module adopts a serial interface, and the input and output port of the raspberry pie adopts a USB interface, so that data format conversion is needed when data is transmitted between the RTK processing module and the raspberry pie. Here, the data conversion module may use a CH340 chip to realize the functions of converting a serial port to a USB port and converting the USB port to a serial port.

The RTK processing module receives the first position data and is sent to a re-locating web server via the raspberry pi, where correction data corresponding to the first position data is stored, the correction data being in an RTCM format. After receiving the first position data, the position correction network server may generate corresponding correction data according to the first position data, where the correction data may be sent to the RTK processing module via the communication module, and the RTK processing module performs correction calculation based on the first position data and the correction data, so as to obtain second position data of the mobile terminal device with higher accuracy. The second position data is the position information of the mobile terminal device obtained by using an RTK carrier phase differential technology.

Sending the second position data to a display screen of the display module for displaying; in order to obtain a clear display effect in a wild bright light environment, the display screen of the display module is preferably an ink screen. In order to enable the operator to see the display result clearly and easily and to ensure a comfortable viewing experience, the ink screen refreshes the display at predetermined first times, which may be any value set as needed, for example, 2 seconds, 3 seconds, 5 seconds, 10 seconds, and the like.

The second position data is displayed in the ink screen in a two-dimensional code mode, so that data information measured by the mobile terminal equipment can be acquired by simply scanning the two-dimensional code in the subsequent secondary development or processing process, and the method is very convenient and rapid.

In addition, on the ink screen, an image capable of indicating the direction is displayed on the outer side of the two-dimensional code, and particularly in an AR scene, the direction of a preset model can be determined according to the direction of the image, so that the operation of an operator is facilitated.

In a more preferred embodiment, since the obtained second position data is continuously changed, the RTK processing module of the mobile terminal device continuously calculates the real-time changed second position data. In order to ensure the display effect of the data displayed on the ink screen, especially for the second position data with small front-back difference, displaying each data in real time can cause the display result to change too frequently and refresh frequently, which can cause great inconvenience to the operator. The RTK processing module calculates and obtains the second position data at a predetermined first frequency (e.g., 0.5Hz, 1Hz, 1.5Hz, 3Hz, etc.), and stores the second position data in a memory of the RTK processing module in a time-sequential manner. The RTK processing module may select to compare the newly generated second position data with the currently displayed second position data, and when a difference between the newly generated second position data and the currently displayed second position data does not exceed a second threshold, the display module continues to display the currently displayed second position data; and when the difference value between the newly generated second position data and the currently displayed second position data exceeds a second threshold value, processing the newly generated second position data and a group of adjacent second position data of a second quantity before the newly generated second position data, and processing the newly generated second position data and a group of adjacent third position data of a second quantity before the newly generated second position data by adopting a median filtering, mean filtering or Kalman filtering mode, so that fourth position data which is more accurate and has high reliability can be obtained, and the fourth position data after filtering processing is sent to a display module as the second position data of next display to be displayed in a two-dimensional code mode. And the second threshold may be chosen to correspond to a longitude, latitude and/or elevation.

In an alternative embodiment, when displaying the corrected position data, a set of data may be filtered, and then the filtered data may be compared. Specifically, when the number of the second position data in the memory exceeds a first limit value (for example, 10, 15, 20, or the like), the second position data of the first number (for example, 10) that is latest in time is processed, and in order to eliminate abnormal factors such as deviation and disturbance of the group of second position data, the second position data of the first number may be processed in a median filtering, mean filtering, or kalman filtering manner, so that a more accurate and highly reliable measurement result can be obtained, the processed data is marked as third position data, and the processed third position data is sent to the display module as second position data for next display. And when the number of the second position data in the memory does not exceed a first limit value, for example, 10, 15, 20, etc.), the second position data obtained latest in time is sent to the display module as the third position data for the next display. Thus, by performing filtering processing on a group of data in the vicinity, errors, disturbances, or erroneous data due to noise can be significantly eliminated. Preferably, a temporary memory may be disposed in the display module for storing the received one or more third position data, although the one or more third position data may also be registered in the RTK processing module. In order to refresh the information of the displayed third position data infrequently, the display module compares the newly received third position data with the currently displayed third position data, and when the difference between the newly received third position data and the currently displayed third position data does not exceed a first threshold, the display module displays the currently displayed third position data; and when the difference value between the newly received third position data and the currently displayed third position data exceeds a first threshold value, the display module displays the newly received third position data. And the first threshold may be selected as a value corresponding to longitude, latitude and/or elevation.

