CN116908897A - RTK signal broadcasting system and method for electric power inspection tower - Google Patents

RTK signal broadcasting system and method for electric power inspection tower Download PDF

Info

Publication number
CN116908897A
CN116908897A CN202310751644.3A CN202310751644A CN116908897A CN 116908897 A CN116908897 A CN 116908897A CN 202310751644 A CN202310751644 A CN 202310751644A CN 116908897 A CN116908897 A CN 116908897A
Authority
CN
China
Prior art keywords
rtk
tower
server
radio station
network client
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310751644.3A
Other languages
Chinese (zh)
Inventor
吴新桥
覃平
陈远
刘岚
张宸瑞
詹谭博驰
董永明
黄林超
周雨迪
张可颖
沈家旭
金石
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Southern Power Grid Digital Grid Technology Guangdong Co ltd
Original Assignee
China Southern Power Grid Digital Grid Technology Guangdong Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Southern Power Grid Digital Grid Technology Guangdong Co ltd filed Critical China Southern Power Grid Digital Grid Technology Guangdong Co ltd
Priority to CN202310751644.3A priority Critical patent/CN116908897A/en
Publication of CN116908897A publication Critical patent/CN116908897A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/072—Ionosphere corrections
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B3/00—Line transmission systems
    • H04B3/54—Systems for transmission via power distribution lines

Abstract

The invention relates to a tower Beidou RTK positioning system, which comprises an RTK server (1), a communication line (3), a network client (2) and a radio station (5), wherein the RTK server (1) is used for providing RTK differential telegraph text; the communication line (3) is arranged between the towers and is used for transmitting RTK messages between the RTK server (1) and the network client (2); the network client (2) and the radio station (5) are arranged on the electric tower, the network client (2) is connected with the communication line (3) and is used for receiving RTK messages sent by the RTK server (1) and transmitting the RTK messages to the radio station (5), and the radio station (5) broadcasts the RTK messages in a radio mode for being received by a receiver. The invention gets rid of the dependence of the RTK server (1) on the mobile internet, reduces the calculated amount of the RTK server, and has no loss of positioning precision. The invention also discloses a broadcasting method of the RTK signal broadcasting system of the power inspection tower.

