CN116449404A - Star-based enhanced positioning equipment and quick starting method - Google Patents
Star-based enhanced positioning equipment and quick starting method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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Abstract
The invention discloses a satellite-based enhanced positioning device and a quick starting method, wherein after a power supply is started through a key after the satellite-based enhanced positioning device is started, a PPP mode of a power inspection reference station is automatically started, satellite observation data of a plurality of GNSS systems are received, and whether a precision index Root Mean Square (RMS) of a GNSS receiver of a user side is larger than a first set value is judged; when RMS is larger than a first set value, continuing to perform convergence error source on satellite observation data based on a fixed solution of PPP-AR/RTK algorithm, or when RMS is smaller than or equal to the first set value, calculating base station coordinates based on a fuzzy self-adaptive Kalman filtering algorithm, and recording reference station coordinates of 1 time and Nth time; and carrying out average value calculation for 1 time on the reference station coordinates obtained by N times to obtain accurate base station coordinate data, and transmitting differential data with a base station coordinate message and a constellation frequency point message to a corresponding signal receiving end, thereby realizing differential data acquisition and broadcasting of high-precision absolute coordinates and improving the starting speed of the satellite-based enhanced positioning equipment.
Description
Technical Field
The invention relates to the field of satellite positioning navigation, in particular to a satellite-based enhanced positioning device and a quick starting method.
Background
The existing traditional GNSS positioning equipment can realize centimeter-level positioning only through an RTK positioning technology in a public network environment, and needs manual connection before a positioning function is started, professional setting is carried out, steps are complex, and industrial application and popularization are not facilitated.
Unmanned aerial vehicle autonomous inspection is widely applied to power grids in recent years, but no positioning device capable of covering an unmanned aerial vehicle positioning environment exists at present. Unmanned aerial vehicle autonomous inspection operation strongly relies on RTK signals to provide centimeter-level positioning signals for unmanned aerial vehicle, and inspection operation is carried out by following fixed shooting points and shooting actions. The existing GNSS receiver can not meet the requirement of autonomous inspection position application of unmanned aerial vehicles in all domains, particularly in the coverage area of an public network.
Patent cn202211269687.X proposes a real-time positioning method and system for inspection of a power grid unmanned aerial vehicle, and proposes a manner of utilizing a PPP-RTK combined Inertial Navigation System (INS) tight combination model and utilizing PPP-RTK, INS and camera sensor visual information (Vision) tight combination model to realize real-time positioning of the unmanned aerial vehicle. However, the method has insufficient positioning precision, realizes global high-precision positioning under the conditions of base station switching process, shielding during visual recognition and the like, and has insufficient safety.
The invention provides a star-based enhanced positioning device and a quick starting method, which can improve the starting speed of the star-based enhanced positioning device, ensure the one-key starting application on the premise of high-precision positioning, and improve the application efficiency of unmanned aerial vehicle inspection positioning, surveying and other industries.
Disclosure of Invention
The invention aims to provide a star-based enhanced positioning device and a quick starting method, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a star-based enhanced positioning quick starting method comprises the following steps:
s1, after a power supply is started through a key, automatically starting a PPP mode of a power inspection reference station, and receiving satellite observation data of a GNSS multi-system;
s2, judging whether the accuracy index root mean square RMS of the GNSS receiver of the user side is larger than a first set value or not; when the root mean square RMS is larger than the first set value, continuing to perform fixed solution convergence on satellite observation data based on a PPP-AR/PPP-RTK algorithm, and entering into step S3; when the RMS is less than or equal to the first set value, directly entering a step S3;
s3, calculating base station coordinate data based on a fuzzy self-adaptive Kalman filtering algorithm;
s4, recording coordinates of a reference station for 1 time;
s5, recording the coordinates of the reference station for the Nth time, wherein N is more than 2;
and S6, calculating an average value according to the reference station coordinates obtained in the steps S3, S4 and S5, and broadcasting the message data containing the base coordinates and the constellation frequency points. Accurate base station coordinate data are obtained, differential data with base station coordinate messages and constellation frequency point messages are sent to corresponding signal receiving ends, so that differential data of high-precision absolute coordinates are obtained and broadcast, and starting speed of the satellite-based enhanced positioning equipment is improved.
