CN114114343A

CN114114343A - Measuring method and system for GNSS and RTK receiver

Info

Publication number: CN114114343A
Application number: CN202111473245.2A
Authority: CN
Inventors: 金蕾; 黄策; 温小华
Original assignee: Shanghai Jingrong Network Technology Co ltd
Current assignee: Shanghai Jingrong Network Technology Co ltd
Priority date: 2021-12-02
Filing date: 2021-12-02
Publication date: 2022-03-01

Abstract

The invention discloses a measuring method, a measuring system and an RTK receiver for a GNSS, wherein the measuring system comprises a reference station and a mobile station, the mobile station comprises a built-in memory, an RTK resolving engine and a PPK resolving engine, and the measuring method comprises the following steps: the mobile station receives base station signals and GNSS signals of a reference station at a measuring point; acquiring an RTK resolving result through an RTK resolving engine, and storing a base station signal and a GNSS signal into a built-in memory according to a time sequence; judging whether the RTK resolving result meets a preset condition, if not, calling a PPK resolving engine to perform PPK resolving at a measuring point so as to obtain a PPK resolving result; and the mobile station acquires the positioning information of the measuring point according to the RTK calculation result and the PPK calculation result. The invention can improve the reliability of the result of the measuring point, improve the fixed rate of the measuring result and save the data acquisition time and the working time of the industry.

Description

Measuring method and system for GNSS and RTK receiver

Technical Field

The invention relates to a measuring method and system for GNSS and an RTK receiver.

Background

The satellite navigation positioning technology has basically replaced the ground-based radio navigation, the traditional geodetic survey and the astronomical survey navigation positioning technology at present, and promotes the brand new development of the field of geodetic survey and navigation positioning. Nowadays, the GNSS system is not only an infrastructure of national safety and economy, but also an important mark for embodying the status of modernized big countries and the national comprehensive strength. Due to the important significance in politics, economy, military and other aspects, the major military countries and the economic bodies in the world compete to develop independent and autonomous satellite navigation systems.

The gnss (global Navigation Satellite system) refers to four global Navigation positioning systems including the us GPS, russian GLONASS, Galileo in europe and Beidou in our country, and can provide uninterrupted and high-precision global Navigation signal resources for users, thereby realizing all-weather real-time positioning, speed measurement and time service functions.

Currently, a global positioning system real-time kinematic (RTK) technique is widely used to perform plane control measurement, elevation control measurement, topographic measurement, and the like. However, in the high-precision measurement operation, poor observation conditions such as dense forests and urban canyons may be encountered, so that the RTK solution may not obtain a fixed solution, and a fixing error may also exist. If the measurement cannot be fixed, a dynamic post-processing (PPK) technique is generally adopted, data acquisition is required to be performed for more than 15 minutes at the measurement point, and a fixed result cannot be obtained. If the fixation is wrong, the operator is required to perform re-measurement after checking and finding in the industrial operation. Both of these conditions affect the efficiency of the measurement operation.

Disclosure of Invention

The invention aims to overcome the defects that in the prior art, the GNSS-based measurement technology is limited by a receiving environment, so that the observation effect is poor and the working efficiency is low, and provides a GNSS-based measurement method, a GNSS-based measurement system and an RTK receiver, which can improve the reliability of a measurement point result, improve the fixation rate of the measurement result and save the data acquisition time and the working time in the field.

The invention solves the technical problems through the following technical scheme:

a surveying method for GNSS for a surveying system including a reference station and at least one rover station including an in-built memory, an RTK solution engine and a PPK solution engine, the surveying method comprising:

the mobile station receives base station signals and GNSS signals of a reference station at a measuring point;

resolving the base station signal and the GNSS signal through an RTK resolving engine to obtain an RTK resolving result, and storing the base station signal and the GNSS signal into the built-in memory according to a time sequence;

judging whether an RTK resolving result meets a preset condition, if not, calling the PPK resolving engine to perform PPK resolving at the measuring point to obtain a PPK resolving result;

and the mobile station acquires the positioning information of the measuring point according to the RTK calculation result and the PPK calculation result.

Preferably, the determining whether the RTK solution result meets a preset condition includes:

and judging whether the RTK resolving result meets a preset condition, if so, acquiring the positioning information of the measuring point by the mobile station according to the RTK resolving result.