Description

RTK signal broadcasting system and method for electric power inspection tower
Technical Field
The invention relates to a Beidou RTK positioning system of an electric tower, and also relates to a broadcasting method of the RTK signal broadcasting system of the electric power inspection electric tower. It is used to provide RTK (Real-time kinematic) differential signals for GNSS (Global navigation satellite System) devices in the vicinity of the towers.
Background
In power inspection, global satellite navigation systems (GNSS) are widely used for positioning, wherein carrier phase real-time dynamic differential positioning (RTK) with centimeter-level accuracy is most widely applied. A network RTK method based on a continuous operation reference station system (CORS) is generally adopted, and this mode requires two-way communication between an rover receiver and a server, and networking is performed by using a mobile internet mode, where the rover receiver sends a connection request to the RTK server, and the RTK server regenerates a corresponding RTK message and sends the corresponding RTK message to the rover receiver through the mobile internet.
If the wireless network signal is absent locally, the network RTK cannot be performed, but only a meter-level precision single-point positioning mode can be adopted, and when the power inspection is performed in the mountain gorge valley area, the wireless signal is basically absent, so that the inspection in the area cannot be performed. In addition, if there are a large number of rover receivers in the same area that are simultaneously in two-way communication with the RTK server, the computational burden on the server is exacerbated by the fact that the RTK server is to calculate a virtual observer for each rover receiver.
Therefore, it is an urgent and important task to develop an RTK signal broadcasting system for a power inspection tower, which can use wired network signals and has less calculation amount.
Disclosure of Invention
The first object of the present invention is to overcome the above-mentioned shortcomings in the prior art, and to provide a tower Beidou RTK positioning system, so as to realize high-precision RTK positioning under the condition of no network. The second object of the invention relates to a broadcasting method of the electric power inspection tower RTK signal broadcasting system.
In order to achieve the above object, the first object of the present invention adopts the following technical scheme: a tower big dipper RTK positioning system, its characterized in that: the system comprises an RTK server, a communication line, a network client and a radio station, wherein the RTK server is used for providing RTK differential messages; the communication circuit is arranged between the towers and used for transmitting RTK messages between the RTK server and the network client; the network client and the radio station are arranged on the electric tower, the network client is connected with the communication line and is used for receiving RTK messages sent by the RTK server and transmitting the RTK messages to the radio station, and the radio station broadcasts the RTK messages in a radio mode for being received by a receiver.
In the above technical scheme, the network clients and the radio stations form a combination body in one-to-one correspondence, the number of the combination body is calculated as [ M/N ], wherein [ ] represents rounding, M is the distance from a start tower to a final tower, and N is the signal coverage of a single radio station.
In the above technical solution, the radio station adopts a frequency hopping radio station. The frequency hopping radio station can circularly transmit on a plurality of transmitting frequency points, thereby being compatible with mobile station receivers of receiving radio stations with different frequency points
In the above technical solution, the communication line adopts a power carrier mode. The power carrier mode can be adopted to transmit signals and can also provide power for the radio station.
The following technical scheme is adopted for realizing the second purpose of the invention: a play method of a tower Beidou RTK positioning system is characterized by comprising the following steps of: the method comprises the following steps:
(1) The network client sends the unique identification ID to the RTK server through a communication line;
(2) The RTK server searches out the outline space coordinates of the network client according to the identification ID of the network client, and generates an RTK message according to the coordinates, wherein the RTK message comprises the coordinates and a virtual observation value;
(3) The RTK server sends the RTK message to the network client through a communication line;
(4) The network client forwards the received RTK message to the radio station;
(5) The station broadcasts the RTK message.
In the above technical solution, in step 2, the message includes the coordinates and the virtual observation value.
In the above technical solution, in step 2, the message includes an orbit error of the visible satellite at the position corresponding to the coordinate, a satellite clock error, a troposphere zenith delay, and an ionosphere zenith delay.
The invention has the following advantages: (1) The prior art requires that the rover receiver establishes a network connection with the RTK server; in the technical scheme of the invention, the mobile station receiver only needs to receive the RTK message, and the dependence of the RTK on the mobile internet is eliminated.
(2) The prior art requires the mobile station receiver to send the outline coordinates to the RTK server, but in the technical scheme of the invention, the network client only needs to send the unique identification ID of the network client to the RTK server, so that the data transmission quantity can be reduced.
(3) The prior art RTK computes a respective virtual observation for each of the rover receivers even if the rover receivers are very close to each other (e.g., within 5 km), which would burden the operation of the RTK server; in the technical scheme of the invention, a plurality of mobile station receivers near the same radio station share the same network client, so that the calculation amount of the RTK server can be greatly reduced, and the positioning precision is not lost, thereby improving the positioning precision.
