CN117420571A - Far coast static and dynamic reference station networking positioning method and system based on floating platform - Google Patents
Far coast static and dynamic reference station networking positioning method and system based on floating platform Download PDFInfo
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- 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
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- 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
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- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
The invention provides a floating platform-based networking positioning method and system for a static and dynamic reference station of an open sea shore, which comprises the steps of setting a general dynamic reference station on the basis of a buoy platform; acquiring the position coordinates of an offshore dynamic reference station and uploading the position coordinates to a cloud server; uploading coastal static reference station information to a cloud server, and constructing a static and dynamic reference station network database together with the offshore dynamic reference station; for ocean precision engineering users, obtaining the outline coordinates of the corresponding user stations, uploading the outline coordinates to a cloud server, and requesting high-precision enhanced positioning service; searching a static and dynamic reference station network subset which is formed into the ocean precise engineering user positioning service in a static and dynamic reference station network database by combining the rough coordinates of the user stations; and developing a static and dynamic base station network combined precision positioning service according to the distribution condition of the subset, wherein when the type of the reference station is inquired to be an offshore dynamic reference station, coordinate parameter calculation and constraint for the dynamic reference station are carried out.
Description
Technical Field
The invention relates to the field of GNSS (Global Navigation Satellite System) -based high-precision data processing service, in particular to a technical scheme for realizing networking positioning service of static and dynamic reference stations by establishing the dynamic reference stations based on sea floating platforms such as buoys and the like in order to meet centimeter-level positioning requirements of offshore precision engineering measurement.
Background
At present, china advocates the promotion of the development of ocean infrastructures such as ocean pastures, ocean wind power plants, cross-sea bridge tunnels and the like, the development of the offshore station from the offshore shore to the far coast, the development of shallow water deep to large water depth and the development of underwater someone to few people is gradually promoted, new trends bring new challenges, and the breakthrough of high-precision positioning of the far coast satellites is needed.
RTK (Real-time Kinematic) and PPP (Precise Point Positioning) are current Beidou/GNSS high-precision satellite navigation representative technologies. Based on PPP technology, commercial companies currently realize centimeter-level positioning of users in the global scope by fusing Beidou, GPS and Galileo multi-system data. However, in the open sea shore precision engineering measurement, the positioning performance of the method has the problems of unreliable precision, frequent reconvergence and the like in a complex sea/steam environment. RTK technology benefits from advantages such as its positioning accuracy is excellent, convergence rate is fast, reliability is strong, has been widely used in ocean precision engineering measurement etc. at present, however its service range is generally not more than 20 km. In open sea shore engineering operations based on RTK technology, it is also often necessary to erect static reference stations offshore by piling or the like to meet the reference station distance requirements in RTK differential enhancement. Along with the development of ocean engineering from offshore to open sea and shallow water to deep water, the construction difficulty of the offshore static reference station is increased continuously, and the construction cost is increased continuously. In addition, even the offshore reference station established by adopting a high-cost piling mode inevitably has obvious swing deformation and the like under the condition of the large water depth of the offshore shore, so that the 'dynamic property' of the large water depth reference station of the offshore shore must be considered, which is a technical problem to be solved currently.
Disclosure of Invention
Aiming at the problems that the coast reference station differential enhancement service coverage is limited, the construction cost of the coastal static reference station is high, swing deformation and the like are unavoidable, and the offshore dynamic reference station is difficult to apply to the offshore high-precision positioning service, the offshore dynamic reference station is constructed by combining an offshore existing buoy platform and the like, and the offshore high-precision positioning service is realized by networking with the coastal static reference station.
In order to achieve the aim, the invention provides a floating platform-based networking positioning method for a static and dynamic reference station of the open sea shore, which comprises the following processes,
on the basis of a buoy platform, a general marine dynamic reference station is arranged;
acquiring the position coordinates of the offshore dynamic reference station, and uploading the coordinates and related equipment information to a cloud server;
uploading the coastal static reference station position coordinates and related equipment information to a cloud server, and constructing a static and dynamic reference station network database facing the ocean engineering measurement positioning service together with an offshore dynamic reference station;
for ocean precision engineering users, obtaining the outline coordinates of corresponding user stationsUploading the information to a cloud server, and requesting high-precision enhanced positioning service;
the cloud server is aimed at a high-precision enhanced positioning service request of a marine precision engineering user, and combines the outline coordinates of a user stationSearching a corresponding coastal static reference station and an offshore dynamic reference station in a static and dynamic reference station network database to form a static and dynamic reference station network subset serving the ocean precision engineering user positioning service;
and developing the static and dynamic base station network combined precision positioning service based on the non-differential PPP-RTK or the non-differential network RTK according to the distribution condition of the obtained static and dynamic base station network subsets, wherein when the type of the reference station is inquired to be an offshore dynamic reference station, the coordinates of the reference station are taken as parameters, the parameters are uniformly estimated with the regional error parameters, and the coordinate parameter calculation and constraint for the dynamic reference station are carried out.