Preferably, the invoking the PPK solution engine to perform PPK solution at the measurement point to obtain a PPK solution result includes:

calling the PPK resolving engine to perform PPK resolving at the measuring point according to a preset starting point so as to obtain a starting point resolving result;

calculating the calculation results of all starting points of the measuring points according to a preset rule;

and acquiring the PPK calculation result of the measuring point and the reliability of the PPK calculation result according to the calculation results of all the starting points of the measuring point and the fixed result in the calculation results.

Preferably, the acquiring, by the mobile station, the positioning information of the measurement point according to the RTK solution and the PPK solution includes:

and the mobile station verifies the RTK resolving result according to the PPK resolving result of the measuring point, and acquires the RTK resolving result and the weighted positioning information of the PPK resolving result according to the verifying result, wherein the higher the reliability of the resolving result is, the higher the weight of the resolving result in the weighted positioning information is.

Preferably, the duration between adjacent starting points is a fixed value, and the preset rule includes:

the mobile station carries out PPK calculation from the starting point according to the time sequence to obtain the PPK calculation result of each starting point; and/or the presence of a gas in the gas,

the mobile station performs PPK calculation from the starting point according to a reverse time sequence to obtain a PPK calculation result of each starting point.

Preferably, the obtaining the PPK solution result and the reliability of the PPK solution result of the measurement point according to the solution results of all the starting points of the measurement point and the fixed result in the solution results includes:

calculating calculation results of starting points on the measuring points except for the starting point of the fixed result by using the starting points on the measuring points which are known as the fixed result, so as to obtain all the starting points on the measuring points which are the fixed result;

and acquiring the PPK calculation result of the measuring points and the reliability of the PPK calculation result according to the quantity of the fixed results.

calling the PPK calculation engine to carry out PPK calculation at the measuring point to obtain a starting point of a first fixed result;

sequentially reversely calculating PPK calculation results of adjacent starting points by taking the starting point of the first fixed result as a starting point until continuous starting points of all fixed results in the reverse calculation process are obtained, and simultaneously storing a base station signal and a GNSS signal of the next starting point by using an internal memory;

forward-calculating PPK calculation results of adjacent starting points sequentially by taking the starting point of the first fixed result as a starting point until a preset number of starting points of the fixed result are obtained;

and acquiring the PPK calculation result of the measuring point according to the calculation results of all the starting points with the fixed results.

Preferably, the forward calculation of the PPK calculation results of adjacent starting points sequentially starting from the starting point of the first fixed result until the starting points of the preset number of fixed results are obtained includes:

forward calculating the PPK calculation result of the adjacent starting point by taking the starting point of the first fixed result as the starting point, judging whether the PPK calculation result of the starting point is a fixed result, if not, reversely calculating the PPK calculation result of the adjacent starting point again by taking the starting point of the next fixed result of the starting point of the first fixed result as the starting point of the first fixed result until obtaining the continuous starting points of all fixed results in the reverse calculation process, and simultaneously storing the base station signal and the GNSS signal of the next starting point by the built-in memory.

Preferably, the measurement method includes:

a user configures related parameters of a mobile station quasi-real-time PPK resolving engine through a command, wherein the related parameters comprise starting time, filtering direction and calculating times; and/or the presence of a gas in the gas,

and transmitting the base station signals and the GNSS signals in the built-in memory to an upper computer, and using the base station signals and the GNSS signals to carry out PPK (point-to-point keying) calculation by the upper computer so as to obtain the positioning information of all the measuring points.

The invention also provides a surveying system for GNSS for implementing the surveying method as described above, the surveying system comprising a reference station and at least one mobile station.

The present invention also provides an RTK receiver for a reference station and/or a rover station in a surveying system as described above.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows:

the invention can improve the reliability of the result of the measuring point, improve the fixed rate of the measuring result and save the data acquisition time and the working time of the industry.

Drawings

Fig. 1 is a schematic structural diagram of a measurement system according to embodiment 1 of the present invention.

Fig. 2 is a flowchart of a measurement method according to embodiment 1 of the present invention.

Fig. 3 is another flowchart of the measurement method according to embodiment 1 of the present invention.

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

Example 1

Referring to fig. 1, the present embodiment provides a measurement system that includes a number of RTK receivers. The RTK receivers are one as a reference station 1 and at least one as a rover station 2.