Drawings
Fig. 1 is a block diagram of an RTK signal broadcasting system of a power inspection tower according to the present invention.
Fig. 2 is a schematic structural diagram of an embodiment of an RTK signal broadcasting system for an electric power inspection tower according to the present invention.
In the figure, the rtk server, 2, network client, 2.1, first network client, 2.2, second network client, 3, communication line, 4, receiver, 41, first mobile station receiver, 42, second rover receiver, 5, 5.1, first, 5.2, second, 11, first, 12, second, 13, third.
Detailed Description
The following detailed description of the invention is, therefore, not to be taken in a limiting sense, but is made merely by way of example. While at the same time becoming clearer and more readily understood by way of illustration of the advantages of the present invention.
As can be seen with reference to the accompanying drawings: the first object of the invention is a tower Beidou RTK positioning system, which is characterized in that: the RTK server 1 is used for providing RTK differential telegraph text; the communication line 3 is erected between the towers and is used for transmitting RTK messages between the RTK server 1 and the network client 2; the network client 2 and the radio station 5 are arranged on the electric tower, the network client 2 is connected with the communication line 3 and is used for receiving RTK messages sent by the RTK server 1 and transmitting the RTK messages to the radio station 5, and the radio station 5 broadcasts the RTK messages in a radio mode for being received by a receiver.
The network client 2 and the radio stations 5 are in one-to-one correspondence to form a combination body, the number of the combination body is calculated as [ M/N ], wherein [ ] represents rounding, M is the distance from a start electric tower to an end electric tower, and N is the signal coverage range of a single radio station.
The station 5 employs a frequency hopping station. The frequency hopping radio station can circularly transmit on a plurality of transmitting frequency points, thereby being compatible with mobile station receivers of receiving radio stations with different frequency points
The communication line adopts a power carrier mode. The power carrier mode can be adopted to transmit signals and can also provide power for the radio station.
The following technical scheme is adopted for realizing the second purpose of the invention: a play method of a tower Beidou RTK positioning system is characterized by comprising the following steps of: the method comprises the following steps:
(1) The network client 2 sends a unique identification ID thereof to the RTK server 1 through a communication line 3;
(2) The RTK server 1 searches the outline space coordinate from the database according to the identification ID of the network client 2, and generates an RTK message according to the coordinate, wherein the RTK message comprises the coordinate and a virtual observation value;
(3) The RTK server 1 sends RTK message to the network client 2 through the communication line 3;
(4) The network client 2 forwards the received RTK message to the radio station 5;
(5) Station 5 broadcasts an RTK message.
In step 2, the message includes the coordinates and the virtual observation value.
In the above technical solution, in step 2, the message includes an orbit error of the visible satellite at the position corresponding to the coordinate, a satellite clock error, a troposphere zenith delay, and an ionosphere zenith delay.
Fig. 1 schematically shows a system configuration comprising an RTK server 1 and a plurality of network clients 2, stations 5, each network client 2 having a unique ID and being connected to the RTK server 2 via a communication line 3. The coordinates corresponding to the ID of each network client 2 are determined according to the installation position, and the method of single-point positioning, satellite map measurement and the like can be adopted, so that the accuracy is better than 200 m; the correspondence between the ID and the coordinates of the network client is stored in the database of the RTK server 1, and can be adjusted if a change occurs.
Fig. 2 shows an example of field installation and use. A set of network clients 2 and a radio station 5 (not shown in the drawing) are installed on the second electric tower 12, and as the coverage range of the radio station 5 can reach several kilometers, the radio station 5 does not need to be installed on the first electric tower 11 and the third electric tower 13 adjacent to the electric tower 12, and the communication line 3 is erected on the top of the second electric tower 12. The network client 2 sends the ID of the network client 2 to the RTK server 1 through the communication line 3 once every 10 minutes, the RTK server 1 searches the coordinates of the network client 2 in the database after receiving the ID, and accordingly generates a corresponding RTK message, wherein the message contains the coordinates and the virtual observation value, and the RTK message is sent to the network client 2 through the communication line 3; after receiving the information, the network client 2 forwards the information to the radio station 5 in real time, and the radio station 5 broadcasts the information; a first rover receiver 41 and a second rover receiver 42 operating near the second electric tower 12 receive the RTK messages and perform RTK positioning by the receiver's receiving stations.
In the prior art, the first rover receiver 41 and the second rover receiver 42 need to establish a two-way network connection with the RTK server 1 and send the respective general coordinates to the RTK server 1, and the RTK server 1 generates RTK messages for the first rover receiver 41 and the second rover receiver 42, respectively. Obviously, the prior art not only requires that the rover receivers have a clear network connection, but the computational burden on the server will become increasingly heavy as the number of rover receivers increases. The technical scheme of the invention can effectively overcome the defects in the prior art.
Other parts not described in detail are prior art.