And alsoEach record in the static and dynamic reference station network databaseComprises the reference station->Sequence number->The method comprises the steps of carrying out a first treatment on the surface of the Reference station type->Is a static or dynamic station; />The reference station coordinate is an accurate coordinate when the reference station is an coastal static reference station, and is an initial coordinate when the reference station is an offshore dynamic reference station; />The method comprises the steps of (1) obtaining station measurement equipment detail information; />Information is accessed for the reference station.
Moreover, the offshore dynamic reference station position coordinates are obtained through standard positioning SPP.
Moreover, for ocean precision engineering users, the rough coordinates of the corresponding user stations are obtained through standard positioning SPP。
And set to findTracking station->The static and dynamic reference station network subset of the ocean precision engineering user positioning service is formed>；
When the static and dynamic base station network subset is widely distributed, the following steps are carried out,
a: based on static-dynamic reference station network subsetsAccess information of each reference station>Receiving real-time observation data of each station in real time, and simultaneously acquiring real-time orbit clock difference product from a network or a satellite>Wherein->For satellite->Track parameters (I)>For satellite->A clock difference parameter;
b: query subsetReference station type->In the case of a static station, the corresponding known coordinates are obtained directly +.>The method comprises the steps of carrying out a first treatment on the surface of the In the case of a dynamic station, in coordinates +.>For initial value, combine real-time track clock error product +.>Obtaining accurate coordinates by PPP mode and updating +.>；
C: product combining real-time track clock errorConstraint subset->Reference station coordinates->Solving the regional error parameter by adopting a network solution model>Wherein->For tropospheric delay correction value, +.>For ionospheric delay correction in the line of sight direction, < >>For satellite->Frequency->Phase deviation correction value on the phase, thereby forming a PPP-RTK-based state domain enhancement product +.>
When the network solution model is adopted for resolving, the reference station type is inquiredWhen the station is a dynamic station, the coordinates are taken as parameters, and the parameters are uniformly estimated with the regional error parameters; in addition, a PPP mode is adopted for the track clock error product, and a baseline resolving continuous processing mode for the additional double-difference ambiguity closure error test is adopted to obtain a unique informationThe vertical coordinate parameters are brought into a network solution model;
d: the real-time receiving enhancement product of the ocean precision engineering userAnd observe data by a reference station mounted on the engineering work carrier>Based on the method, the PPP-RTK algorithm is adopted to realize the centimeter-level precise positioning of the user;
when the static and dynamic base station network subsets are distributed over a local area, the following steps are performed,
a: based on static-dynamic reference station network subsetsAccess information of each reference station>Receiving real-time observation data of each station in real time;
b: query subsetReference station type->In the case of a static station, the corresponding known coordinates are obtained directly +.>The method comprises the steps of carrying out a first treatment on the surface of the In the case of a dynamic station, in coordinates +.>For initial value, combine real-time track clock error product +.>Obtaining its precise coordinates by PPP mode and updating +.>；
C: constraint subsetReference station coordinates->Resolving regional errors by adopting a non-differential network RTK mode, and generating user station approximate coordinates of carriers such as the ocean precise engineering workboat and the like>Virtual observations at +.>；
When the non-difference network RTK mode is adopted for resolving, when the reference station type is inquiredWhen the station is a dynamic station, the coordinates of the station are required to be used as parameters and are uniformly estimated with the regional error parameters; in addition, a PPP mode is adopted for the track clock error product, and a baseline solution continuous processing mode for the additional double-difference ambiguity closed difference test is adopted, so that independent coordinate parameters are obtained and brought into a non-difference network RTK model;
d: the ocean precision engineering user receives the virtual observation value in real timeAnd observe data by a reference station mounted on the engineering work carrier>Based on the method, the RTK algorithm is adopted to realize centimeter-level precise positioning of the user.