Preferably, the first set value is between 0.001m and 0.2 m; a typical value is 0.05m.
Preferably, the power inspection reference station PPP mode includes:
besides receiving satellite observation data of GNSS multisystems in real time, the user side simultaneously acquires and fixes precise satellite orbit and clock difference information, considers various error sources in a satellite side, a receiver side and a transmission path and carries out fine processing, and meanwhile solves parameters of user coordinates, receiver clock difference, troposphere delay, ionosphere delay and phase ambiguity, so that high-precision position information can be acquired in the global scope.
Preferably, the power inspection reference station PPP mode further includes: when the star-based enhancement system is used, the user side obtains the SSR correction of the real-time state space of the error source which is difficult to accurately model.
Preferably, the converging of satellite observations based on the fixed solution of PPP-AR comprises: correcting satellite carrier phase deviation, vertical ionosphere delay, satellite orbit, satellite clock error and satellite pseudo-range deviation in real time;
the convergence of satellite observations based on the PPP-RTK fixed solution includes: correcting the error term after the PPP-AR fixed solution is removed and converged.
Preferably, step S6 calculates base station data based on the base station coordinates of the fuzzy adaptive kalman filter according to the reference station coordinates obtained in steps S3, S4 and S5, and includes: and (3) constructing an error observation equation according to the reference station coordinates obtained in the steps S4 and S5 and the correction obtained in the step S2, and obtaining coordinate parameters and floating ambiguity by using Kalman filtering so as to obtain base station data.
Preferably, the fuzzy adaptive kalman filter algorithm comprises the following steps:
the state of the k epoch observation value is updated by the system noise and the observation noise weight which are subjected to fuzzy adjustment, new characteristics after updating are added into a fuzzy controller to be recalculated, a k epoch predicted value is obtained, the k epoch information is obtained by comparing the difference with the k epoch system observation value, the relative change of the system to the previous model is reflected, the change of the k epoch information and the change of the Kalman filtering gain statistical filtering stability are utilized, when the stability is insufficient, the online adjustment is changed, the k epoch observation is further adjusted, and finally the filtering performance is improved;
based on a fuzzy self-adaptive Kalman filtering phase smoothing pseudo-range algorithm, the idea of the traditional carrier phase difference is combined with fuzzy self-adaptive Kalman filtering, the weight of system noise and observation noise is optimally estimated by the change of a new mean value and covariance, and the influence of time-varying noise on the Kalman filtering stability is reduced, wherein the method comprises the following specific processes:
obtaining a kth epoch observed value, and calculating a variance estimation amount of a kth epoch smooth pseudo-range and a measurement error:
filtering to obtain k epoch innovation e through adjustment of observed value and predicted value k :
e k ＝ρ k -ρ -(k) -r +(k-1)
Wherein r is +(k-1) Is the average value of k-1 epoch observation noise;
the optimal estimate of the k epoch carrier-phase difference variance is:
where λ is the wavelength ρ k The pseudorange is smoothed for the carrier phase at k,for the kth epoch carrier phase value, note that the variance of the pseudorange observation error is +.>The carrier phase observation error variance is +.>ρ -(k) Prediction of smoothed pseudoranges for k epoch carrier phases ρ +(k-1) For a smoothed pseudorange of k-1 epoch, d k Is a forgetting factor and 0 < d k ＜1；Q +(k-1) The optimal estimated value of the carrier phase difference value variance of the k-1 epoch; k (K) k Is the filtering gain.
A star-based enhanced locating device, comprising:
the GPS module is provided with a satellite-based enhanced service function;
a micro control board provided with a chip thereon, comprising: a satellite position determining algorithm, a point to be detected positioning time service algorithm and the satellite-based enhanced positioning quick starting method according to any one of claims 1 to 7, wherein positioning time service information and PPS second pulses are output to the outside through an RS232 serial port, and RS232 communication configuration information of a user can be received through the RS232 serial port; the GPS module is initialized and various information settings are carried out according to the instruction sent by the handbook, the identification and extraction of GPS information data output by the satellite-based module are completed, and data required by post-processing are stored in FLASH or sent to the handbook for calculation through Bluetooth and serial ports; simultaneously monitoring the working condition and the power supply voltage condition of each module and outputting the working condition and the power supply voltage condition to the indication panel in time;
the data link is used for transmitting and receiving satellite-based differential data through the antenna;
the indication panel is used for displaying the data transmitted by the micro control board;
the power supply is used for supplying power to the satellite-based enhanced positioning equipment and can supply power through external voltage;
and the key is used for controlling the power supply to be started or shut down.
A computer readable storage medium comprising a stored program, wherein the program when run controls a device in which the computer readable storage medium resides to perform a star-based enhanced positioning quick start method.
The processor is used for running a program, wherein the program runs to execute the star-based enhanced positioning quick starting method.
Compared with the prior art, the invention has the beneficial effects that:
through an automatic starting program in the device and based on a fuzzy self-adaptive Kalman filtering algorithm, the rapid convergence within 2 minutes and the centimeter-level high-precision position information broadcasting are realized, the centimeter-level positioning of the unmanned aerial vehicle in the outdoor public network-free environment is realized, and the power-assisted unmanned aerial vehicle is applied to industries such as autonomous inspection, three-dimensional modeling and the like;
the method has millimeter-level carrier phase measurement precision, integrates a foundation RTK (real time kinematic) resolving engine, centimeter-level RTK positioning precision, embeds a star-based PPP resolving engine and a foundation RTK algorithm, combines and integrates positioning, can obtain high-quality original data, can realize broadband and narrowband electromagnetic interference, inhibit multipath effect influence, supports 5 star 16 frequency points, is compatible with BDS-3, and supports L-Band satellite communication;
the method has the characteristics of high precision, and the baseline precision is as follows, horizontal: 2.5mm+0.3ppm; and (3) vertical: 5.0mm+0.3ppm;
the satellite-based enhanced positioning equipment and the quick starting method are applied to remote controller ground station software required by high-precision positioning of the unmanned aerial vehicle, position correction is performed on the positioning of the unmanned aerial vehicle, outdoor global centimeter-level positioning of the unmanned aerial vehicle is realized, and autonomous inspection operation is realized;
by starting the PPP mode of the electric power inspection reference station, adopting a satellite-based enhanced algorithm technology, and adopting a global orbit clock deviation estimation technology, the dependence on the state of the regional single base station can be effectively avoided, the problem of 'anytime and anywhere' is solved, various errors on the side of the regional reference station are separated by means of global unified orbit clock and satellite deviation data, a strict non-difference error separation scheme is established, and satellite errors, ionosphere errors, environmental errors and the like in the single-station coverage area are calculated. Meanwhile, on the PPP ambiguity fixing layer, ambiguity confirmation is carried out by combining a plurality of methods such as satellite base correction accuracy and delay, observation value random characteristics, observation value residual errors and the like, including experience model tuning, machine learning and the like, so that a PPP ambiguity fixing model adapting to satellite link broadcasting satellite base corrections is formed, and the terminal can still obtain a reliable positioning result during the period of short shielding interference of satellite link signals;
by applying the research result of the invention, the large-scale application level of unmanned aerial vehicle autonomous inspection can be rapidly improved, and the inspection efficiency is improved; the satellite-based enhanced RTK positioning and broadcasting service-based high-precision electric power inspection unmanned aerial vehicle one-key starting base station can be used for realizing data communication between the base station and the unmanned aerial vehicle, and is applied to autonomous flight and accurate data acquisition of inspection of power grid overhead line operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments 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 that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a schematic diagram of a serial connection of a micro control board, a data link, and a GPS module according to the present invention;
FIG. 4 is a circuit diagram of the system of the present invention;
FIG. 5 is a schematic diagram of a power management module according to the present invention;
FIG. 6 is a schematic diagram of a fuzzy adaptive Kalman filtering model structure according to the present invention;
FIG. 7 is a schematic diagram illustrating a convergence initialization scenario in accordance with a third embodiment of the present invention;
fig. 8 is a schematic diagram of a test performed on CEP95 accuracy according to a third embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-6:
example 1:
according to an embodiment of the present invention, there is provided a star-based enhanced positioning quick start method, it being noted that the steps shown in the flowchart of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that shown or described herein.
Fig. 1 is a flowchart of a star-based enhanced positioning quick start method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
s1, after a power supply is started through a key, automatically starting a PPP mode of a power inspection reference station, and receiving satellite observation data of a GNSS multi-system;
s2, judging whether the accuracy index root mean square RMS of the GNSS receiver of the user side is larger than a first set value or not; when the root mean square RMS is larger than the first set value, continuing to perform fixed solution convergence on satellite observation data based on a PPP-AR/PPP-RTK algorithm, and entering into step S3; when the RMS is less than or equal to the first set value, directly entering a step S3;
s3, calculating base station coordinate data based on a fuzzy self-adaptive Kalman filtering algorithm;
s4, recording coordinates of a reference station for 1 time;
s5, recording the coordinates of the reference station for the Nth time, wherein N is more than 2;
and S6, calculating an average value according to the reference station coordinates obtained in the steps S3, S4 and S5, and broadcasting the message data containing the base coordinates and the constellation frequency points.
After a power supply is started through a key after the power supply is started, automatically starting a power inspection reference station PPP mode, receiving satellite observation data of a GNSS multi-system, and judging whether the precision RMS of a GNSS receiver of a user side is larger than a first set value; when RMS is larger than a first set value, continuing to converge satellite observation data based on PPP-AR/PPP-RTK algorithm, or when RMS is smaller than or equal to the first set value, calculating base station coordinates based on fuzzy self-adaptive Kalman filtering algorithm, and recording reference station coordinates of 1 time and Nth time; and (3) calculating an average value according to the obtained 120 times of reference station coordinates, thereby realizing the acquisition of high-precision absolute coordinates and broadcasting message data containing base station coordinates and constellation frequency points.
As an alternative embodiment, in step S1, the power patrol reference station PPP mode includes: besides receiving satellite observation data of GNSS multiple systems in real time, the user side obtains and fixes precise satellite orbit and clock difference information, considers various error sources in a satellite side, a receiver side and a transmission path to perform fine processing, solves parameters such as user coordinates, receiver clock difference, troposphere delay, ionosphere delay, phase ambiguity and the like, and can obtain high-precision position information in the global scope.
As an alternative embodiment, in step S1, the power patrol reference-station PPP mode further includes: when the star-based enhancement system is used, the user side obtains the SSR correction of the real-time state space of the error source which is difficult to accurately model. Specifically, according to different SSR service levels, a user can selectively correct UPD, DCB and atmospheric correction parameters on a state domain directly except for a track clock correction, so that centimeter-level positioning accuracy is quickly obtained.
As an alternative embodiment, the first set value takes a typical value of 0.05m; n=120.
As an alternative embodiment, the convergence of satellite observations based on a fixed solution of PPP-AR includes: and correcting satellite carrier phase deviation, vertical ionospheric delay, satellite orbit, satellite clock error and satellite pseudo-range deviation in real time.
As an alternative embodiment, converging satellite observations based on a fixed solution of PPP-RTK includes: correcting the error term after the PPP-AR fixed solution is converged, wherein the error term after the PPP-AR fixed solution is converged is the error term except in the real-time correction analysis module, and the error term comprises the following components: satellite phase wrapping errors, satellite and receiver antenna phase center corrections (including phase center deviations and phase center corrections), relativistic errors, earth rotation errors, earth solid tide and ocean load tide corrections, and the like.
As an alternative embodiment, step S6 calculates base station data based on the base station coordinates of the fuzzy adaptive kalman filter according to the reference station coordinates obtained in steps S3, S4 and S5, including: and (3) constructing an error observation equation according to the reference station coordinates obtained in the steps S4 and S5 and the correction obtained in the step S2, and obtaining coordinate parameters and floating ambiguity by using Kalman filtering so as to obtain base station data.
Example 2: all of the contents of embodiment one are included:
fig. 2 is a schematic structural diagram of a star-based enhanced locating device according to an embodiment of the present invention, including:
the GPS module has a satellite-based enhanced service function, and the advantages are mainly shown in the following steps: a more excellent performance processor and memory system are used;
a micro control board provided with a chip thereon, comprising: the integrated receiving module is used for outputting information such as positioning time service and PPS second pulse once per second through an RS232 serial port and receiving RS232 communication configuration information of a user through the RS232 serial port; the GPS module is also used for initializing and setting various information according to the instruction sent by the handbook, completing the identification and extraction of GPS information data output by the GPS module (satellite-based module), and storing the data required by post-processing into FLASH or sending the data to the handbook for resolving through Bluetooth and serial ports; simultaneously monitoring the working condition and the power supply voltage condition of each module and outputting the working condition and the power supply voltage condition to the indication panel in time;
the data link is used for transmitting and receiving satellite-based differential data through the antenna;
the display panel is used for displaying the data transmitted by the micro control board and setting the displayed content, format and the like according to the requirement;
the power supply is used for supplying power to the satellite-based enhanced positioning equipment and can supply power through external voltage;
and the key is used for controlling the power supply to be started or shut down.
As an alternative embodiment, the micro-controller board employs an OEM board on which signal processing circuitry, level shifting circuitry, interface circuitry, and power circuitry are added. The signal processing circuit is mainly used for carrying out secondary processing on original data of the OEM board and is completed by adopting a singlechip. The power supply circuit adopts a switch type power supply circuit for completing the conversion of direct current voltage. The circuits are integrated into a single micro-controller board that interfaces with the OEM board via a specific interface.
As an alternative embodiment, the control of the micro control board is based on industrial handheld computers and control software of WINCE or POCKET PC, and the working mode setting is performed through Bluetooth or serial ports, so that various data information is displayed.
As an alternative embodiment, the power supply is converted at the OEM board to achieve a wide range of external voltage inputs of 4.5V-18V with 20% reduction in power consumption.
As an alternative embodiment, the power supply storage bin adopts a double-battery-bin design, the battery bin is required to be provided with a safety lock catch, and the battery bin cannot accidentally fall off in any state after being locked, so that firmness and stability are ensured.
As an alternative embodiment, the power supply adopts a detachable intelligent lithium battery, and the power supply is provided with an electric quantity detection chip, so that the residual electric quantity can be checked through a key on the power supply and an indicator lamp.
As an alternative embodiment, the system further includes a power management module, as shown in fig. 5, which can convert the built-in battery pack or external power to the voltage required by each module through the low-voltage difference power module and provide sufficient driving capability. In order to ensure the working time of the system, the built-in battery pack is a rechargeable battery pack with the power of more than 4Ah, and the external power supply is a maintenance-free storage battery with the power of more than 17 Ah. Because the reference station needs great energy consumption to transmit differential data, an external power supply directly provides electric energy for a data chain, and the built-in lithium battery pack maintains the normal work of the GPS module (including an antenna thereof) and the micro control board. At the same time, the micro control board monitors the power supply regularly, and if the power supply is abnormal, the micro control board can provide protection for the star base module, the data chain and the like.
As an alternative embodiment, the system further comprises three communication serial ports, wherein one communication serial port can be configured as RS-232 or RS-422 according to the needs of the user; one of the communication serial ports supports 2.1.0 or higher firmware versions, supports USB data transfer, and supports programmable pulse output.
As an alternative embodiment, the data link includes a data station and its antenna, and the satellite-based differential data is transmitted through the data link at the stationary reference station. Because of the high transmit power, the transmit antennas are individually external. And receiving satellite-based differential data transmitted by the reference station through a data link at the mobile station for real-time observation, and processing the satellite-based differential data by the GPS module to obtain position information with centimeter-level precision. Since the reception power is small, the reception antenna is built in the host.
As an alternative embodiment, the antenna is a critical component of the base station device. The satellite signal receiving antenna is selected to have both proper signal gain and shape and size. The satellite signal receiving antenna used in the fixed occasion can be a high-gain and large-volume crown antenna; the satellite receiving antenna of the portable mobile device can be a miniature flat-plate antenna or a quadrifilar helical antenna. A common miniature flat antenna is a ceramic microwave porcelain dielectric antenna. The ceramic microwave porcelain dielectric antenna is economical and practical, the four-arm spiral antenna has better performance than a flat antenna, and no azimuth requirement exists; but is expensive, the length of the rod is large, and the application is not much. The system selects L1/L2 double-frequency GPS antenna.
As an alternative embodiment, the system further comprises a housing for mounting the micro-control board, the data link and the GPS module. Specifically, the shell is made of magnesium alloy.
As an alternative embodiment, as shown in FIG. 3, the micro control board, the data link and the GPS module are connected through serial ports, and the specific model and connection are shown in FIG. 4.
The satellite-based chip and the base station hardware system are communicated, the near-real-time precise positioning, speed measurement and time service results of the unmanned aerial vehicle are obtained in the whole area through the satellite-based broadcasting technology, the satellite-based broadcasting PPP, the communication signal relay station, the operator mobile internet and other means are integrated, the system is mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle inspection operation problem can be solved under the complex scenes of remote, non-network coverage areas, network coverage intermittent areas, operator network coverage good areas and the like.
The data communication between the base station and the unmanned aerial vehicle is realized, and the data communication method is applied to autonomous flight and routing inspection data accurate acquisition of power grid overhead line operation.
Example 3: including the whole contents of embodiment two:
the system has the following main parameters:
1. functional requirements are as follows: the unmanned aerial vehicle high-precision positioning equipment is used for carrying out position correction on a global satellite navigation system, supporting outdoor global centimeter-level positioning of the unmanned aerial vehicle and realizing autonomous inspection operation;
2. satellite signal: the following satellite signals are supported:
BDS:B1I，B2I，B3I，B1C，B2a，B2b，ACEBOC；
GPS:L1C/A,L1P,L1C,L2P,L2C,L5；
GLONASS:G1,G2,G3；
Galileo:E1BC,E5a,E5b，ALTBOC，E6；
QZSS:L1C/A,L2C,L5,L1C，LEX；
SBAS:L1C/A,L5；
support the differential function of L-Band star station;
3: RTK precision: level of: (+/-) (8+1×10-6D) mm; and (3) vertical: (+/-) (15+1×10-6D) mm
4. Satellite-based enhancement precision: the performance index meets the positioning accuracy of less than or equal to 10 cm;
5. the convergence time is less than or equal to 5 minutes;
6. protection level, dustproof and waterproof: IP67 and above;
7. data record output format: at least NAME-0183;
the RTK terminal is erected in an open environment by only needing to press a start key, and after waiting for 5-10 minutes (typical time), the data link indicator lights flash at 1s intervals to show that the differential data are successfully broadcast.
Note that:
1) Starting up to automatically activate star base and eSIM services and starting timing;
2) The waiting time after starting up is related to the site topography, environment and location, and may be prolonged.
The current stage supports most RTK airplanes, such as: puck 4rtk, m300, imperial 2 industry advanced version, etc.
The following is the unmanned aerial vehicle configuration step:
step 1: opening an unmanned aerial vehicle inspection operation App, connecting a WIFI hotspot of an RTK receiver device, selecting an RTK mode, and using a self-defined network RTK service mode;
step 2: the following configuration information is entered:
IP address: 192.168.10.1 (RTK device IP address) port: 9010;
username (must fill): arbitrary. If a plurality of unmanned aerial vehicles are required to be connected with the same RTK inspection reference station, each unmanned aerial vehicle needs to use different user names;
cipher (must fill): arbitrary mounting point (must fill): arbitrary;
step 3: after clicking the setting, connecting RTK equipment and obtaining differential data, and after success, displaying a fixed solution.
After the RTK fixed solution is displayed by the unmanned aerial vehicle, the unmanned aerial vehicle can fly.
The present invention is not limited to the above embodiments, but is to be accorded the widest scope consistent with the principles and other features of the present invention.
According to the invention, a plurality of monitoring stations are respectively connected with the acceptance environment data to verify the actual convergence effect, and the test is carried out by adopting a mode of interrupting the test for 1 minute in 9 minutes. The following indexes are counted:
120s is used as a sliding window, and each sliding time is 1s when 95% horizontal precision appears for the first time<=0.2m and 95% elevation accuracy<=0.4m, then t0 in the sliding window is the convergence time;
after the convergence time is removed, the horizontal/elevational CEP68 CEP95 accuracy is counted.
