CN116719069A - Method and system for directly obtaining normal height of earth surface by using GNSS receiver - Google Patents

Method and system for directly obtaining normal height of earth surface by using GNSS receiver Download PDF

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Publication number
CN116719069A
CN116719069A CN202310987198.6A CN202310987198A CN116719069A CN 116719069 A CN116719069 A CN 116719069A CN 202310987198 A CN202310987198 A CN 202310987198A CN 116719069 A CN116719069 A CN 116719069A
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value
longitude
minutes
latitude
grid
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CN116719069B (en
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田时雨
王向忠
田挚
赵根庄
徐益德
李保军
李烨
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Hebei Geographic Information Group Co ltd
Hebei Provincial Second Surveying And Mapping Institute
Shanghai Huace Navigation Technology Ltd
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Hebei Geographic Information Group Co ltd
Hebei Provincial Second Surveying And Mapping Institute
Shanghai Huace Navigation Technology Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

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

Abstract

The application discloses a method and a system for directly obtaining normal height of the earth surface by using a GNSS receiver, which relate to the technical field of data mapping methods, wherein the method comprises the following steps: firstly, implanting an elevation abnormal grid value of a certain area into a source code of a functional module of a GNSS receiver, wherein the elevation abnormal grid value comprises a geodetic coordinate and a Gao Chengyi constant value; receiving positioning data acquired and processed from the inside of a GNSS receiver, wherein the positioning data comprises positioning three-dimensional coordinate values; comparing the three-dimensional coordinate value of the point location with the elevation abnormal grid value, interpolating according to the position, and obtaining the final high Cheng Yi constant value of the surface of the point to be solved; and adding the geodetic height in the observation data of the GNSS receiver and the obtained final elevation abnormal value to obtain the normal height of the point to be obtained, and outputting the normal high value of the earth surface of the point to be obtained. The method can directly obtain the normal high value of the point to be solved at the instrument end, reduces the operation procedures and improves the working efficiency.

Description

Method and system for directly obtaining normal height of earth surface by using GNSS receiver
Technical Field
The application relates to the technical field of data mapping methods, in particular to a method and a system for directly obtaining normal height of the earth surface by using a GNSS receiver.
Background
In the prior art, the coordinates of the point to be solved obtained by observation of a satellite positioning receiver are three-dimensional geodetic coordinates, gao Chengwei is high, but in general engineering construction, in China, legal elevation system is normal high, the current normal high version is the national elevation standard of 1985, and in order to obtain the normal high value of the point to be solved, the geodetic value obtained by observation of an instrument is also required to be exported to a computer, and the normal high value can be obtained by solving by using professional software.
The high-precision elevation outlier is mostly secret-related data, and cannot be directly placed in an internet environment in a clear mode according to national legal and regulatory requirements, and the satellite positioning receiver collects and processes the data by using a mobile interconnection technology, and is generally high in Cheng Yi constant value, and particularly, a large-area grid value cannot exist in the internet environment in a clear mode.
In general engineering application, normal high values are almost used, normal high values are required to be obtained, the high values are observed by an instrument first, then the normal high values are calculated in a secret-related environment by using professional software, and the method has low efficiency and can not realize detection of related data on site.
Disclosure of Invention
The technical problem to be solved by the application is how to provide a method capable of improving the normal high working efficiency of satellite positioning measurement.
In order to solve the technical problems, the application adopts the following technical scheme: a method for directly obtaining normal height of the earth's surface using a GNSS receiver, comprising the steps of:
s101: firstly, implanting an elevation abnormal grid value of a certain area into a source code of a functional module of a GNSS receiver, wherein the elevation abnormal grid value comprises a geodetic coordinate and a Gao Chengyi constant value;
s102: receiving positioning data acquired and processed from the inside of a GNSS receiver, wherein the positioning data comprises positioning three-dimensional coordinate values;
s103: comparing the three-dimensional coordinate value of the point location with the elevation abnormal grid value, interpolating according to the position, and obtaining the final high Cheng Yi constant value of the surface of the point to be solved;
s104: and adding the geodetic height in the observation data of the GNSS receiver and the obtained final elevation abnormal value to obtain the normal height of the point to be obtained, and outputting the normal high value of the earth surface of the point to be obtained.