And, when the reference station type is queriedWhen the method is a dynamic station, the coordinate parameter calculation and constraint method for the dynamic reference station is realized as follows,
for types in static and dynamic reference station network subsetsFor dynamic stationsThe cloud server receives the real-time track clock error and the reference station observation data stream simultaneously, and obtains the accurate coordinate +_of the dynamic reference station by resolving in a PPP mode>The method comprises the steps of carrying out a first treatment on the surface of the The accurate sitting mark of the reference station in the static and dynamic reference station net subset is +.>The coordinates are called first accurate coordinates of the reference station subset;
forming a Dirony triangle network according to the distribution of the static and dynamic reference station network subsets, and resolving each observation value by adopting a baseline processing mode;
further carrying out constraint on coordinate parameters by taking the first accurate coordinates of each reference station, then resolving to obtain a dual-mode ambiguity estimation value, and adopting an ambiguity fixing algorithm;
and checking the reliability of the ambiguity fixed solution, reliably fixing the ambiguity after checking, obtaining the coordinate fixed solution of each reference station with the additional ambiguity double-difference constraint, namely the coordinate is called as a second accurate coordinate of the reference station subset, and performing constraint fixation in the network solution as a known coordinate to change the static and dynamic reference station network into a static reference station network.
On the other hand, the invention also provides a floating platform-based open sea shore static and dynamic reference station networking positioning system, which is used for realizing the floating platform-based open sea shore static and dynamic reference station networking positioning method.
Moreover, the method comprises a processor and a memory, wherein the memory is used for storing program instructions, and the processor is used for calling the stored instructions in the memory to execute the method for networking and positioning the offshore static and dynamic reference station based on the floating platform.
Or comprises a readable storage medium, wherein the readable storage medium is stored with a computer program, and the computer program realizes the open sea shore static and dynamic reference station networking positioning method based on the floating platform when being executed.
Compared with the prior art, the invention has the following characteristics:
1) Providing that on the existing buoy platform, installing Beidou/GNSS antenna, receiver equipment and the like to form a universal marine dynamic reference station, combining a coast static reference station network, transmitting reference station information to a cloud server, and constructing a static and dynamic reference station network database facing marine engineering measurement positioning serviceResponding to the high-precision positioning service request in the marine precision engineering positioning application.
2) Compared with the existing non-poor PPP-RTK or network RTK resolving service based on the static reference station network, the method for networking the static and dynamic reference stations is provided, and the problem of construction cost caused by constructing the static reference stations by adopting a sea surface piling method in the common coast high-precision positioning service is avoided. In addition, in order to reduce the influence of the position uncertainty of the dynamic reference station on the calculation of the error model under the condition of large water depth of the far coast, a dynamic reference station position constraint technology is provided.
The scheme of the invention is simple and convenient to implement, has strong practicability, solves the problems of low practicability and inconvenient practical application existing in the related technology, can improve user experience, and has important market value.
Drawings
FIG. 1 is a schematic diagram of an overall implementation of an embodiment of the present invention;
FIG. 2 is a diagram of a subset of ocean precision engineering users and reference stations according to an embodiment of the present invention;
FIG. 3 is a timing diagram of real-time dynamic precision positioning errors of a station measured 50 km from a reference station in accordance with an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is specifically described below with reference to the accompanying drawings and examples.
Referring to fig. 1, the embodiment of the invention provides a floating platform-based offshore satellite high-precision positioning service technology, which comprises the following processing flows:
step 1: and (5) taking an offshore buoy and the like as a basic platform, installing a Beidou/GNSS receiver and the like, and establishing an offshore dynamic reference station.
In the implementation process, the Beidou/GNSS antenna, the receiver equipment and the like can be installed on the existing buoy platform to form a universal marine dynamic reference station.
Step 2: the offshore dynamic reference station coordinates are obtained through standard positioning SPP (Standard Point Positioning), and information of the coordinates, an antenna, a receiver and the like is uploaded to a certain cloud server, wherein the information comprises but is not limited to equipment model, antenna phase center correction information and the like. It should be noted that, in implementation, the server may be an intranet or private cloud server, and only provides access rights for the engineering project team.
Uploading information such as coastal static reference station positions, antennas, receivers and the like to the cloud server, and constructing a static and dynamic reference station network database facing ocean engineering measurement positioning service together with an offshore dynamic reference station, wherein each recordComprises the reference station->Sequence number->The method comprises the steps of carrying out a first treatment on the surface of the Reference station type->Is a static or dynamic station (i.e., is a coastal static reference station or an upper dynamic reference station); />The reference station coordinate is an accurate coordinate when the reference station is an coastal static reference station, and is an initial coordinate when the reference station is an offshore dynamic reference station; />The information is detailed information such as station measurement equipment; />Accessing information for the reference station, including but not limited to NTRIP, TCP/IP, etc. commonly used for GNSS real-time data streamsBroadcast and receive protocol formats, etc.
In an embodiment, a static reference station/a dynamic reference stationSequence number->Reference station type->The reference station coordinates->Station equipment detail information->Reference station access information->Uploading the data to a cloud server to construct a static and dynamic reference station database. Wherein the static station coordinate information can be obtained by long-term continuous observation solution. For dynamic stations, set user observations as
In the method, in the process of the invention,、/>respectively the frequencyfUpper satellitesTo a receiverrTaking into account the pseudo-range and phase observation values after errors such as antenna phase center, relativistic effects, earth rotation, tides, phase winding and the like; />Is a satellitesTo a receiverrIs the satellite positionA function of receiver position; />For receiversrReceiver clock error parameters corresponding to the GNSS system; />Clock error parameters for the satellite receiver; />For measuring station zenith troposphere delay, < >>A projection function of a path from zenith to inclined of the troposphere; />For zenith ionospheric delay at single layer ionosphere model puncture point, +.>A projection function for the path from zenith to skew of the ionosphere; />The pseudo-range deviation is satellite end pseudo-range deviation; />Pseudo-range deviation for the receiver end; />Is an integer ambiguity parameter, ++>The phase deviation is the satellite end phase deviation; />For the phase offset at the receiver side,/>For frequency->Corresponding carrier waveLong. By the formula (1), combining with broadcast ephemeris, the dynamic station outline coordinates can be obtained through standard positioning SPP.
Step 3: in order to obtain a high-precision position, a marine precision engineering user establishes a Beidou/GNSS receiver on carriers such as a working ship and the like, and obtains an observation value in real timeSimilarly, the subscriber station profile coordinates +.>. And the ocean precision engineering user sends the coordinates and the high-precision enhanced positioning request to a cloud server.
In the implementation, the rough coordinates of the Beidou/GNSS subscriber station built on carriers such as engineering workboats are applied to the positioning of a certain marine precise engineeringAnd (which may be obtained by SPP resolution) to the cloud server and request high-precision enhanced location services. It is noted that, in contrast to the aforementioned dynamic reference stations, the Beidou/GNSS reference station carried by the workboat only works during its engineering working period, and therefore generally does not have the condition of participating in the service product resolution. But one possible case is: the engineering duration is long enough, the working platform is stable enough, and the Beidou/GNSS reference station built on carriers such as the working ship can be used as a mobile station to acquire positioning service and can be used as a dynamic reference station to provide for other marine precise engineering positioning applications.
Step 4: the cloud server is aimed at ocean precise engineering high-precision enhanced positioning service request, and combines with the rough coordinates of the subscriber stationSearching a coastal static reference station and an offshore dynamic reference station of a corresponding sea area in a static and dynamic reference station network database, and constructing a static and dynamic reference station network subset of the ocean precision engineering user positioning service>。
In an embodiment, a cloud server receives a high-precision positioning service request of a marine precision engineering user, and the high-precision positioning service request is based on rough coordinates of a user stationIn the reference station database->The search distance is smaller than a certain threshold value +.>Or selecting from a database the nearest +.>Personal tracking station
Without loss of generality, assume that in the collectionThe subset found to meet condition (2) is +.>Such as the 2 shore-based static stations and 3 marine dynamic stations shown in fig. 2: are respectively marked as->. The corresponding site location vector is marked->。
In particular implementation, the threshold valueThe recommended value range of (2) is +.>
Step 5: and according to the distribution of the network subsets of the static and dynamic base stations, determining the thinking based on non-bad PPP-RTK or network RTK to develop the combined precision positioning service of the static and dynamic base stations.
In an embodiment, the implementation manner is further provided as follows:
5.1 When the subset of the reference station network is widely distributed, for example, exceeds 100 square kilometers, the static and dynamic base station network combined precision positioning service is developed based on the non-differential PPP-RTK, comprising the following steps,
a: based on static-dynamic reference station network subsetsAccess information of each reference station>Real-time observation data of each station is received in real time, and real-time track clock difference product is obtained from a network (including but not limited to RTS service of International GNSS service organization) or a satellite (including but not limited to PPP-B2B service of Beidou No. three)>Wherein->For satellite->The parameters of the track are set to be,for satellite->Clock difference parameters.
B: query subsetReference station type->In the case of a static station, the known coordinates are obtained directly +.>The method comprises the steps of carrying out a first treatment on the surface of the In the case of a dynamic station, in coordinates +.>For initial value, combine real-time track clock error product +.>Obtaining its precise coordinates by PPP mode and updating +.>。
C: product combining real-time track clock errorConstraint subset->Reference station coordinates->Solving the regional error parameter by adopting a network solution model>Wherein->For tropospheric delay correction value, +.>For ionospheric delay correction in the line of sight direction, < >>For satellite->Frequency->And a phase deviation correction value. Thereby forming a PPP-RTK-based state domain enhancement product>. The basic implementation of the network solution algorithm can refer to the document Improving carrier-phase ambiguity resolution in global GPS network solutions, but unlike the conventional network solution algorithm, the reference station is a static reference station, but the reference station network of the patent comprises a dynamic reference station based on an offshore buoy platform. Therefore, when inquiring about the reference station type +.>In the case of a dynamic station, the coordinates of the dynamic station are required to be used as parameters, and the parameters are estimated together with the regional error parameters. In addition, in order to reduce the uncertainty of the position of the dynamic station and solve the regional error model parameters, a PPP mode is adopted by an orbit clock error product, and a baseline solution continuous processing mode of an additional double-difference ambiguity closed difference test is adopted to acquire independent coordinate parameters to be brought into a network solution model; for the dynamic reference station, the coordinate parameter resolving and restraining method is introduced in the concrete implementation method of the following step 5.
D: the real-time receiving enhancement product of the ocean precision engineering userAnd observe data by a reference station mounted on the engineering work carrier>Based on the method, the PPP-RTK algorithm is adopted to realize centimeter-level precise positioning of the user. In the specific implementation, the user side algorithm in the step is just the prior art. The implementation of the PPP-RTK positioning algorithm preferably adopted in the embodiment can refer to the document Simulation research on PPP-RTK performance based on BDS GEO satellite, and the invention is not repeated.
5.2 When the subset of the reference network of stations is distributed within a local area, for example not more than 100 square kilometers, developing a static and dynamic base network joint precision positioning service based on the non-differential network RTK, performing the following steps,
a: based on static-dynamic reference station network subsetsAccess information of each reference station>And receiving real-time observation data of each station in real time.
B: query subsetReference station type->In the case of a static station, the known coordinates are obtained directly +.>The method comprises the steps of carrying out a first treatment on the surface of the In the case of a dynamic station, in coordinates +.>For initial value, combine real-time track clock error product +.>Obtaining its precise coordinates by PPP mode and updating +.>。
C: constraint subsetReference station coordinates->Resolving regional errors by adopting a non-differential network RTK mode, and generating user station approximate coordinates of carriers such as the ocean precise engineering workboat and the like>Virtual observations at +.>. The basic implementation of the non-differential network RTK algorithm can refer to the literature as PPP-RTK, precise Point Positioning using state-space representation in RTK networks ", but unlike the conventional non-differential network RTK algorithm where the reference station is a static reference station, the network of reference stations of this patent includes a dynamic reference station based on an offshore buoy platform. Therefore, when inquiring about the reference station type +.>In the case of a dynamic station, the coordinates of the dynamic station are required to be used as parameters, and the parameters are estimated together with the regional error parameters. In addition, a PPP mode is adopted for the track clock error product, and a baseline solution continuous processing mode for the additional double-difference ambiguity closed difference test is adopted, so that independent coordinate parameters are obtained and brought into a non-difference network RTK model. For the dynamic reference station, the method for solving and restraining the coordinate parameters is introduced in the concrete implementation method of the following step 5, which is similar to the implementation method of the step C in the step 5.1).
D: the ocean precision engineering user receives the virtual observation value in real timeAnd observe data by a reference station mounted on the engineering work carrier>Based on the method, the traditional RTK algorithm is adopted to realize centimeter-level precise positioning of the user. In the specific implementation, the user side algorithm in the step is just the prior art. The implementation process of the RTK algorithm preferably adopted in the embodiment is the prior art, and the description of the present invention is omitted.