As shown in fig. 7, the convergence initialization can be up to 45 seconds, and the CEP95 accuracy is tested.
As shown in FIG. 8, CEP95 accuracy was 0.027m.
Embodiment four: all of the contents of embodiment three are included:
the computer readable storage medium comprises a stored program, wherein the device where the computer readable storage medium is located is controlled to execute the star-based enhanced positioning quick starting method according to any one of the above when the program runs.
Alternatively, in this embodiment, the above-mentioned computer readable storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network or in any one of the mobile terminals in the mobile terminal group, and the above-mentioned computer readable storage medium includes a stored program.
Optionally, the computer readable storage medium is controlled to perform the following functions when the program is run: s1, after a power supply is started through a key, automatically starting a PPP mode of a power inspection reference station, and receiving satellite observation data of a GNSS multi-system; s2, judging whether the precision RMS of the GNSS receiver of the user side is larger than a first set value; when RMS is larger than a first set value, converging satellite observation data based on a PPP-AR/RTK fixed solution, and then entering a step S3; when the RMS is less than or equal to the first set value, directly entering a step S3; s3, recording coordinates of a reference station for 1 time; s4, recording the coordinates of the reference station for the Nth time, wherein N is more than 1; and S5, calculating base station data based on the base station coordinates of the fuzzy self-adaptive Kalman filtering according to the reference station coordinates obtained in the steps S3 and S4.
Example 5: all of example 4 is included:
according to another aspect of the embodiment of the present invention, there is further provided a processor, configured to execute a program, where the program executes a satellite-based enhanced positioning fast start method according to any one of the above.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of a method for realizing a satellite-based enhanced positioning quick starting method when executing the program.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The system embodiments described above are merely exemplary, and for example, the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces and the indirect coupling or communication connection of units or modules may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-0nlyMemory (ROM), a random access memory (RAM, randomAccessMemory), a removable hard disk, a magnetic disk, or an optical disk, or the like, which can store program codes.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (10)
1. A star-based enhanced positioning quick starting method is characterized by comprising the following steps:
s1, after a power supply is started through a key, automatically starting a PPP mode of a power inspection reference station, and receiving satellite observation data of a GNSS multi-system;
s2, judging whether the accuracy index root mean square RMS of the GNSS receiver of the user side is larger than a first set value or not; when the root mean square RMS is larger than the first set value, continuing to perform fixed solution convergence on satellite observation data based on a PPP-AR/PPP-RTK algorithm, and entering into step S3; when the RMS is less than or equal to the first set value, directly entering a step S3;
s3, calculating base station coordinate data based on a fuzzy self-adaptive Kalman filtering algorithm;
s4, recording coordinates of a reference station for 1 time;
s5, recording the coordinates of the reference station for the Nth time, wherein N is more than 2;
and S6, calculating an average value according to the reference station coordinates obtained in the steps S3, S4 and S5, and broadcasting the message data containing the base coordinates and the constellation frequency points.
2. The star-based enhanced positioning quick starting method as defined in claim 1, wherein the method comprises the following steps: the first set value is between 0.001m and 0.2 m.
3. The star-based enhanced positioning quick starting method as defined in claim 1, wherein the method comprises the following steps: the power patrol reference station PPP mode includes:
besides receiving satellite observation data of GNSS multisystems in real time, the user side simultaneously acquires and fixes precise satellite orbit and clock difference information, considers various error sources in a satellite side, a receiver side and a transmission path and carries out fine processing, and meanwhile solves parameters of user coordinates, receiver clock difference, troposphere delay, ionosphere delay and phase ambiguity, so that high-precision position information can be acquired in the global scope.
4. The star-based enhanced positioning quick starting method as defined in claim 1, wherein the method comprises the following steps: the power patrol reference station PPP mode further includes: when the star-based enhancement system is used, the user side obtains the SSR correction of the real-time state space of the error source which is difficult to accurately model.