The reference station 1 and the rover station 2 each include a built-in memory 21, the rover station 2 includes an RTK solution engine 22 and a PPK solution engine 23, and the RTK receiver includes a receiving module 24 and a processing module 25.

In this embodiment, since the reference station and the rover station are both RTK receivers, both the rover station and the reference station include a receiving module, a processing module, an RTK solution engine and a PPK solution engine.

The receiving module of the mobile station is used for receiving base station signals and GNSS signals of the reference station at the measuring point.

And the RTK resolving engine of the mobile station is used for resolving the base station signal and the GNSS signal to acquire an RTK resolving result.

The receiving module is further used for storing the base station signals and the GNSS signals into the built-in memory according to a time sequence.

The processing module of the mobile station is used for judging whether an RTK resolving result meets a preset condition, and if not, the PPK resolving engine is called to carry out PPK resolving on the measuring point to obtain a PPK resolving result;

judging whether the RTK resolving result meets a preset condition refers to judging whether the RTK resolving result is a fixed result and the reliability of the fixed result, if the RTK resolving result is not a fixed value, or if the reliability of the fixed value is low, the preset condition is not met, and starting a PPK resolving engine.

And the processing module of the mobile station is also used for acquiring the positioning information of the measuring point according to the RTK calculation result and the PPK calculation result.

The mobile station also includes an output module 26 for outputting positioning information.

The built-in memory of the receiver board card can record the observation information of the board card and the reference station in real time, and the quasi-real-time PPK can be carried out by configuring different starting time and filtering directions through commands in the RTK measurement process.

When the RTK can not obtain a fixed result or a measurer suspects a measuring result, the quasi-real-time PPK carries out multi-start and multi-directional filtering, and the two engines operate simultaneously.

The results of the quasi-PPK and the RTK can be checked against each other. And because the built-in memory of the board card reserves all observation data, the PPK operation of the PC end can be carried out after the field measurement is finished.

Specifically, the processing module is configured to determine whether an RTK solution result meets a preset condition, if so, the mobile station obtains the positioning information of the measurement point according to the RTK solution result, and if not, the PPK solution engine is invoked to perform PPK solution at the measurement point to obtain a PPK solution result.

Further, the processing module is configured to:

The duration between adjacent starting points is a fixed value, and the preset rule comprises the following steps:

the mobile station carries out PPK calculation from the starting point according to the time sequence to obtain the PPK calculation result of each starting point;

Further, the processing module is configured to:

The embodiment is realized by embedded software codes of a high-precision board card. And when the RTK engine of the board card carries out real-time RTK calculation, storing the observation data of the board card and the received observation data of the base station into the built-in memory of the board card according to a time sequence. The quasi-real-time PPK engine accesses data in the built-in memory, different starting points are set, the board card and the base station observation data are aligned as much as possible, and the influence of differential delay on positioning accuracy is reduced.

Due to the full storage of data, the quasi-real-time PPK engine carries out reverse filtering (resolving) after a period of measurement is carried out on a measurement point, and mutual inspection is carried out on a multi-time filtering result and an RTK result, and finally a weighted positioning result is given.

The specific operation is as follows:

the user carries out PPK calculation setting, the calculation interval is set to be 4 minutes, and the calculation direction is bidirectional filtering.

At one measurement point, 10: 00 to 10: 05, if the RTK fixed solution is not obtained all the time or the fixed solution is not reliable (the output results of several times are inconsistent), the PPK calculation is started, and the user waits for 15 minutes (specifically, the adjustment can be carried out according to the requirements of static data) on a measuring point or waits until the PPK calculates a reliable positioning result.

The forward calculation includes:

a. 10: 02 to 10: xx, outputting a PPK result XYZ 1;

b. 10: 06 to 10: xx, outputting a PPK result XYZ 2;

c. 10: 10 to 10: xx, outputting a PPK result XYZ 3;

the inverse calculation includes:

d. 10: 02 to 10: 00, outputting a PPK result XYZ 4;

e. 10: 06 to 10: 00, outputting a PPK result XYZ 5;

f. 10: 10 to 10: 00, outputting a PPK result XYZ 6;

and comparing the consistency of the positioning results of the fixed results among the 6 positioning results, and outputting the PPK result.

In addition, when the a process cannot obtain a fixed result and the b process can obtain a fixed result, the result of the a process is calculated according to the fixed result of the b process, if the result of the a process is correct, the number of the fixed results is increased, and the PPK calculation of the measuring point is more reliable.

In other embodiments, to obtain PPK solution results, the processing module is configured to:

then, forward-calculating PPK calculation results of adjacent starting points sequentially by taking the starting point of the first fixed result as a starting point until the starting points of a preset number of fixed results are obtained;

The steps can play a role in saving calculation power and improving the PPK resolving efficiency.

Further, the processing module is configured to:

Further, the RTK receiver further comprises a configuration module configured to:

and the user configures the relevant parameters of the mobile station quasi-real-time PPK resolving engine through commands, wherein the relevant parameters comprise starting time, filtering direction and calculating times.

The RTK receiver further comprises a transmission module configured to:

Referring to fig. 2, with the above measurement system, the present embodiment further provides a measurement method, including:

step 100, the mobile station receives a base station signal and a GNSS signal of a reference station at a measuring point;

step 101, resolving the base station signal and the GNSS signal by an RTK resolving engine to obtain an RTK resolving result, and storing the base station signal and the GNSS signal in the built-in memory in a time sequence;

step 102, judging whether an RTK resolving result meets a preset condition, if so, executing step 103, and otherwise, executing step 104;

103, the mobile station acquires the positioning information of the measuring point according to an RTK resolving result, and then executes a step 105;

step 104, calling the PPK calculation engine to carry out PPK calculation at the measuring point to obtain a PPK calculation result;

and 105, the mobile station acquires the positioning information of the measuring point according to the RTK calculation result and the PPK calculation result.

And when the RTK resolving result can obtain the fixing result, the mobile station obtains the positioning information of the measuring point according to the RTK resolving result.

Referring to fig. 3, specifically, step 104 includes:

step 1041, calling the PPK calculating engine to perform PPK calculation at the measuring point according to a preset starting point to obtain a starting point calculating result;

in this embodiment, the preset starting point refers to a time when starting according to a preset time interval.

1042, calculating calculation results of all starting points of the measuring points according to a preset rule;

and 1043, obtaining the PPK calculation result of the measuring point and the reliability of the PPK calculation result according to the calculation results of all the starting points of the measuring point and the fixed result in the calculation results.

The higher the reliability is, the higher the weight is corresponding to the PPK calculation result.

Specifically, step 1043 includes:

Specifically, step 1043 includes: the method comprises the following steps:

In other embodiments, step 104 comprises:

The above steps may be specifically included after step 1043.

Wherein, use the starting point of first fixed result as the starting point forward calculation adjacent starting point's PPK solution result in proper order until obtaining the starting point of the fixed result of predetermined quantity, include:

The measuring method comprises the following steps:

a user configures related parameters of a mobile station quasi-real-time PPK resolving engine through a command, wherein the related parameters comprise starting time, filtering direction and calculating times;

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A surveying method for GNSS for a surveying system including a reference station and at least one rover station including an inbuilt memory, an RTK solution engine and a PPK solution engine, the surveying method comprising:

2. The measurement method according to claim 1, wherein the determining whether the RTK solution result satisfies a preset condition includes:

3. The measurement method of claim 2, wherein the invoking the PPK solution engine to perform PPK solution at the measurement point to obtain PPK solution results comprises:

4. The measurement method according to claim 3, wherein the rover station acquires the positioning information of the measurement point based on the RTK solution and the PPK solution, comprising:

5. A measuring method according to claim 3, wherein the time duration between adjacent starting points is a fixed value, and the preset rule comprises:

6. The measurement method according to claim 5, wherein the obtaining of the reliability of the PPK solution result and the PPK solution result of the measurement point according to the solution results of all the starting points of the measurement point and a fixed result of the solution results comprises:

7. The measurement method of claim 3, wherein the invoking the PPK solution engine to perform PPK solution at the measurement point to obtain a PPK solution result comprises:

acquiring a PPK calculation result of the measuring point according to the calculation results of all starting points with fixed results;

8. The measurement method according to claim 4, characterized in that the measurement method comprises:

9. Surveying system for GNSS characterized in that it is adapted to implement the surveying method according to any of claims 1 to 8, the surveying system comprising a reference station and at least one mobile station.

10. An RTK receiver for a reference station and/or a rover station in a surveying system as claimed in claim 9.