In the embodiment, the method for resolving and constraining the coordinate parameters of the dynamic reference station in step 5 is specifically implemented as follows:
for types in the subsetFor the reference station of the dynamic station, the cloud server receives the real-time track clock error and the reference station observation data stream simultaneously, and on the basis of the formula (1), the accurate coordinate ∈10 of the dynamic reference station is obtained by adopting a PPP method for resolving>. Combined static stateKnowing the coordinates, the exact coordinates of the 5 reference stations in the subset are +.>This coordinate is referred to below as the reference station subset first accurate coordinate.
As shown in FIG. 2, the embodiment forms a Dironic triangle network with 6 baselines according to the distribution of the subset of the reference stations, and adopts a baseline processing mode to calculate each observed value, taking the baseline 12 as an example, the double difference observation method equation can be expressed as
Wherein the method comprises the steps ofIs a normal equation matrix; reference station 1 coordinate vector to be estimated based on baseline 12>Reference station 2 coordinate vectorDouble difference ambiguity vector +.>The respective dimensions; the normal equation matrix can be decomposed into 9 submatrices according to parameters such as the coordinate of the measuring station 1, the coordinate of the measuring station 2, the ambiguity and the like>、/>、/>、/>、/>、/>、/>、/>、/>，/>For corresponding->Normal equation submatrix>Is corresponding to->、/>French submatrix of parameter cross terms, +.>A normal equation submatrix corresponding to the double-difference ambiguity, and so on; />The vector is observed for the corresponding normal equation.
Further consider the first accurate coordinate pair coordinate parameters that can be brought into each reference station、/>Constraint (3) can be written as
Wherein the method comprises the steps of、/>A normal equation matrix obtained by the prior coordinates of the reference station; />For the corresponding normal observation vector, in formula (3 +.>On the basis of the above, a priori coordinate observation vector of a reference station is added; the other symbols are as shown in the formula (3).
Solving the formula (4) to obtain a dual-mode ambiguity estimation value, and further adopting an ambiguity fixing algorithm: such as LAMBDA, integer Bootstrapping, integer routing, etc., to obtain an Integer solution thereof. With the obtained baseline integer solutions, using criteria for a triangle net double-difference ambiguity closure difference of 0, e.g.
、/>、/>Baseline 12, baseline 23, baseline 31 double difference ambiguity vectors, respectively.
And checking the reliability of the ambiguity fixing solution. After the detection shown in the formula (5), the ambiguity can be reliably fixed, and the ambiguity is replaced to the equation (4) to obtain the fixed solutions of the coordinates of the reference stations with the double difference constraint of the ambiguityThe coordinates are hereinafter referred to as second accurate coordinates of the reference station subset, and the coordinate accuracy can reach millimeter level generally, so that the coordinates can be used as known coordinates to perform constraint fixation in a network solution, and the static and dynamic reference station network is changed into a static reference station network. The method can solve an independent coordinate parameter through the orbit clock error product in a PPP mode, and restrict the position of the dynamic reference station.
And selecting to adopt a non-differential PPP-RTK scheme or a network RTK scheme according to the distribution condition of the reference station network in the subset and the user demand. Non-differential PPP-RTK solutions, or RTK solution algorithms, for static reference station networks are well known to those skilled in the art and will not be described in detail herein. For non-bad PPP-RTK, its service product includesNamely satellite coordinates, satellite clock bias, satellite phase bias, tropospheric delay model, and ionospheric delay model; for network RTK, its service product is ocean precision engineering user station approximate position +.>Virtual observations at +.>。
Finally, the ocean precision engineering user receives a non-poor PPP-RTK enhanced product or a network RTK virtual observation value product, and the centimeter-level positioning of the ocean precision engineering user is realized by adopting a terminal PPP-RTK or an RTK algorithm respectively.
For the sake of easy understanding of the technical effects of the present invention, fig. 3 shows, by way of comparison, the real-time dynamic accurate positioning results of the station GNSS at 50 km from the reference station, wherein the abscissa is the number of tests and the ordinate is the error value of each positioning result. It is obvious that when the conventional RTK algorithm is adopted, the positioning noise is large because the distance from the reference station is too far, and errors such as an ionosphere, a troposphere delay and the like are difficult to effectively eliminate. When the static and dynamic reference station networking positioning is adopted, the positioning precision of the offshore user can be obviously improved.
In particular, the method according to the technical solution of the present invention may be implemented by those skilled in the art using computer software technology to implement an automatic operation flow, and a system apparatus for implementing the method, such as a computer readable storage medium storing a corresponding computer program according to the technical solution of the present invention, and a computer device including the operation of the corresponding computer program, should also fall within the protection scope of the present invention.
In some possible embodiments, a floating platform-based open sea shore static and dynamic reference station networking positioning system is provided, which comprises a processor and a memory, wherein the memory is used for storing program instructions, and the processor is used for calling the stored instructions in the memory to execute the floating platform-based open sea shore static and dynamic reference station networking positioning method.
In some possible embodiments, a floating platform-based open sea shore static and dynamic reference station networking positioning system is provided, which comprises a readable storage medium, wherein a computer program is stored on the readable storage medium, and when the computer program is executed, the method for migrating the dressing style based on regional style consistency is realized.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (9)
1. A floating platform-based networking positioning method for a static and dynamic reference station of a Shanghai shore is characterized by comprising the following steps of: comprises the following procedures of the method,
on the basis of a buoy platform, a general marine dynamic reference station is arranged;
acquiring the position coordinates of the offshore dynamic reference station, and uploading the coordinates and related equipment information to a cloud server;
uploading the coastal static reference station position coordinates and related equipment information to a cloud server, and constructing a static and dynamic reference station network database facing the ocean engineering measurement positioning service together with an offshore dynamic reference station;
for ocean precision engineering users, obtaining the outline coordinates of corresponding user stationsUploading the information to a cloud server, and requesting high-precision enhanced positioning service;
the cloud server is aimed at a high-precision enhanced positioning service request of a marine precision engineering user, and combines the outline coordinates of a user stationSearching a corresponding coastal static reference station and an offshore dynamic reference station in a static and dynamic reference station network database to form a static and dynamic reference station network subset serving the ocean precision engineering user positioning service;
and developing the static and dynamic base station network combined precision positioning service based on the non-differential PPP-RTK or the non-differential network RTK according to the distribution condition of the obtained static and dynamic base station network subsets, wherein when the type of the reference station is inquired to be an offshore dynamic reference station, the coordinates of the reference station are taken as parameters, the parameters are uniformly estimated with the regional error parameters, and the coordinate parameter calculation and constraint for the dynamic reference station are carried out.
2. The method for networking positioning of the far coast static and dynamic reference station based on the floating platform according to claim 1, wherein the method comprises the following steps: each record in the static and dynamic reference station network databaseComprises the reference station->Sequence number->The method comprises the steps of carrying out a first treatment on the surface of the Reference station type->Is a static or dynamic station; />The reference station coordinate is an accurate coordinate when the reference station is an coastal static reference station, and is an initial coordinate when the reference station is an offshore dynamic reference station; />The method comprises the steps of (1) obtaining station measurement equipment detail information; />Information is accessed for the reference station.
3. The method for networking positioning of the far coast static and dynamic reference station based on the floating platform according to claim 1, wherein the method comprises the following steps: and acquiring the position coordinates of the offshore dynamic reference station through standard positioning SPP.
4. The method for networking positioning of the far coast static and dynamic reference station based on the floating platform according to claim 1, wherein the method comprises the following steps: for ocean precision engineering users, the rough coordinates of the corresponding user stations are obtained through standard positioning SPP。
5. The method for networking positioning of the far coast static and dynamic reference station based on the floating platform according to claim 2, wherein the method comprises the following steps: find outTracking station->The static and dynamic reference station network subset of the ocean precision engineering user positioning service is formed>；
When the static and dynamic base station network subset is widely distributed, the following steps are carried out,
a: based on static-dynamic reference station network subsetsAccess information of each reference station>Receiving real-time observation data of each station in real time, and simultaneously acquiring real-time orbit clock difference product from a network or a satellite>Wherein->For satellite->Track parameters (I)>For satellite->A clock difference parameter;
b: query subsetReference station type->In the case of a static station, the corresponding known coordinates are obtained directly +.>The method comprises the steps of carrying out a first treatment on the surface of the In the case of a dynamic station, in coordinates +.>For initial value, combine real-time track clock error product +.>Obtaining accurate coordinates by PPP mode and updating +.>；
C: product combining real-time track clock errorConstraint subset->Reference station coordinates->Solving the regional error parameter by adopting a network solution model>Wherein->For tropospheric delay correction value, +.>For ionospheric delay correction in the line of sight direction, < >>For satellite->Frequency->Phase deviation correction value on the phase, thereby forming a PPP-RTK-based state domain enhancement product +.>
When the network solution model is adopted for resolving, the reference station type is inquiredWhen the station is a dynamic station, the coordinates are taken as parameters, and the parameters are uniformly estimated with the regional error parameters; in addition, a PPP mode and a baseline resolving continuous processing mode of an additional double-difference ambiguity closed difference test are adopted by the track clock difference product, so that independent coordinate parameters are obtained and brought into a network solution model;
d: the real-time receiving enhancement product of the ocean precision engineering userAnd observe data by a reference station mounted on the engineering work carrier>Based on the method, the PPP-RTK algorithm is adopted to realize the centimeter-level precise positioning of the user;
when the static and dynamic base station network subsets are distributed over a local area, the following steps are performed,
a: based on static-dynamic reference station network subsetsAccess information of each reference station>Receiving real-time observation data of each station in real time;
b: query subsetReference station type->In the case of a static station, the corresponding known coordinates are obtained directly +.>The method comprises the steps of carrying out a first treatment on the surface of the In the case of a dynamic station, in coordinates +.>For initial value, combine real-time track clock error product +.>Obtaining its precise coordinates by PPP mode and updating +.>；
C: constraint subsetReference station coordinates->Resolving regional errors by adopting a non-differential network RTK mode, and generating user station approximate coordinates of carriers such as the ocean precise engineering workboat and the like>Virtual observations at +.>；
When the non-difference network RTK mode is adopted for resolving, when the reference station type is inquiredWhen the station is a dynamic station, the coordinates of the station are required to be used as parameters and are uniformly estimated with the regional error parameters; in addition, a PPP mode is adopted for the track clock error product, and a baseline solution continuous processing mode for the additional double-difference ambiguity closed difference test is adopted, so that independent coordinate parameters are obtained and brought into a non-difference network RTK model;
d: the ocean precision engineering user receives the virtual observation value in real timeAnd observe data by a reference station mounted on the engineering work carrier>Based on the method, the RTK algorithm is adopted to realize the centimeter of the userAnd (5) stage precision positioning.
6. The floating platform-based remote coast static and dynamic reference station networking positioning method of claim 5, wherein: when the reference station type is queriedWhen the method is a dynamic station, the coordinate parameter calculation and constraint method for the dynamic reference station is realized as follows,
for types in static and dynamic reference station network subsetsFor a reference station of the dynamic station, the cloud server receives real-time track clock errors and a reference station observation data stream simultaneously, and obtains accurate coordinates of the dynamic reference station by resolving in a PPP mode>The method comprises the steps of carrying out a first treatment on the surface of the The accurate sitting mark of the reference station in the static and dynamic reference station net subset is +.>The coordinates are called first accurate coordinates of the reference station subset;
forming a Dirony triangle network according to the distribution of the static and dynamic reference station network subsets, and resolving each observation value by adopting a baseline processing mode;
further carrying out constraint on coordinate parameters by taking the first accurate coordinates of each reference station, then resolving to obtain a dual-mode ambiguity estimation value, and adopting an ambiguity fixing algorithm;
and checking the reliability of the ambiguity fixed solution, reliably fixing the ambiguity after checking, obtaining the coordinate fixed solution of each reference station with the additional ambiguity double-difference constraint, namely the coordinate is called as a second accurate coordinate of the reference station subset, and performing constraint fixation in the network solution as a known coordinate to change the static and dynamic reference station network into a static reference station network.
7. A floating platform-based open sea shore static and dynamic reference station networking positioning system is characterized in that: a method for implementing a floating platform based on the networked positioning of a offshore static and dynamic reference station as claimed in any one of claims 1-6.
8. The floating platform based remote coast static and dynamic reference station networked location system of claim 6 wherein: comprising a processor and a memory for storing program instructions, the processor being adapted to invoke the stored instructions in the memory to perform a floating platform based method of networked positioning of open sea shore static and dynamic reference stations according to any of claims 1-6.
9. The floating platform based remote coast static and dynamic reference station networked location system of claim 6 wherein: comprising a readable storage medium having stored thereon a computer program which, when executed, implements a floating platform based method for networked positioning of a offshore static and dynamic reference station according to any of claims 1-6.
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