Further, in order to report the data of the mobile terminal device, so as to facilitate data management and subsequent analysis, the mobile terminal device further includes an upload data control button, and when the upload data control button is activated, the first location data and/or the second location data and/or the correction data and/or the third location data and/or the fourth location data are transmitted to the server; the mobile terminal equipment also comprises a display module refresh prohibition button, and when the display module refresh prohibition button is activated, the position data displayed by the display module is kept unchanged.

In addition, in order to conveniently and quickly update the software of the mobile terminal equipment, the raspberry group further comprises an OTA upgrading module, and the OTA upgrading module can be communicated with the server and reports the current version number of the software of the mobile terminal equipment. Particularly, after the mobile terminal device is powered on, the OTA upgrade module can communicate with the server and compare the current version number of the software of the mobile terminal device with the latest version number of the software stored in the server. When the latest version number in the server is superior to the current version number of the mobile terminal device, wherein the superior is that the version number in the server is updated in time relative to the current version number of the software of the mobile terminal device, the raspberry group can communicate with the server and receive an upgrade file so as to upgrade the software of the mobile terminal device, and when the upgrade is completed successfully, the current version number of the software of the mobile terminal device is updated to the latest version number in the server.

The invention also provides a method for outdoor high-precision positioning and displaying, which utilizes the system for outdoor high-precision positioning and displaying, and comprises the following steps:

step 1: the mobile terminal equipment receives a satellite signal through a positioning module to obtain first position data of the mobile terminal equipment;

step 2: the RTK processing module receives the first position data and transmits the first position data of the mobile terminal equipment to a position correction network server, and the position correction network server generates corresponding correction data based on the received first position data and transmits the correction data to the mobile terminal equipment;

and step 3: the mobile terminal equipment processes the first position data and the corresponding correction data to obtain second position data;

and 5: storing the second position data in a memory of an RTK processing module in a time sequencing mode, judging the quantity of the second position data, processing the second position data with the latest first quantity in time to obtain third position data when the quantity of the second position data in the memory exceeds a first limit value, and sending the processed third position data to the display module, wherein when the quantity of the second position data in the memory does not exceed the first limit value, the second position data with the latest in time is taken as the third position data to be sent to the display module;

step 6: comparing the newly received third position data with the currently displayed third position data, and when the difference value between the newly received third position data and the currently displayed third position data does not exceed a first threshold value, continuing to display the currently displayed third position data by the display module; when the difference value between the newly received third position data and the currently displayed third position data exceeds a first threshold value, the newly received third position data is displayed by the display module;

and 7: and the display module displays the third position data in a two-dimensional code mode.

Further, the step 2 further includes detecting the first position data, and when the first position data lacks at least one of longitude, latitude, altitude, GPS status, number of used satellites, and end code, determining that the first position data is incomplete data, and discarding the first position data.

In another embodiment, there is also provided a method for outdoor high-precision positioning and displaying, the method using the system for outdoor high-precision positioning and displaying of the present invention, the method comprising:

step 1: the mobile terminal equipment receives a satellite signal through a positioning module to obtain first position data of the mobile terminal equipment;

step 2: detecting the first position data, judging that the first position data is incomplete data when the first position data lacks at least one of longitude, latitude, altitude, GPS state, satellite number and end code, and abandoning the first position data;

and step 3: the RTK processing module receives the first position data and transmits the first position data of the mobile terminal equipment to a position correction network server, and the position correction network server generates corresponding correction data based on the received first position data and transmits the correction data to the mobile terminal equipment;

and 4, step 4: the mobile terminal equipment processes the first position data and the corresponding correction data to obtain second position data;

and 5: storing the second position data in a memory of an RTK processing module in a time sequencing mode, comparing the newly calculated second position data with a processing value of the currently displayed second position data, and when the difference value between the newly received second position data and the currently displayed second position data does not exceed a second threshold value, continuing to display the currently displayed second position data by the display module; when the difference value between the newly received second position data and the currently displayed second position data exceeds a second threshold value, the RTK processing module processes the newly received second position data and a second number of second position data adjacent to the newly received second position data in front of the newly received second position data, and sends a fourth position data obtained after processing to the display module for displaying; and processing the newly received second position data and the second quantity of second position data by adopting a median filtering, mean filtering or Kalman filtering mode, and further defining the fourth position data as the second position data to be displayed next.