The further technical solution is that in step S101, the elevation anomaly mesh value is set as follows:
dividing a provincial administrative area into a plurality of continuous large grids according to the grid definition of each width of 1 degree in the transverse direction and the longitudinal direction, wherein each large grid occupies 1 row of positions in a source code;
the first 2 numbers of the row are the geodetic coordinate values of the upper left corner of the large grid, and are expressed by longitude and latitude values of integers;
the column is set up with a constant value of 576 of Cheng Yi starting from the 3 rd digit of the row to the end of the row, these values corresponding to 576 positions, the rule for setting these positions being: from left to right, from top to bottom, the interval is 2.5 minutes, the total length to the right is 1 degree, the total length to the bottom is also 1 degree, 24 columns from left to right, and 24 rows from top to bottom;
the specific content is that the 1 st position coincides with the left upper corner of the large grid, namely the coordinate is latitude X degree, longitude Y degree, the 2 nd position translates from the left upper corner of the large grid to the right for 2.5 minutes, namely the coordinate is latitude X degree, longitude Y degree for 2.5 minutes; the 3 rd position is shifted rightwards by 2.5 minutes for the 2 nd position, namely the coordinate is latitude X degrees, longitude Y degrees is 5 minutes; and so on, 24 numerical values are counted up to the latitude of X degrees and the longitude of Y degrees of 57.5 minutes;
the position of the 25 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y, the position of the 26 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y is 2.5 minutes, the position of the 27 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y is 5 minutes …, and the like, the position of the 48 th numerical value corresponds to 2.5 minutes of latitude X and 57.5 minutes of longitude of Y;
the position of the 49 th numerical value corresponds to 5 minutes of latitude X, the position of the longitude Y, the position of the 50 th numerical value corresponds to 5 minutes of latitude X, the position of the longitude Y is 2.5 minutes …, and the like, the position of the 72 th numerical value corresponds to 5 minutes of latitude X, and the position of the longitude Y is 57.5 minutes;
and so on, the position of 576 th value corresponds to 57.5 minutes of latitude X and 57.5 minutes of longitude Y.
The further technical scheme is that the method for comparing the three-dimensional coordinate value of the point location with the elevation abnormal grid value in the step S103 specifically includes the following steps:
firstly, rounding the three-dimensional coordinate values of the point to obtain the geodetic coordinate integer value of the point, wherein the geodetic coordinate integer value cannot be carried when rounding;
comparing the rounded value with each row listed by the large grid in the step S101, and if the 1 st numerical value and the 2 nd numerical value are the same as the 1 st numerical value and the 2 nd numerical value of a certain row, starting the comparison in the following steps;
the position of the coordinates of one point must fall in a small grid, the 4 corner points of this small grid being 2 points in two adjacent 1 rows and 2 points in the same column of the other 1 rows adjacent to this 1 row, respectively;
the longitude and latitude values of the point are used for dividing the integral part to calculate the position of the small grid, and the specific calculation method is as follows:
A＝B/ 2.5
wherein A is the number of transverse positions, B is the value of the longitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of A is the longitude position number of the upper left corner of the small grid, the rounding is not carried, and A+1 is the longitude position number of the upper right corner of the small grid;
C＝D/ 2.5
wherein C is the number of longitudinal positions, D is the value of the latitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of C is the latitude position number of the left upper corner of the small grid, the rounding is not carried, and C+1 is the longitude position number of the left lower corner of the small grid;
calculating the accurate longitude position number and latitude position number of the left upper corner of the small grid by the values of A and C, and positioning the position of the left upper corner point of the small grid; calculating the accurate longitude position number and latitude position number of the left lower corner of the small grid by using the values of A and C+1, and positioning the left lower corner point of the small grid; calculating the accurate longitude position number and latitude position number of the upper right corner of the small grid by the values of A+1 and C, and positioning the position of the upper right corner point of the small grid; calculating the accurate longitude position number and latitude position number of the right lower corner of the small grid by using the values of A+1 and C+1, and positioning the right lower corner point position of the small grid;
let the abnormal elevation values at the corresponding positions of the four corner points be D upper left, D upper right, D lower left and D lower right respectively, and then the final high Cheng Yi constant value D is:
d1 = (upper left+upper right D)/2;
d2 = (lower left+lower right D)/2;
D=(D1+D2)/2。
correspondingly, the application also discloses a system for directly obtaining the normal height of the earth surface by using the GNSS receiver, which comprises the following steps:
the elevation abnormal grid value implantation module is used for: the method comprises the steps of implanting an elevation anomaly grid value of a certain area in a source code of a functional module of the GNSS receiver, wherein the elevation anomaly grid value comprises a geodetic coordinate and a Gao Chengyi constant value;
a positioning data receiving module: the positioning data are used for receiving positioning data which are acquired and processed from the inside of the GNSS receiver, and the positioning data comprise positioning three-dimensional coordinate values;
and a final elevation abnormal value acquisition module: the method comprises the steps of comparing three-dimensional coordinate values of points with an elevation abnormal grid value, interpolating according to positions, and obtaining a final high Cheng Yi constant value of the surface of the point to be solved;
the surface normal high value calculation module: and the method is used for adding the geodetic height in the observation data of the GNSS receiver and the obtained final elevation abnormal value to obtain the normal height of the point to be obtained and outputting the value of the normal height of the earth surface of the point to be obtained.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in: according to the method and the system, the elevation abnormal value is implanted into the software source code to be compiled or encrypted, the elevation abnormal value does not exist in a file form in the Internet, and the elevation abnormal value is only temporarily remained in a memory during operation, so that the situation that the high Cheng Yi constant value cannot be directly read in an instrument, the grid value cannot be calculated according to the existing data is ensured, and the confidentiality problem of confidential data is well solved. The normal height of the point to be solved is obtained by direct observation and calculation in the instrument, and the two working procedures of the measured geodetic height and the conversion calculation in the traditional method are combined into one, so that the convenience of obtaining the normal height is greatly improved, and the working efficiency is improved.
Drawings
The application is described in further detail below with reference to the drawings and the detailed description.
FIG. 1 is a flow chart of a method according to an embodiment of the application;
fig. 2 is a schematic block diagram of a system according to a second embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Description of the concept:
there are two main types of information expressing the surface position, one is information expressing the plane position called plane coordinates, and the other is information expressing the altitude position called altitude.
The elevation refers to the distance from a ground point to a certain reference surface, and can be divided into different elevation systems according to different reference surfaces, and common elevation systems are of two types: one type is that the distance from the ground point to the ground-like level is called normal height; the other is that the distance from the ground point to the reference ellipsoid is called the earth height; the difference between the two types of elevation systems is called an elevation anomaly.
Elevation anomalies in a region are typically obtained from a geodetic level refinement process, and the result is typically represented as a number in a grid density. In China, the elevation system actually used by engineering construction of each industry is normally high.
The geodetic altitude measurement method is satellite positioning measurement (GNSS), and is a main field measurement means of plane coordinates and elevation information at present. The method is characterized by simple operation, less operation personnel and short operation period. The control elevation measurement of one city can be completed only by 1 person for a few days. (advantages of satellite positioning measurement elevation)
In general, the method of the application adds a functional module in a satellite positioning receiver which is mainly a dynamic positioning model or an RTK mobile station mode, and the main function is to calculate and display the normal high value of the point to be solved in real time according to the positioning data observed in real time.
Example 1
As shown in fig. 1, a first embodiment of the present application discloses a method for directly obtaining a normal height of a ground surface by using a GNSS receiver, including the following steps:
s101: firstly, implanting an elevation abnormal grid value of a certain area into a source code of a functional module of a GNSS receiver, wherein the elevation abnormal grid value comprises a geodetic coordinate and a Gao Chengyi constant value;
further, the method for implanting the elevation anomaly mesh value in the source code in the step S101 is as follows: the Gao Chengyi constant value of the plain code is directly listed in the code line of the source code.
The bottom operating system of the receiver is linux, and the platform version Imax is more than 6. The Imax6 embedded platform is an embedded platform developed based on an Feishaeal high-expansibility multi-core serial application processor IMX6, supports the functions of audio and video acquisition, H264 coding and decoding, liquid crystal display, network transmission, CAN bus and the like, CAN support a Linux operating system, has rich interfaces, strong instantaneity and low power consumption, and CAN be suitable for vehicle-mounted command terminals, industrial human-machine interfaces (HMIs), industrial control boxes, consumer electronics and the like. The receiver directly measures the normal high interpolation process, depending on the high frequency processing performance of Imax 6.
Elevation anomaly mesh value example: -14.598-14.612-14.645-14.679-14.727-14.772-14.814-14.850-14.879-14.901-14.909-14.895-14.858-14.802-14.731-14.656-14.580-14.497
S102: receiving positioning data acquired and processed from the inside of a GNSS receiver, wherein the positioning data comprises positioning three-dimensional coordinate values;
the machine is used as a mobile station, receives differential data through a network or a radio station, detects whether the received data accords with the rule of the differential data, and when the differential data can be identified according to a protocol, the data is transmitted to a resolving module (board card), and the resolving module (board card) carries out rtk resolving according to the received data and outputs a resolving result, namely the geodetic coordinates under WGS84 coordinates in real time.
Example of point coordinates to be found: CL03-1, 39.3512333, 119.0841798, 6.6104
CL04-1 , 39.33416776, 119.0854081, 6.6568
CL06-1 , 39.30178796, 119.0857188, 3.8442
S103: comparing the three-dimensional coordinate value of the point location with the elevation abnormal grid value, interpolating according to the position, and obtaining the final high Cheng Yi constant value of the surface of the point to be solved;
s104: and adding the geodetic height in the observation data of the GNSS receiver and the obtained final elevation abnormal value to obtain the normal height of the point to be obtained, and outputting the normal high value of the earth surface of the point to be obtained.
Further, in step S101 of the embodiment of the present application, the elevation anomaly mesh value is set as follows:
dividing a provincial administrative area into a plurality of continuous large grids according to the grid definition of each width of 1 degree in the transverse direction and the longitudinal direction, wherein each large grid occupies 1 row of positions in a source code;
the first 2 numbers of the row are the geodetic coordinate values of the upper left corner of the large grid, and are expressed by longitude and latitude values of integers;
the column is set up with a constant value of 576 of Cheng Yi starting from the 3 rd digit of the row to the end of the row, these values corresponding to 576 positions, the rule for setting these positions being: from left to right, from top to bottom, the interval is 2.5 minutes, the total length to the right is 1 degree, the total length to the bottom is also 1 degree, 24 columns from left to right, and 24 rows from top to bottom;
the specific content is that the 1 st position coincides with the left upper corner of the large grid, namely the coordinate is latitude X degree, longitude Y degree, the 2 nd position translates from the left upper corner of the large grid to the right for 2.5 minutes, namely the coordinate is latitude X degree, longitude Y degree for 2.5 minutes; the 3 rd position is shifted rightwards by 2.5 minutes for the 2 nd position, namely the coordinate is latitude X degrees, longitude Y degrees is 5 minutes; and so on, 24 numerical values are counted up to the latitude of X degrees and the longitude of Y degrees of 57.5 minutes;
the position of the 25 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y, the position of the 26 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y is 2.5 minutes, the position of the 27 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y is 5 minutes …, and the like, the position of the 48 th numerical value corresponds to 2.5 minutes of latitude X and 57.5 minutes of longitude of Y;
the position of the 49 th numerical value corresponds to 5 minutes of latitude X, the position of the longitude Y, the position of the 50 th numerical value corresponds to 5 minutes of latitude X, the position of the longitude Y is 2.5 minutes …, and the like, the position of the 72 th numerical value corresponds to 5 minutes of latitude X, and the position of the longitude Y is 57.5 minutes;
and so on, the position of 576 th value corresponds to 57.5 minutes of latitude X and 57.5 minutes of longitude Y.
The above steps are described below in conjunction with specific numerical values:
the grid with width of 1 degree in the transverse direction and the longitudinal direction is defined as a large grid, and a provincial administrative area (such as Hebei province) is divided into a plurality of continuous large grids, and each large grid occupies 1 row of positions in the source code.
The first 2 digits of a row are the geodetic value of the upper left corner of the large grid, expressed in terms of an integer number of longitude and latitude values, e.g. "38 114", i.e. the geodetic value of the upper left corner of this large grid value is the latitude 114 degrees, longitude 38 degrees.
The column is set up with a constant value of 576 of Cheng Yi starting from the 3 rd digit of the row to the end of the row, these values corresponding to 576 positions, the rule for setting these positions being: from left to right, from top to bottom, the spacing is 2.5 minutes, the total length to the right is 1 degree, the total length to the bottom is also 1 degree, 24 columns from left to right, and 24 rows from top to bottom. The specific content is that the 1 st position coincides with the left upper corner of the large grid, namely the coordinate is 114 degrees latitude, 38 degrees longitude, and the 2 nd position translates 2.5 minutes from the left upper corner of the large grid to the right, namely the coordinate is 114 degrees latitude, and 38 degrees longitude is 2.5 minutes; the 3 rd position is shifted rightwards by 2.5 minutes for the 2 nd position, namely the coordinate is 114 degrees of latitude and 38 degrees of longitude is 5 minutes; and so on, 24 values are counted up to 114 degrees of latitude and 57.5 minutes of longitude 38 degrees; the position corresponding to the 25 th numerical value is latitude 114 degrees 2.5 minutes, longitude 38 degrees, latitude 114 degrees 2.5 minutes, longitude 38 degrees 2.5 minutes, latitude 114 degrees 2.5 minutes, longitude 38 degrees 5 minutes …, latitude 114 degrees 2.5 minutes, longitude 38 degrees 57.5 minutes; the position corresponding to the 49 th numerical value is latitude 114 degrees 5 minutes, longitude 38 degrees, latitude 114 degrees 5 minutes, longitude 38 degrees 2.5 minutes …, latitude 114 degrees 5 minutes, longitude 38 degrees 57.5 minutes; and so on, the position of the bottom right corner is 57.5 minutes of latitude 114 degrees and 57.5 minutes of longitude 38 degrees.
Further, in step S103 of the embodiment of the present application, the method for comparing the three-dimensional coordinate value of the point location with the elevation anomaly grid value specifically includes the following steps:
firstly, rounding the three-dimensional coordinate values of the point to obtain the geodetic coordinate integer value of the point, wherein the geodetic coordinate integer value cannot be carried when rounding;
comparing the rounded value with each row listed by the large grid in the step S101, and if the 1 st numerical value and the 2 nd numerical value are the same as the 1 st numerical value and the 2 nd numerical value of a certain row, starting the comparison in the following steps;
the position of the coordinates of one point must fall in a small grid, the 4 corner points of this small grid being 2 points in two adjacent 1 rows and 2 points in the same column of the other 1 rows adjacent to this 1 row, respectively;
the longitude and latitude values of the point are used for dividing the integral part to calculate the position of the small grid, and the specific calculation method is as follows:
A＝B/ 2.5
wherein A is the number of transverse positions, B is the value of the longitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of A is the longitude position number of the upper left corner of the small grid, the rounding is not carried, and A+1 is the longitude position number of the upper right corner of the small grid;
C＝D/ 2.5
wherein C is the number of longitudinal positions, D is the value of the latitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of C is the latitude position number of the left upper corner of the small grid, the rounding is not carried, and C+1 is the longitude position number of the left lower corner of the small grid;
calculating the accurate longitude position number and latitude position number of the left upper corner of the small grid by the values of A and C, and positioning the position of the left upper corner point of the small grid; calculating the accurate longitude position number and latitude position number of the left lower corner of the small grid by using the values of A and C+1, and positioning the left lower corner point of the small grid; calculating the accurate longitude position number and latitude position number of the upper right corner of the small grid by the values of A+1 and C, and positioning the position of the upper right corner point of the small grid; calculating the accurate longitude position number and latitude position number of the right lower corner of the small grid by using the values of A+1 and C+1, and positioning the right lower corner point position of the small grid;
let the abnormal elevation values at the corresponding positions of the four corner points be D upper left, D upper right, D lower left and D lower right respectively, and then the final high Cheng Yi constant value D is:
d1 = (upper left+upper right D)/2;
d2 = (lower left+lower right D)/2;
D=(D1+D2)/2。
example two
Corresponding to the method of the first embodiment, as shown in fig. 2, the second embodiment discloses a system for directly obtaining normal height of the earth surface by using a GNSS receiver, which includes:
elevation anomaly mesh value implantation module 101: the method comprises the steps of implanting an elevation anomaly grid value of a certain area in a source code of a functional module of the GNSS receiver, wherein the elevation anomaly grid value comprises a geodetic coordinate and a Gao Chengyi constant value;
the positioning data receiving module 102: the positioning data are used for receiving positioning data which are acquired and processed from the inside of the GNSS receiver, and the positioning data comprise positioning three-dimensional coordinate values;
final elevation outlier acquisition module 103: the method comprises the steps of comparing three-dimensional coordinate values of points with an elevation abnormal grid value, interpolating according to positions, and obtaining a final high Cheng Yi constant value of the surface of the point to be solved;
the surface normal high value calculation module 104: and the method is used for adding the geodetic height in the observation data of the GNSS receiver and the obtained final elevation abnormal value to obtain the normal height of the point to be obtained and outputting the value of the normal height of the earth surface of the point to be obtained.
Further, in the positioning data receiving module 102, the elevation anomaly mesh value is set as follows:
dividing a provincial administrative area into a plurality of continuous large grids according to the grid definition of each width of 1 degree in the transverse direction and the longitudinal direction, wherein each large grid occupies 1 row of positions in a source code;
the first 2 numbers of the row are the geodetic coordinate values of the upper left corner of the large grid, and are expressed by longitude and latitude values of integers;
the column is set up with a constant value of 576 of Cheng Yi starting from the 3 rd digit of the row to the end of the row, these values corresponding to 576 positions, the rule for setting these positions being: from left to right, from top to bottom, the interval is 2.5 minutes, the total length to the right is 1 degree, the total length to the bottom is also 1 degree, 24 columns from left to right, and 24 rows from top to bottom;
the specific content is that the 1 st position coincides with the left upper corner of the large grid, namely the coordinate is latitude X degree, longitude Y degree, the 2 nd position translates from the left upper corner of the large grid to the right for 2.5 minutes, namely the coordinate is latitude X degree, longitude Y degree for 2.5 minutes; the 3 rd position is shifted rightwards by 2.5 minutes for the 2 nd position, namely the coordinate is latitude X degrees, longitude Y degrees is 5 minutes; and so on, 24 numerical values are counted up to the latitude of X degrees and the longitude of Y degrees of 57.5 minutes;
the position of the 25 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y, the position of the 26 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y is 2.5 minutes, the position of the 27 th numerical value corresponds to 2.5 minutes of latitude X, the longitude of Y is 5 minutes …, and the like, the position of the 48 th numerical value corresponds to 2.5 minutes of latitude X and 57.5 minutes of longitude of Y;
the position of the 49 th numerical value corresponds to 5 minutes of latitude X, the position of the longitude Y, the position of the 50 th numerical value corresponds to 5 minutes of latitude X, the position of the longitude Y is 2.5 minutes …, and the like, the position of the 72 th numerical value corresponds to 5 minutes of latitude X, and the position of the longitude Y is 57.5 minutes;
and so on, the position of 576 th value corresponds to 57.5 minutes of latitude X and 57.5 minutes of longitude Y.
Further, in the final elevation abnormal value obtaining module 103, the method for comparing the three-dimensional coordinate value of the point location with the elevation abnormal grid value specifically includes the following steps:
firstly, rounding the three-dimensional coordinate values of the point to obtain the geodetic coordinate integer value of the point, wherein the geodetic coordinate integer value cannot be carried when rounding;
comparing the rounded value with each row listed by a large grid in an elevation abnormal grid value implantation module (101), and if the 1 st numerical value and the 2 nd numerical value are the same as the 1 st numerical value and the 2 nd numerical value of a certain row, starting the comparison of the following steps;
the position of the coordinates of one point must fall in a small grid, the 4 corner points of this small grid being 2 points in two adjacent 1 rows and 2 points in the same column of the other 1 rows adjacent to this 1 row, respectively;
the longitude and latitude values of the point are used for dividing the integral part to calculate the position of the small grid, and the specific calculation method is as follows:
A＝B/ 2.5
wherein A is the number of transverse positions, B is the value of the longitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of A is the longitude position number of the upper left corner of the small grid, the rounding is not carried, and A+1 is the longitude position number of the upper right corner of the small grid;
C＝D/ 2.5
wherein C is the number of longitudinal positions, D is the value of the latitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of C is the latitude position number of the left upper corner of the small grid, the rounding is not carried, and C+1 is the longitude position number of the left lower corner of the small grid;
calculating the accurate longitude position number and latitude position number of the left upper corner of the small grid by the values of A and C, and positioning the position of the left upper corner point of the small grid; calculating the accurate longitude position number and latitude position number of the left lower corner of the small grid by using the values of A and C+1, and positioning the left lower corner point of the small grid; calculating the accurate longitude position number and latitude position number of the upper right corner of the small grid by the values of A+1 and C, and positioning the position of the upper right corner point of the small grid; calculating the accurate longitude position number and latitude position number of the right lower corner of the small grid by using the values of A+1 and C+1, and positioning the right lower corner point position of the small grid;
let the abnormal elevation values at the corresponding positions of the four corner points be D upper left, D upper right, D lower left and D lower right respectively, and then the final high Cheng Yi constant value D is:
d1 = (upper left+upper right D)/2;
d2 = (lower left+lower right D)/2;
D=(D1+D2)/2。
according to the method and the system, the elevation abnormal value is implanted into the software source code to be compiled or encrypted, the elevation abnormal value does not exist in a file form in the Internet, and the elevation abnormal value is only temporarily remained in a memory during operation, so that the situation that the high Cheng Yi constant value cannot be directly read in an instrument, the grid value cannot be calculated according to the existing data is ensured, and the confidentiality problem of confidential data is well solved.
The normal height of the point to be solved is obtained by direct observation and calculation in the instrument, and the two working procedures of the measured geodetic height and the conversion calculation in the traditional method are combined into one, so that the convenience of obtaining the normal height is greatly improved, and the working efficiency is improved.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present application, and the present application is not limited thereto, but may be modified or substituted for some of the technical features described in the foregoing embodiments by those skilled in the art, even though the present application has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. A method for directly obtaining normal height of the earth's surface by using a GNSS receiver, which is characterized by comprising the following steps:
s101: firstly, implanting an elevation abnormal grid value of a certain area into a source code of a functional module of a GNSS receiver, wherein the elevation abnormal grid value comprises a geodetic coordinate and a Gao Chengyi constant value;
s102: receiving positioning data acquired and processed from the inside of a GNSS receiver, wherein the positioning data comprises positioning three-dimensional coordinate values;
s103: comparing the three-dimensional coordinate value of the point location with the elevation abnormal grid value, interpolating according to the position, and obtaining the final high Cheng Yi constant value of the surface of the point to be solved;
s104: and adding the geodetic height in the observation data of the GNSS receiver and the obtained final elevation abnormal value to obtain the normal height of the point to be obtained, and outputting the normal high value of the earth surface of the point to be obtained.
2. The method for directly obtaining surface normal height using a GNSS receiver according to claim 1, wherein: the distance between points in the elevation anomaly mesh is 2.5 minutes.
3. The method for directly obtaining normal height of the earth' S surface using the GNSS receiver according to claim 1, wherein the method for implanting the elevation anomaly mesh value in the source code in step S101 is: the Gao Chengyi constant value of the plain code is directly listed in the code line of the source code.
4. The method of claim 1, wherein the step S101 is performed by setting the altitude anomaly grid value as follows:
dividing a provincial administrative area into a plurality of continuous large grids according to the grid definition of each width of 1 degree in the transverse direction and the longitudinal direction, wherein each large grid occupies 1 row of positions in a source code;
the first 2 numbers of the row are the geodetic coordinate values of the upper left corner of the large grid, and are expressed by longitude and latitude values of integers;
the column is set up with a constant value of 576 of Cheng Yi starting from the 3 rd digit of the row to the end of the row, these values corresponding to 576 positions, the rule for setting these positions being: from left to right, from top to bottom, the interval is 2.5 minutes, the total length to the right is 1 degree, the total length to the bottom is also 1 degree, 24 columns from left to right, and 24 rows from top to bottom;
the specific content is that the 1 st position coincides with the left upper corner of the large grid, namely the coordinate is latitude X degree and longitude Y degree, and the 2 nd position translates from the left upper corner of the large grid to the right for 2.5 minutes, namely the coordinate is latitude X degree and longitude Y degree for 2.5 minutes; the 3 rd position is shifted rightwards by 2.5 minutes for the 2 nd position, namely the coordinate is latitude X degrees, longitude Y degrees is 5 minutes; and so on, 24 numerical values are counted up to the latitude of X degrees and the longitude of Y degrees of 57.5 minutes;
and so on, the position of the 25 th numerical value corresponds to 2.5 minutes of latitude X, Y degrees of longitude, the position of the 26 th numerical value corresponds to 2.5 minutes of latitude X, Y degrees of longitude are 2.5 minutes, the position of the 27 th numerical value corresponds to 2.5 minutes of latitude X, Y degrees of longitude are 5 minutes …, and so on, the position of the 48 th numerical value corresponds to 2.5 minutes of latitude X, and Y degrees of longitude are 57.5 minutes;
and so on, the position of the 49 th numerical value corresponds to latitude X5 minutes, longitude Y degrees, the position of the 50 th numerical value corresponds to latitude X5 minutes, longitude Y2.5 minutes …, and so on, the position of the 72 th numerical value corresponds to latitude X5 minutes, longitude Y57.5 minutes;
and so on, the position of 576 th value corresponds to 57.5 minutes of latitude X and 57.5 minutes of longitude Y.
5. The method for directly obtaining the normal height of the earth surface by using the GNSS receiver according to claim 4, wherein the method for comparing the three-dimensional coordinate values of the point location with the elevation anomaly grid values in step S103 specifically comprises the following steps:
firstly, rounding the three-dimensional coordinate values of the point to obtain the geodetic coordinate integer value of the point, wherein the geodetic coordinate integer value cannot be carried when rounding;
comparing the rounded value with each row listed by the large grid in the step S101, and if the 1 st numerical value and the 2 nd numerical value are the same as the 1 st numerical value and the 2 nd numerical value of a certain row, starting the comparison in the following steps;
the position of the coordinates of one point must fall in a small grid, the 4 corner points of this small grid being 2 points in two adjacent 1 rows and 2 points in the same column of the other 1 rows adjacent to this 1 row, respectively;
the longitude and latitude values of the point are used for dividing the integral part to calculate the position of the small grid, and the specific calculation method is as follows:
A＝B/ 2.5；
wherein A is the number of transverse positions, B is the value of the longitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of A is the longitude position number of the upper left corner of the small grid, the rounding is not carried, and A+1 is the longitude position number of the upper right corner of the small grid;
C＝D/ 2.5；
wherein C is the number of longitudinal positions, D is the value of the latitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of C is the latitude position number of the left upper corner of the small grid, the rounding is not carried, and C+1 is the longitude position number of the left lower corner of the small grid;
calculating the accurate longitude position number and latitude position number of the left upper corner of the small grid by the values of A and C, and positioning the position of the left upper corner point of the small grid; calculating the accurate longitude position number and latitude position number of the left lower corner of the small grid by using the values of A and C+1, and positioning the left lower corner point of the small grid; calculating the accurate longitude position number and latitude position number of the upper right corner of the small grid by the values of A+1 and C, and positioning the position of the upper right corner point of the small grid; calculating the accurate longitude position number and latitude position number of the right lower corner of the small grid by using the values of A+1 and C+1, and positioning the right lower corner point position of the small grid;
let the abnormal elevation values at the corresponding positions of the four corner points be D upper left, D upper right, D lower left and D lower right respectively, and then the final high Cheng Yi constant value D is:
d1 = (upper left+upper right D)/2;
d2 = (lower left+lower right D)/2;
D=(D1+D2)/2。
6. a system for directly obtaining normal elevation of the earth's surface using a GNSS receiver, comprising:
elevation anomaly mesh value implantation module (101): the method comprises the steps of implanting an elevation anomaly grid value of a certain area in a source code of a functional module of the GNSS receiver, wherein the elevation anomaly grid value comprises a geodetic coordinate and a Gao Chengyi constant value;
positioning data receiving module (102): the positioning data are used for receiving positioning data which are acquired and processed from the inside of the GNSS receiver, and the positioning data comprise positioning three-dimensional coordinate values;
a final elevation outlier acquisition module (103): the method comprises the steps of comparing three-dimensional coordinate values of points with an elevation abnormal grid value, interpolating according to positions, and obtaining a final high Cheng Yi constant value of the surface of the point to be solved;
surface normal high value calculation module (104): and the method is used for adding the geodetic height in the observation data of the GNSS receiver and the obtained final elevation abnormal value to obtain the normal height of the point to be obtained and outputting the value of the normal height of the earth surface of the point to be obtained.
7. The system for directly obtaining surface normal height using a GNSS receiver according to claim 6, wherein: the distance between points in the elevation anomaly mesh is 2.5 minutes.
8. The system for directly obtaining normal height of the earth surface using a GNSS receiver according to claim 6, wherein the method for implanting the elevation anomaly mesh value in the source code is as follows: the Gao Chengyi constant value of the plain code is directly listed in the code line of the source code.
9. The system for directly obtaining normal height of the earth's surface using a GNSS receiver according to claim 6, wherein in the positioning data receiving module (102), the elevation anomaly mesh value is set as follows:
dividing a provincial administrative area into a plurality of continuous large grids according to the grid definition of each width of 1 degree in the transverse direction and the longitudinal direction, wherein each large grid occupies 1 row of positions in a source code;
the first 2 numbers of the row are the geodetic coordinate values of the upper left corner of the large grid, and are expressed by longitude and latitude values of integers;
the column is set up with a constant value of 576 of Cheng Yi starting from the 3 rd digit of the row to the end of the row, these values corresponding to 576 positions, the rule for setting these positions being: from left to right, from top to bottom, the interval is 2.5 minutes, the total length to the right is 1 degree, the total length to the bottom is also 1 degree, 24 columns from left to right, and 24 rows from top to bottom;
the specific content is that the 1 st position coincides with the left upper corner of the large grid, namely the coordinate is latitude X degree, longitude Y degree, the 2 nd position translates from the left upper corner of the large grid to the right for 2.5 minutes, namely the coordinate is latitude X degree, longitude Y degree for 2.5 minutes; the 3 rd position is shifted rightwards by 2.5 minutes for the 2 nd position, namely the coordinate is latitude X degrees, longitude Y degrees is 5 minutes; and so on, 24 numerical values are counted up to the latitude of X degrees and the longitude of Y degrees of 57.5 minutes;
and so on, the position of the 25 th numerical value corresponds to 2.5 minutes of latitude X, Y degrees of longitude, the position of the 26 th numerical value corresponds to 2.5 minutes of latitude X, Y degrees of longitude are 2.5 minutes, the position of the 27 th numerical value corresponds to 2.5 minutes of latitude X, Y degrees of longitude are 5 minutes …, and so on, the position of the 48 th numerical value corresponds to 2.5 minutes of latitude X, and Y degrees of longitude are 57.5 minutes;
and so on, the position of the 49 th numerical value corresponds to latitude X5 minutes, longitude Y degrees, the position of the 50 th numerical value corresponds to latitude X5 minutes, longitude Y2.5 minutes …, and so on, the position of the 72 th numerical value corresponds to latitude X5 minutes, longitude Y57.5 minutes;
and so on, the position of 576 th value corresponds to 57.5 minutes of latitude X and 57.5 minutes of longitude Y.
10. The system for directly obtaining the normal height of the earth surface by using the GNSS receiver according to claim 9, wherein the method for comparing the three-dimensional coordinate value of the point location with the elevation anomaly grid value in the final elevation anomaly value obtaining module (103) specifically comprises the following steps:
firstly, rounding the three-dimensional coordinate values of the point to obtain the geodetic coordinate integer value of the point, wherein the geodetic coordinate integer value cannot be carried when rounding;
comparing the rounded value with each row listed by a large grid in an elevation abnormal grid value implantation module (101), and if the 1 st numerical value and the 2 nd numerical value are the same as the 1 st numerical value and the 2 nd numerical value of a certain row, starting the comparison of the following steps;
the position of the coordinates of one point must fall in a small grid, the 4 corner points of this small grid being 2 points in two adjacent 1 rows and 2 points in the same column of the other 1 rows adjacent to this 1 row, respectively;
the longitude and latitude values of the point are used for dividing the integral part to calculate the position of the small grid, and the specific calculation method is as follows:
A＝B/ 2.5；
wherein A is the number of transverse positions, B is the value of the longitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of A is the longitude position number of the upper left corner of the small grid, the rounding is not carried, and A+1 is the longitude position number of the upper right corner of the small grid;
C＝D/ 2.5；
wherein C is the number of longitudinal positions, D is the value of the latitude value of the point after the degree is removed, and the value is expressed by a score; the rounding value of C is the latitude position number of the left upper corner of the small grid, the rounding is not carried, and C+1 is the longitude position number of the left lower corner of the small grid;
calculating the accurate longitude position number and latitude position number of the left upper corner of the small grid by the values of A and C, and positioning the position of the left upper corner point of the small grid; calculating the accurate longitude position number and latitude position number of the left lower corner of the small grid by using the values of A and C+1, and positioning the left lower corner point of the small grid; calculating the accurate longitude position number and latitude position number of the upper right corner of the small grid by the values of A+1 and C, and positioning the position of the upper right corner point of the small grid; calculating the accurate longitude position number and latitude position number of the right lower corner of the small grid by using the values of A+1 and C+1, and positioning the right lower corner point position of the small grid;
let the abnormal elevation values at the corresponding positions of the four corner points be D upper left, D upper right, D lower left and D lower right respectively, and then the final high Cheng Yi constant value D is:
d1 = (upper left+upper right D)/2;
d2 = (lower left+lower right D)/2;
D=(D1+D2)/2。
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