5. The star-based enhanced positioning quick starting method as defined in claim 1, wherein the method comprises the following steps: the convergence of satellite observations based on the fixed solution of PPP-AR includes: correcting satellite carrier phase deviation, vertical ionosphere delay, satellite orbit, satellite clock error and satellite pseudo-range deviation in real time;
the convergence of satellite observations based on the PPP-RTK fixed solution includes: correcting the error term after the PPP-AR fixed solution is removed and converged.
6. The star-based enhanced positioning quick starting method as defined in claim 1, wherein the method comprises the following steps: step S6, calculating base station data based on the base station coordinates of the fuzzy self-adaptive Kalman filtering according to the reference station coordinates obtained in the steps S3, S4 and S5, wherein the step comprises the following steps: and (3) constructing an error observation equation according to the reference station coordinates obtained in the steps S4 and S5 and the correction obtained in the step S2, and obtaining coordinate parameters and floating ambiguity by using Kalman filtering so as to obtain base station data.
7. The star-based enhanced positioning quick starting method as defined in claim 1, wherein the method comprises the following steps: the fuzzy adaptive Kalman filtering algorithm comprises the following steps:
the state of the k epoch observation value is updated by the system noise and the observation noise weight which are subjected to fuzzy adjustment, new characteristics after updating are added into a fuzzy controller to be recalculated, a k epoch predicted value is obtained, the k epoch information is obtained by comparing the difference with the k epoch system observation value, the relative change of the system to the previous model is reflected, the change of the k epoch information and the change of the Kalman filtering gain statistical filtering stability are utilized, when the stability is insufficient, the online adjustment is changed, the k epoch observation is further adjusted, and finally the filtering performance is improved;
based on a fuzzy self-adaptive Kalman filtering phase smoothing pseudo-range algorithm, the idea of the traditional carrier phase difference is combined with fuzzy self-adaptive Kalman filtering, the weight of system noise and observation noise is optimally estimated by the change of a new mean value and covariance, and the influence of time-varying noise on the Kalman filtering stability is reduced, wherein the method comprises the following specific processes:
calculating a variance estimator of the kth epoch smoothed pseudorange and the measurement error:
filtering the pass observed value and predicted value is adjusted to obtain k epoch innovation e k :
e k ＝ρ k -ρ -(k) -r +(k-1)
Wherein r is +(k-1) Is the average value of k-1 epoch observation noise;
the optimal estimate of the k epoch carrier-phase difference variance is:
where λ is the wavelength ρ k The pseudorange is smoothed for the carrier phase at k,for the kth epoch carrier phase value, note that the variance of the pseudorange observation error is +.>The carrier phase observation error variance is +.>ρ -(k) Prediction of smoothed pseudoranges for k epoch carrier phases ρ +(-1) For a smoothed pseudorange of k-1 epoch, d k Is a forgetting factor and 0 < d k ＜1；Q +(k-1) The optimal estimated value of the carrier phase difference value variance of the k-1 epoch; k (K) k Is the filtering gain.
8. A star-based enhanced positioning device is characterized in that: comprising the following steps:
the GPS module is provided with a satellite-based enhanced service function;
a micro control board provided with a chip thereon, comprising: a satellite position determining algorithm, a point to be detected positioning time service algorithm and the satellite-based enhanced positioning quick starting method according to any one of claims 1 to 7, wherein positioning time service information and PPS second pulses are output to the outside through an RS232 serial port, and RS232 communication configuration information of a user can be received through the RS232 serial port; the GPS module is initialized and various information settings are carried out according to the instruction sent by the handbook, the identification and extraction of GPS information data output by the satellite-based module are completed, and data required by post-processing are stored in FLASH or sent to the handbook for calculation through Bluetooth and serial ports; simultaneously monitoring the working condition and the power supply voltage condition of each module and outputting the working condition and the power supply voltage condition to the indication panel in time;
the data link is used for transmitting and receiving satellite-based differential data through the antenna;
the indication panel is used for displaying the data transmitted by the micro control board;
the power supply is used for supplying power to the satellite-based enhanced positioning equipment and can supply power through external voltage;
and the key is used for controlling the power supply to be started or shut down.
9. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform a star-based enhanced positioning fast start method according to any one of claims 1 to 7.
10. A processor for running a program, wherein the program runs on a satellite based enhanced positioning fast start method according to any one of claims 1 to 7.
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