Step 6: and the display module displays the received new second position data in a two-dimensional code mode.

The implementation of the invention has the following beneficial effects: according to the system and the method for outdoor high-precision positioning and displaying, the thousand-position network server is added in by utilizing the simple and light structure of the RTK device, the corresponding correction data can be obtained in the thousand-position network server based on the position data obtained by the RTK device, and then the RTK device can obtain the position data with higher measurement precision in a particularly simple mode without separately additionally arranging a reference station by utilizing the position data and the correction data, so that the weight of equipment can be reduced, the difficulty in system construction can be simplified, the cost can be saved, and the data with higher precision can be obtained; meanwhile, the position data with higher measurement precision can be displayed in a two-dimensional code mode, and subsequent secondary development is facilitated.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims (12)

1. A system for outdoor high-precision positioning and displaying comprises a mobile terminal device, a server and a position correction network server, wherein the mobile terminal device comprises a positioning module, an RTK processing module, a communication module and a display module, the positioning module is connected with the RTK processing module in a data interaction mode, the RTK processing module is connected with the communication module in a data interaction mode, the communication module can carry out data interaction with the position correction network server through a wireless network, and the display module is electrically connected with the RTK processing module; the positioning module obtains first position data of the mobile terminal device by receiving satellite data, the RTK processing module receives the first position data and sends the first position data to the position correction network server through the communication module, the position correction network server can generate corresponding correction data according to the first position data, the correction data can be sent to the RTK processing module through the communication module, and the RTK processing module obtains second position data of the mobile terminal device based on the first position data and the correction data and sends the second position data to the display module for displaying.

2. A system for outdoor high precision positioning and displaying according to claim 1, wherein the positioning module can receive data signals of at least one of GPS, beidou satellite navigation system, GLONASS and GALILEO, the communication module is raspberry type (Raspberrypi), the display module includes an ink screen, and the position correction network server is a thousand-searching position network server.

3. The system for outdoor high precision positioning and displaying according to claim 2, wherein the mobile terminal device further comprises a data conversion module, the RTK processing module is connected to the communication module via the data conversion module, wherein the input/output port of the RTK processing module adopts a serial interface, the input/output port of the raspberry pi adopts a USB interface, and the data conversion module is used for converting between a serial data format and a USB data format; the first position data adopts a GPGGA format, correction data corresponding to the first position data is stored in the multi-seek position network server, the correction data adopts an RTCM format, and the second position data is the position information of the mobile terminal equipment obtained by an RTK carrier phase difference technology.

4. The system for outdoor high-precision positioning and displaying according to claim 2, wherein the display module refreshes display at first time intervals, the second position data is displayed in the display module in a two-dimensional code form, and an image capable of indicating direction is further displayed on the outer side of the two-dimensional code.

5. The system for outdoor high precision positioning and displaying of claim 1, wherein the RTK processing module calculates and obtains the second position data at a predetermined first frequency and stores the second position data in a time-sequential manner in a memory of the RTK processing module; when the amount of the second position data in the memory exceeds a first limit value, processing the second position data of the first amount which is latest in time to obtain third position data, and sending the processed third position data to the display module, wherein the second position data of the first amount are processed in a median filtering mode, a mean filtering mode or a Kalman filtering mode to obtain the third position data; and when the quantity of the second position data in the memory does not exceed the first limit value, the second position data which is latest in time is taken as third position data and sent to the display module.

6. The system for outdoor high precision positioning and displaying according to claim 5, wherein the newly received third position data is compared with the currently displayed third position data, and when the difference between the newly received third position data and the currently displayed third position data does not exceed a first threshold, the display module displays the currently displayed third position data; and when the difference value between the newly received third position data and the currently displayed third position data exceeds a first threshold value, the display module displays the newly received third position data.

7. The system for outdoor high precision positioning and displaying of claim 1, wherein the RTK processing module calculates and obtains the second position data at a predetermined first frequency and stores the second position data in a time-sequential manner in a memory of the RTK processing module; comparing the newly calculated second position data with the processing value of the currently displayed second position data, and when the difference value between the newly received second position data and the currently displayed second position data does not exceed a second threshold value, continuing to display the currently displayed second position data by the display module; when the difference value between the newly received second position data and the currently displayed second position data exceeds a second threshold value, the RTK processing module processes the newly received second position data and a second number of second position data adjacent to the newly received second position data in front of the newly received second position data, and sends a fourth position data obtained after processing to the display module for displaying; and processing the newly received second position data and the second quantity of second position data by adopting a median filtering, mean filtering or Kalman filtering mode, and further defining the fourth position data as the second position data to be displayed next.

8. The system for outdoor high-precision positioning and displaying according to any one of claims 1 to 7, wherein the mobile terminal device further comprises an upload data control button, when the upload data control button is activated, the first position data and/or the second position data and/or the correction data and/or the third position data and/or the fourth position data are transmitted to the server; the mobile terminal equipment also comprises a display module refresh prohibition button, and when the display module refresh prohibition button is activated, the position data displayed by the display module is kept unchanged.

9. The system for outdoor high-precision positioning and displaying of claim 2, wherein the raspberry pi further comprises an OTA upgrade module, the OTA upgrade module can communicate with a server and report a current version number of software of the mobile terminal device, when a latest version number in the server is superior to the current version number of the mobile terminal device, the raspberry pi can communicate with the server and receive an upgrade file so as to upgrade the software of the mobile terminal device, and when the upgrade is successfully completed, the current version number of the software of the mobile terminal device is synchronously updated to the latest version number in the server.

10. A method for outdoor high precision positioning and display, the method utilizing the system for outdoor high precision positioning and display according to any one of claims 1 to 9, the method comprising:

step 1: the mobile terminal equipment receives a satellite signal through a positioning module to obtain first position data of the mobile terminal equipment;

step 2: the RTK processing module receives the first position data and transmits the first position data of the mobile terminal equipment to a position correction network server, and the position correction network server generates corresponding correction data based on the received first position data and transmits the correction data to the mobile terminal equipment;

and step 3: the mobile terminal equipment processes the first position data and the corresponding correction data to obtain second position data;

and 5: storing the second position data in a memory of an RTK processing module in a time sequencing mode, judging the quantity of the second position data, processing the second position data with the latest first quantity in time to obtain third position data when the quantity of the second position data in the memory exceeds a first limit value, and sending the processed third position data to the display module, wherein when the quantity of the second position data in the memory does not exceed the first limit value, the second position data with the latest in time is taken as the third position data to be sent to the display module;

step 6: comparing the newly received third position data with the currently displayed third position data, and when the difference value between the newly received third position data and the currently displayed third position data does not exceed a first threshold value, continuing to display the currently displayed third position data by the display module; when the difference value between the newly received third position data and the currently displayed third position data exceeds a first threshold value, the newly received third position data is displayed by the display module;

and 7: and the display module displays the third position data in a two-dimensional code mode.

11. A method as claimed in claim 10, wherein said step 2 further comprises detecting said first position data, and when said first position data lacks at least one of longitude, latitude, altitude, GPS status, number of used satellites, and end code, determining that said first position data is incomplete, and discarding said first position data.

12. A method for outdoor high precision positioning and display, the method utilizing the system for outdoor high precision positioning and display according to any one of claims 1 to 9, the method comprising:

step 1: the mobile terminal equipment receives a satellite signal through a positioning module to obtain first position data of the mobile terminal equipment;

step 2: detecting the first position data, judging that the first position data is incomplete data when the first position data lacks at least one of longitude, latitude, altitude, GPS state, satellite number and end code, and abandoning the first position data;

and step 3: the RTK processing module receives the first position data and transmits the first position data of the mobile terminal equipment to a position correction network server, and the position correction network server generates corresponding correction data based on the received first position data and transmits the correction data to the mobile terminal equipment;

and 4, step 4: the mobile terminal equipment processes the first position data and the corresponding correction data to obtain second position data;

and 5: storing the second position data in a memory of an RTK processing module in a time sequencing mode, comparing the newly calculated second position data with a processing value of the currently displayed second position data, and when the difference value between the newly received second position data and the currently displayed second position data does not exceed a second threshold value, continuing to display the currently displayed second position data by the display module; when the difference value between the newly received second position data and the currently displayed second position data exceeds a second threshold value, the RTK processing module processes the newly received second position data and a second number of second position data adjacent to the newly received second position data in front of the newly received second position data, and sends a fourth position data obtained after processing to the display module for displaying; processing the newly received second position data and the second quantity of second position data by adopting a median filtering, mean filtering or Kalman filtering mode, and further defining the fourth position data as second position data to be displayed next;

step 6: and the display module displays the received new second position data in a two-dimensional code mode.

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