Claims (7)

1. A tower big dipper RTK positioning system, its characterized in that: the system comprises an RTK server (1), a communication line (3), a network client (2) and a radio station (5), wherein the RTK server (1) is used for providing RTK differential messages; the communication line (3) is arranged between the towers and is used for transmitting RTK messages between the RTK server (1) and the network client (2); the network client (2) and the radio station (5) are arranged on the electric tower, the network client (2) is connected with the communication line (3) and is used for receiving RTK messages sent by the RTK server (1) and transmitting the RTK messages to the radio station (5), and the radio station (5) broadcasts the RTK messages in a radio mode for being received by a receiver.
2. The tower beidou RTK positioning system of claim 1, wherein: the network clients (2) and the radio stations (5) are in one-to-one correspondence to form a combination body, the number of the combination body is calculated as [ M/N ], wherein [ ] represents rounding, M is the distance from a starting tower to a final tower, and N is the signal coverage range of a single radio station.
3. A tower beidou RTK positioning system according to any of the claims 1-2, characterized in that: the radio station (5) adopts a frequency hopping radio station.
4. A tower beidou RTK positioning system according to any of the claims 1-2, characterized in that: the communication line adopts a power carrier mode.
5. A play method of a tower Beidou RTK positioning system is characterized by comprising the following steps of: the method comprises the following steps:
step 1, a network client (2) sends a unique identification ID thereof to an RTK server (1) through a communication line (3);
step 2, the RTK server (1) searches out the outline space coordinates of the RTK server from the database according to the identification ID of the network client (2), and generates an RTK text according to the coordinates;
step 3, the RTK server (1) sends RTK message to the network client (2) through the communication line (3);
step 4, the network client (2) forwards the received RTK message to the radio station (5);
and 5, broadcasting RTK messages by the radio station (5).
6. The method for playing the tower Beidou RTK positioning system according to claim 5, wherein the method comprises the following steps: in step 2, the message includes the coordinates and the virtual observations.
7. The method for playing the tower Beidou RTK positioning system according to claim 5, wherein the method comprises the following steps: in step 2, the message includes the orbit error of the visible satellite at the position corresponding to the coordinate, the satellite clock error, the troposphere zenith delay and the ionosphere zenith delay.
CN202310751644.3A 2023-06-25 2023-06-25 RTK signal broadcasting system and method for electric power inspection tower Pending CN116908897A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310751644.3A CN116908897A (en) 2023-06-25 2023-06-25 RTK signal broadcasting system and method for electric power inspection tower

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310751644.3A CN116908897A (en) 2023-06-25 2023-06-25 RTK signal broadcasting system and method for electric power inspection tower

Publications (1)

Publication Number Publication Date
CN116908897A true CN116908897A (en) 2023-10-20

Family

ID=88355449

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310751644.3A Pending CN116908897A (en) 2023-06-25 2023-06-25 RTK signal broadcasting system and method for electric power inspection tower

Country Status (1)

Country Link
CN (1) CN116908897A (en)

Similar Documents

Publication Publication Date Title
CN100549721C (en) Global position system is utilized the method and system of elevation information
US7296046B2 (en) Mobile terminal provided with positioning system and method of positioning
US20120191340A1 (en) Navigation systems
CN102202392B (en) Auxiliary global positioning system (GPS)
US10838069B2 (en) Method to increase positioning accuracy of global navigation satellite systems by integration of correction service with a mobile communication network
CN111736192B (en) Satellite differential positioning system and method for train operation control
US11906638B2 (en) High-accuracy satellite positioning method, positioning terminal, and positioning system
US7804447B2 (en) Method for determining positions of contacts
CN114442128B (en) Wide-area high-precision positioning system and method based on integration of heaven and earth
CN110133687A (en) A kind of system and method for novel regular bus positioning
KR20170136978A (en) Method, road side unit and policy server for generating error correction data for v2x based vehicle satellite navigation signal
US10156639B2 (en) Combined use of different satellite navigation systems
JP6193290B2 (en) Positioning system and positioning method
CN112051597A (en) Precise single-point positioning method and device
CN105182393A (en) Realization method based on Beidou satellite positioning technology and internet-of-vehicles technology
CN104536023A (en) Non-delayed sub-meter differential positioning method of high and low frequency error shunting prediction
CN116908897A (en) RTK signal broadcasting system and method for electric power inspection tower
CN114994723B (en) High-precision positioning method based on star-based enhancement system and storage medium
CN103458368A (en) System and method for inquiring multiple landmarks on basis of intelligent mobile terminal
CN110673184A (en) High-precision positioning system and method based on vehicle
CN213069196U (en) Precise single-point positioning device
CN101568179A (en) Method and system for assisting satellite in positioning, server terminal and mobile station
US20230280470A1 (en) Rtk group positioning using a temporary base terminal device
CN220693146U (en) Wireless module system based on GPS positioning
CN115632700B (en) Topology drawing method and system combining Beidou navigation with air base station

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination