CN117555004A - Land traffic satellite-ground control network measuring method, device, equipment and storage medium - Google Patents
Land traffic satellite-ground control network measuring method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN117555004A CN117555004A CN202311141540.7A CN202311141540A CN117555004A CN 117555004 A CN117555004 A CN 117555004A CN 202311141540 A CN202311141540 A CN 202311141540A CN 117555004 A CN117555004 A CN 117555004A
- Authority
- CN
- China
- Prior art keywords
- baseline
- reference station
- adjustment
- dimensional
- control network
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000005259 measurement Methods 0.000 claims abstract description 75
- 238000004364 calculation method Methods 0.000 claims abstract description 58
- 230000003068 static effect Effects 0.000 claims abstract description 45
- 239000013598 vector Substances 0.000 claims description 85
- 238000013178 mathematical model Methods 0.000 claims description 27
- 230000006870 function Effects 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 238000006798 ring closing metathesis reaction Methods 0.000 claims description 11
- 238000000691 measurement method Methods 0.000 claims description 7
- 230000006855 networking Effects 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
-
- 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
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
-
- 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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radio Relay Systems (AREA)
Abstract
The invention belongs to the technical field of satellite positioning measurement and discloses a method, a device, equipment and a storage medium for measuring a land traffic satellite-ground control network. The method comprises the following steps: acquiring static observation data of a control point to be encrypted on a target control network; acquiring reference station real-time observation data of a plurality of continuously running reference stations near a control point to be encrypted; networking according to the static observation data and the real-time observation data of the reference station to perform baseline calculation to obtain a baseline calculation result; taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to a base line calculation result; and determining the target measurement parameters according to the three-dimensional constraint adjustment result. By the method, the measurement precision requirements of the control network such as high-speed rail and the like and below are met, the encryption measurement can be carried out only by erecting the GNSS receiver on the control point to be encrypted, the manpower and the required equipment quantity are saved, the high-precision continuous operation reference station network is used as a known point, the observation time of the encryption point is shortened to 30 minutes, and the measurement efficiency and reliability are improved.
Description
Technical Field
The invention relates to the technical field of satellite positioning measurement, in particular to a method, a device, equipment and a storage medium for measuring a satellite-ground control network of land traffic.
Background
The construction encryption control network mainly adopts a measurement network type with the density of control points insufficient or destroyed and expanded at the same level or developed at the next level, and the traditional construction encryption control network measurement method comprises the following steps:
(1) Classical static encryption measurement scheme: and (3) erecting GNSS receivers on the piles of at least 3 CPI/CPII control points buried under the line, and synchronously observing the GNSS receivers erected on one or more control points to be encrypted for at least 60 minutes, so that the measurement accuracy of the three or less high-speed rail can be met.
(2) Fast static encryption measurement scheme: and (3) erecting GNSS receivers on the piles with at least 3 CPI/CPII control points buried under the line, and synchronously observing the GNSS receivers erected on one control point to be encrypted for at least 5-20 minutes, so that the measurement accuracy of the high-speed rail IV and the like and below can be met.
The two schemes have the advantages that one point is encrypted, at least 4 GNSS receivers are needed to be erected manually, the labor cost investment is large, and the stability of the off-line reference station CPI and CPII is poor; the classical static encryption measurement scheme has high precision, but long observation time and low efficiency. The existing rapid static encryption measurement scheme has short observation time, but low precision, and cannot meet the encryption measurement precision requirements of the three parts of the high-speed rail. Therefore, in order to fully exert the advantages of high precision, real time and stability of the continuous operation reference station, a star base/foundation reinforcing system is built by laying a high-density reference station network along the line of the linear traffic engineering, and the rapid encryption measurement of the engineering control network is realized.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a land traffic star-ground control network measuring method, a device, equipment and a storage medium, and aims to solve the technical problems that in the prior art, the measuring precision is low, and the manpower and the instrument use quantity are high.
In order to achieve the above purpose, the invention provides a land traffic star-to-ground control network measuring method, which comprises the following steps:
acquiring static observation data of a control point to be encrypted on a target control network;
acquiring reference station real-time observation data of a plurality of continuously operated reference stations near the control point to be encrypted;
performing baseline calculation according to the static observation data and the real-time observation data of the reference station to obtain a baseline calculation result;
taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the baseline calculation result;
and determining target measurement parameters according to the three-dimensional constraint adjustment result.
Optionally, the acquiring the real-time observation data of the reference station of the plurality of continuously running reference stations near the control point to be encrypted includes:
Acquiring reference station distribution information of the target control network;
determining reference standard stations of the target number corresponding to the control points to be encrypted according to the standard station distribution information, wherein the distance between each reference standard station does not exceed a first target distance, the vertical distance between each reference standard station and the center line of a standard line is in a first distance section, and when the included angle of a curve of a traffic line is in a first angle range, at least one standard station exists outside the included angle of the curve of the traffic line;
and acquiring real-time observation data of the reference stations acquired by each reference station.
Optionally, the calculating the baseline according to the static observation data and the real-time observation data of the reference station to obtain a baseline calculation result includes:
linearizing a preset observation formula to obtain a double-difference observation formula;
performing initial adjustment calculation on the static observation data and the real-time observation data of the reference station through the double-difference observation equation;
determining the integer value of the whole week unknown number according to the initial adjustment calculation result;
determining a fixed solution of a baseline vector according to the integer value of the whole week unknown number;
and carrying out baseline quality check according to the fixed solution of the baseline vector, and determining a baseline solution result according to the check result.
Optionally, the determining the integer value of the whole week unknown number according to the initial adjustment calculation result includes:
determining solution vector information and precision information according to the initial adjustment calculation result;
determining a plurality of groups of possible combination solutions of the whole unknown number according to the solution vector information and the precision information;
each possible combination solution is taken as a known value and is put into a baseline solution equation to obtain a baseline vector;
and determining the integer value of the whole-week unknown number according to the baseline vector.
Optionally, the step of checking the baseline quality according to the fixed solution of the baseline vector and determining a baseline solution result according to the checking result includes:
calculating a synchronous loop closure difference and an independent loop closure difference according to a fixed solution of the baseline vector;
and when the synchronous ring closure difference meets a first error requirement and the independent ring closure difference meets a second error requirement, taking a fixed solution of the baseline vector as a baseline solution result.
Optionally, the step of taking the three-dimensional coordinates of the reference station as constraint points and performing three-dimensional constraint adjustment according to the baseline solution result includes:
extracting a function independent baseline vector and precision statistical information corresponding to the function independent baseline vector according to the baseline calculation result;
Determining a basic mathematical model according to the function independent baseline vector and the precision statistical information;
solving parameter estimation information and parameter estimation precision statistical information of the basic mathematical model;
updating the basic mathematical model according to the parameter estimation information and the parameter estimation accuracy statistical information to obtain an unconstrained adjustment mathematical model;
carrying out three-dimensional unconstrained adjustment according to the baseline solution result and the unconstrained adjustment mathematical model to obtain a three-dimensional unconstrained adjustment result;
and taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the three-dimensional unconstrained adjustment result.
Optionally, the step of taking the three-dimensional coordinates of the reference station as constraint points and performing three-dimensional constraint adjustment according to the three-dimensional unconstrained adjustment result includes:
determining a target baseline vector, an observation value weighting mode and a starting point coordinate according to the three-dimensional unconstrained adjustment result;
determining a three-dimensional constraint adjustment model according to the target baseline vector, the observation value weighting mode and the starting point coordinates;
and taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment through the three-dimensional constraint adjustment model.
In addition, in order to achieve the above object, the present invention also provides a land traffic star-to-ground control network measuring device, which includes:
the control point data acquisition module is used for acquiring static observation data of a control point to be encrypted on the target control network;
the reference station data acquisition module is used for acquiring reference station real-time observation data of a plurality of continuously running reference stations near the control point to be encrypted;
the baseline resolving module is used for resolving a baseline according to the static observation data and the real-time observation data of the reference station to obtain a baseline resolving result;
the constraint adjustment module is used for taking the three-dimensional coordinates of the reference station as constraint points and carrying out three-dimensional constraint adjustment according to the baseline solution result;
and the measurement parameter determining module is used for determining target measurement parameters according to the three-dimensional constraint adjustment result.
In addition, in order to achieve the above object, the present invention also proposes a land traffic star-to-ground control network measurement device including: a memory, a processor and a land traffic satellite control network measurement program stored on the memory and executable on the processor, the land traffic satellite control network measurement program configured to implement the steps of the land traffic satellite control network measurement method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a land traffic star-to-ground control network measurement program which, when executed by a processor, implements the steps of the land traffic star-to-ground control network measurement method as described above.
The method comprises the steps of obtaining static observation data of a control point to be encrypted on a target control network; acquiring reference station real-time observation data of a plurality of continuously operated reference stations near the control point to be encrypted; performing baseline calculation according to the static observation data and the real-time observation data of the reference station to obtain a baseline calculation result; taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the baseline calculation result; and determining target measurement parameters according to the three-dimensional constraint adjustment result. By the method, baseline calculation is carried out on static observation data obtained by erecting an instrument at a control point to be encrypted in combination with the observation data of the set GNSS continuous operation reference station, then three-dimensional constraint adjustment is carried out to determine target measurement parameters, manual erection of a GNSS receiver at the control point to be encrypted is achieved for a smaller time, measurement efficiency and reliability are improved, and the method of continuously operating the reference station in a control network is combined, so that manpower and the quantity of GNSS equipment needed for encryption measurement are saved.
Drawings
FIG. 1 is a schematic diagram of a land traffic satellite control network measurement device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for measuring a satellite-to-ground control network for land traffic according to the present invention;
FIG. 3 is a schematic diagram of an existing railway precision control measurement system in an embodiment of the method for measuring a satellite-to-ground control network for land traffic according to the present invention;
FIG. 4 is a diagram illustrating the layout of reference stations in an embodiment of a method for measuring a satellite-to-ground control network for land traffic according to the present invention;
FIG. 5 is a schematic diagram of an independent single point construction encrypted measurement network in an embodiment of a method for measuring a land traffic satellite-to-ground control network according to the present invention;
FIG. 6 is a schematic diagram of a two-point/multi-point construction encryption measurement network in one embodiment of a method for measuring a satellite-to-ground control network for land traffic according to the present invention;
FIG. 7 is a schematic diagram of an arrangement of adjacent reference stations in an embodiment of a method for measuring a satellite-to-ground control network for land traffic according to the present invention;
FIG. 8 is a three-dimensional unconstrained adjustment flow chart of one embodiment of a method for measuring a satellite-to-ground control network for land traffic according to the present invention;
FIG. 9 is a three-dimensional constraint adjustment flow chart of an embodiment of a method for measuring a satellite-ground control network for land traffic according to the present invention;
FIG. 10 is a flow chart of a second embodiment of the method for measuring a satellite-to-ground control network for land traffic according to the present invention;
Fig. 11 is a block diagram showing the construction of a first embodiment of the measuring device of the satellite-ground control network for land traffic according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a land traffic star-ground control network measurement device in a hardware operation environment according to an embodiment of the present invention.
As shown in fig. 1, the land traffic star-to-ground control network measurement device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is not limiting of the land-based control network measurement device and may include more or fewer components than shown, or may be combined with certain components, or may be arranged in a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a terrestrial traffic star control network measurement program may be included in the memory 1005 as one storage medium.
In the land traffic satellite control network measurement device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the land traffic star-ground control network measurement device of the present invention may be disposed in the land traffic star-ground control network measurement device, and the land traffic star-ground control network measurement device invokes the land traffic star-ground control network measurement program stored in the memory 1005 through the processor 1001, and executes the land traffic star-ground control network measurement method provided by the embodiment of the present invention.
The embodiment of the invention provides a land traffic star-ground control network measuring method, and referring to fig. 2, fig. 2 is a flow diagram of a first embodiment of the land traffic star-ground control network measuring method.
In this embodiment, the method for measuring the satellite-ground control network for land traffic includes the following steps:
step S10: and acquiring static observation data of the control point to be encrypted on the target control network.
It should be noted that, the execution body of the embodiment is an intelligent terminal, and may be any intelligent device capable of receiving and processing data, including, but not limited to, a computer, a server, a notebook computer, and the like.
It should be understood that, as shown in fig. 3, the existing precise railway control measurement system is mainly based on CPI/CPII control point piles buried along the railway to perform encryption control network measurement, and each encryption single control point needs to measure at least 3 stable CPI/CPII points around the encryption point, which consumes manpower and increases the number of instruments. For the railway in the operation and maintenance period, if the off-line control points subjected to the joint measurement are deformed, the number of the joint points needs to be increased again, and the encryption measurement is not easy to develop rapidly. The traditional quick static encryption measurement scheme can only independently encrypt and measure one control point at a time, has low measurement accuracy, and can only meet the measurement accuracy of the fourth and the following of the high-speed rail. The lack of adjacent point synchronous observation baselines for encryption measurement under the same network cannot meet the relative precision. The scheme of the embodiment provides a method for carrying out rapid static measurement on a construction plane control network based on a GNSS continuous operation reference station network established along the line of a linear traffic engineering, which comprises a base plane control network CPI, a line plane control network CPII and a construction control network encrypted on the basis. (1) The GNSS continuous operation reference station network continuously operates throughout the whole life cycle of railway design, construction and operation, only instruments are needed to be erected on control points to be encrypted, static observation data of at least three reference stations nearby are downloaded through an established GNSS satellite base/foundation enhancement system, and encryption control network measurement can be carried out by erecting a single GNSS receiver/multiple GNSS receivers offline. The standard station has high construction specification, is stable and reliable as a unified standard of traffic engineering, and has no condition of poor standard stability. The method improves the measurement efficiency and reliability. (2) The traditional rapid static encryption measurement scheme is optimized, the synchronous observation time of the encryption point and the reference station is increased to 30 minutes, and the measurement accuracy of the rapid static encryption point can be increased to meet the measurement accuracy of the second, third and the like of the high-speed rail. Aiming at different application scenes, two network types of single-point quick static encryption measurement and double-point/multi-point quick static encryption measurement are provided.
In a specific implementation, the target control network refers to a control network which needs to be encrypted or measured currently, the control point to be encrypted refers to a control point which needs to be encrypted and measured on the target control network, and the static observation data refers to data acquired by manually and newly erecting a GNSS receiver at the control point to be encrypted. Specifically, the GNSS receiver can independently receive the full-band data of the Beidou satellite navigation system and simultaneously receive the data of other satellite navigation systems such as GPS, GLONASS, galileo; the sampling interval of the receiver is 1s, the synchronous observation time period with the reference station is not less than 1, the single time period observation time is 30 minutes, but the time is far lower than that of the existing observation means, and the same or better observation effect as that of the existing means is achieved under the condition of less time consumption. The control points to be encrypted are positioned in the coverage area of 3 continuous operation reference station networks and form a geodetic measuring network.
It should be noted that, in this embodiment, the target control network should be built according to the principle of hierarchical layout. The first stage is a GNSS continuous operation reference station network, the second stage is a line plane control network, and the third stage is a track plane control network. The plane control network is laid by taking the GNSS foundation enhancement system as a reference, the construction plane control network is laid before off-line engineering construction, and the line plane control network and the track plane control network are laid on-line before on-line engineering construction. The foundation reinforcement system can be built based on a continuous operation reference station network distributed along the line, and the requirements of providing real-time centimeter-level and post-treatment millimeter-level precision position service for survey measurement, construction lofting and the like in the engineering range of the line main body are met. The content provided by the data system should include: (1) real-time data services: providing pseudo-range correction, carrier phase correction, integrity monitoring data and other information in real time, and providing real-time centimeter-level differential positioning service; (2) post hoc data service: providing stored original observation data of a reference station, base station coordinate data and post-differential calculation service; (3) elevation service: providing differential positioning data service containing elevation anomaly correction information; (4) running a recording service: information such as system operating status, abnormal event records, etc., stored in a database or other manner is provided.
It should be understood that the duration of the observation during the acquisition of the static observation is not less than 30 minutes.
Step S20: and acquiring reference station real-time observation data of a plurality of continuously running reference stations near the control point to be encrypted.
The continuous operation reference stations are three continuous operation reference stations determined near the control point to be encrypted. The reference station real-time observation data refers to satellite positioning data acquired by the reference station from a satellite navigation system.
Further, in order to accurately determine the continuously operating reference station and the reference station real-time observation data, step S20 includes: acquiring reference station distribution information of the target control network; determining reference standard stations of the target number corresponding to the control points to be encrypted according to the standard station distribution information, wherein the distance between each reference standard station does not exceed a first target distance, the vertical distance between each reference standard station and the center line of a standard line is in a first distance section, and when the included angle of a curve of a traffic line is in a first angle range, at least one standard station exists outside the included angle of the curve of the traffic line; and acquiring real-time observation data of the reference stations acquired by each reference station.
It should be understood that the number of the continuously running reference stations is not less than 3, i.e. the target number is not less than 3; according to the continuous operation reference stations which are alternately distributed along the two sides of the linear traffic engineering, the mileage interval K of the line engineering corresponding to the adjacent reference stations is not more than 11km, wherein the 11km corresponding to the K is the first target distance of 11km, and the vertical distance D between the reference stations and the line center line is 1-5km, namely the first distance interval is 1-5km; when the angle theta at the curve of the traffic engineering is smaller than 150 degrees, at least one reference station is arranged outside the curve; and establishing a GNSS satellite-based/foundation enhancement system through a continuous operation reference station network, and acquiring implementation observation data acquired by each continuous operation reference station, wherein the duration of the observation data is not less than 120 minutes.
It should be understood that reference station distribution information refers to location, distribution related information of individual reference stations within the target control network.
In the specific implementation, as shown in fig. 4, the target number is a preset number, generally 3, so that the control points to be encrypted are located in the coverage area of 3 continuous operation reference station networks and form a geodetic quadrilateral measurement network. According to the number of the points to be encrypted in the same period, the following 2 network types are classified:
(1) As shown in FIG. 5, when the point to be encrypted is a single point A (i.e. the measurement condition when the number of devices is single), the distance between the corresponding line mileage of the continuous operation reference stations 1 and 2, 2 and 3 is not more than 11km, and a baseline vector is ensured between 1, 2, 3 and A.
(2) As shown in fig. 6, when the point to be encrypted is 2 points A, B (i.e. the measurement condition when the number of devices is two or more than 2 devices), the distance between the corresponding line mileage of the reference stations 1 and 2, 2 and 3 is not more than 11km, and a baseline vector is ensured between 1, 2, 3 and A, B. The distance between the encryption point a and the encryption point B is not shorter than 300m. The relative precision between the adjacent encryption points A and B can be ensured by the net type.
It should be noted that, referring to fig. 7, as shown in fig. 7, the distance between adjacent reference stations corresponding to mileage is not more than 11km is mainly determined according to the following formula:
according to the short baseline calculation requirement of the control network, the distance between adjacent reference sites is not more than 15km, namely S is less than or equal to 15km; the vertical distance D1 and D2 between the reference station and the line center line is 1-5 km, and the maximum value is 5km. The corresponding mileage interval K of the adjacent reference stations can be determined to be less than or equal to 11km.
By the method, the number and the distance of the continuously running reference stations can be accurately determined, so that the most reliable real-time observation data of the reference stations can be obtained.
Step S30: and carrying out baseline calculation according to the static observation data and the real-time observation data of the reference station to obtain a baseline calculation result.
The baseline resolving means that baseline resolving is performed on not less than 3 pieces of synchronous observation data of the reference station data and the encryption control point, that is, baseline resolving is performed on data collected by the continuous operation reference station and the encryption control point, so that a fixed solution of a baseline vector is determined.
Step S40: and taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the baseline calculation result.
It should be appreciated that the three-dimensional unconstrained adjustment is first performed for the baseline solution, and then the three-dimensional constrained adjustment is performed using the known coordinates of the reference station based on the calculation of the three-dimensional unconstrained adjustment, thereby obtaining the three-dimensional constrained adjustment.
Further, in order to perform three-dimensional constraint adjustment, step S40 includes: extracting a function independent baseline vector and precision statistical information corresponding to the function independent baseline vector according to the baseline calculation result; determining a basic mathematical model according to the function independent baseline vector and the precision statistical information; solving parameter estimation information and parameter estimation precision statistical information of the basic mathematical model; updating the basic mathematical model according to the parameter estimation information and the parameter estimation accuracy statistical information to obtain an unconstrained adjustment mathematical model; carrying out three-dimensional unconstrained adjustment according to the baseline solution result and the unconstrained adjustment mathematical model to obtain a three-dimensional unconstrained adjustment result; and taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the three-dimensional unconstrained adjustment result.
It should be noted that, as shown in fig. 8, the specific process of unconstrained adjustment is that an independent baseline vector corresponding to a function in the basic mathematical model and accuracy statistics information corresponding to the baseline vector are extracted according to the baseline calculation result, then the basic mathematical model is built according to the independent baseline vector and the accuracy statistics information of the function, and finally parameter estimation values including coordinate parameters and accuracy statistics thereof are solved. And (3) whether problems exist in the observed value and the mathematical model after solving, updating when the problems exist, and directly taking the updated problems as a final result when the problems do not exist. Wherein the known coordinates of each reference station are linear traffic engineering local coordinate system achievements, namely, the reference station is used as a unified coordinate reference of traffic engineering
It should be understood that the process of establishing the unconstrained adjustment mathematical model is as follows:
the observation values adopted by the three-dimensional unconstrained adjustment are all baseline vectors, namely coordinate differences from one end i to the other end j of the baseline, so that each baseline vector can obtain a group of error equations:
in order to make the adjustment, a position reference must be introduced, and a reference equation is generally obtained by taking the known geocentric coordinates (for example, in the CGCS2000 coordinate system) of a point in the BDS network as the reference position for calculation:
The weight matrix of the baseline vector observation values is determined by the variance-covariance matrix of each baseline vector at the time of baseline solution. And according to the error equation, the reference equation and the observation value weight array, carrying out free net adjustment by a least square principle to obtain a three-dimensional unconstrained adjustment result.
And after the three-dimensional unconstrained adjustment result is obtained, carrying out three-dimensional constrained adjustment processing according to the three-dimensional unconstrained adjustment result.
By the method, an unconstrained adjustment mathematical model is accurately set, so that a three-dimensional unconstrained adjustment result can be accurately obtained, and further three-dimensional constrained adjustment is performed. Unconstrained adjustment is performed on the calculated baseline results in order to determine the existence of coarse-difference baselines in the BDS network and to adjust the weights of the baseline vector observations to match each other.
Further, in order to perform three-dimensional constraint adjustment, the step of performing three-dimensional constraint adjustment according to the three-dimensional unconstrained adjustment result includes: determining a target baseline vector, an observation value weighting mode and a starting point coordinate according to the three-dimensional unconstrained adjustment result; determining a three-dimensional constraint adjustment model according to the target baseline vector, the observation value weighting mode and the starting point coordinates; and taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment through the three-dimensional constraint adjustment model.
It should be noted that, as shown in fig. 9, a calculation process of the three-dimensional constraint adjustment is shown, a weight determining method is firstly performed according to a baseline vector and an observed value which are finally obtained by the unconstrained adjustment, then coordinates of a starting point are designated, finally a mathematical model of the three-dimensional constraint adjustment is formed, and finally the solution is performed.
It should be understood that the method for establishing the three-dimensional constraint adjustment mathematical model comprises the following steps: establishing a unified function model containing conversion parameters and coordinate parameters; and designating the known point coordinates under the coordinate system to be converted as constraint conditions, and directly obtaining the coordinates of the point to be fixed under the designated coordinate system after adjustment.
Is provided with a BDS baseline vectorThe coordinates of the two ends of the base line under the geocentric system are respectively as follows:
the coordinates in the specified coordinate system R are respectively:
according to the Boolean seven-parameter conversion model, the observation equation of the baseline vector under the appointed coordinate system can be obtained through analysis:
analysis shows that the translation parameters are eliminated, and the error equation of the baseline vector under the appointed coordinate system can be obtained through the transformation of the formula:
constraint adjustment is required, and constraint conditions (reference equations) are needed, and mainly include coordinate class constraint conditions, side length class constraint conditions and azimuth class constraint conditions, which are not listed here.
In addition, the weight matrix of the baseline vector observation value in the three-dimensional constraint adjustment is the same as the weight matrix of the observation value adopted in the unconstrained adjustment. And carrying out constraint net adjustment according to an error equation, a reference equation and an observation value weight array by a least square principle to obtain an adjustment processing result.
By the method, three-dimensional constraint adjustment based on the establishment of the three-dimensional constraint adjustment model is realized, and the final three-dimensional constraint adjustment can be obtained through automatic output of the model.
Step S50: and determining target measurement parameters according to the three-dimensional constraint adjustment result.
It should be understood that, after the three-dimensional constraint adjustment result is obtained, parameter estimation values including coordinate parameters and reference conversion parameters and accuracy statistics thereof are solved again as target measurement parameters.
In the embodiment, static observation data of a control point to be encrypted on a target control network is obtained; acquiring reference station real-time observation data of a plurality of continuously operated reference stations near the control point to be encrypted; performing baseline calculation according to the static observation data and the real-time observation data of the reference station to obtain a baseline calculation result; taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the baseline calculation result; and determining target measurement parameters according to the three-dimensional constraint adjustment result. By the method, baseline calculation is carried out on the static observation data obtained by erecting the instrument at the control point to be encrypted by combining the static observation data of the set GNSS continuous operation reference station, then three-dimensional constraint adjustment is carried out to determine the target measurement parameters, manual erection of the GNSS receiver at the control point to be encrypted is achieved for a smaller time, the measurement efficiency and reliability are improved, and the method of continuously operating the reference station in the control network is combined, so that manpower and the quantity of GNSS equipment needed for encryption measurement are saved.
Referring to fig. 10, fig. 10 is a flowchart of a second embodiment of a method for measuring a satellite-to-ground control network for land traffic according to the present invention.
Based on the first embodiment, the method for measuring the land traffic satellite-ground control network in this embodiment includes, in step S30:
step S301: linearizing a preset observation formula to obtain a double-difference observation formula.
To perform the initial adjustment of the baseline calculation, the observation equation of the double-difference observation value must be linearized. Namely, the observation formula is linearized, and the linearization form of the double-difference observation formula can be obtained:
step S302: and carrying out initial adjustment calculation on the static observation data and the reference station real-time observation data through the double-difference observation equation.
It should be appreciated that after the double difference observation equation is obtained, the initial adjustment calculation is performed as follows:
first, the double difference observation equation is rewritten as an error equation:
in the method, in the process of the invention,
the unknown parameters to be determined and the precision information thereof can be calculated by composing an error equation and solving a normal equation, and the result is that:
wherein X is C The floating solution (real solution) for the baseline vector is the whole-week unknown parameter.
A co-factor matrix:
error in unit weight:
For reasons such as errors in observed values and imperfections in stochastic and functional models, the obtained integer unknown parameter x is a real number, and in order to obtain a higher-precision baseline solution result, it is necessary to accurately determine the integer value of the integer unknown.
Step S303: and determining the integer value of the whole week unknown number according to the initial adjustment calculation result.
After the initial adjustment calculation result is determined, determining a possible combination solution according to the solution vector information and the precision information of the initial adjustment calculation result, and finally bringing the possible combination solution into a baseline solution equation to obtain a baseline vector, thereby obtaining an integer solution of the whole-week unknown number.
Further, in order to obtain an integer solution of the whole-week unknowns, step S303 includes: determining solution vector information and precision information according to the initial adjustment calculation result; determining a plurality of groups of possible combination solutions of the whole unknown number according to the solution vector information and the precision information; each possible combination solution is taken as a known value and is put into a baseline solution equation to obtain a baseline vector; and determining the integer value of the whole-week unknown number according to the baseline vector.
It should be appreciated that the integer solution of the whole-week unknowns is based on a search method in a fast solution algorithm, the following are the detailed steps of the search method:
(1) By initial adjustment, a solution vector and its accuracy information (Q and 6) can be obtained, centered on each whole-week unknown in x, where the error is several times (determined by a certain confidence level) the radius, finding out the possible combined solutions for all whole-week unknowns.
(2) Each combination of possible solutions is substituted as a known value into the original baseline solution equation to determine the baseline.
(3) The integer value of the whole-week unknown is determined by finding the whole-week unknown of the group that minimizes the post-test variance of the estimate from all the calculated baseline vectors as the best estimate.
In this way, an integer solution to determine the whole-week unknowns is achieved, so that a fixed solution to the baseline vector can continue to be found.
Step S304: and determining a fixed solution of the baseline vector according to the integer value of the whole-week unknown number.
In particular implementations, according to the search method described above, integer values of the whole-week unknowns may be determined, with their corresponding baseline vector results as final solution results, referred to as a fixed solution to the baseline vector.
Step S305: and carrying out baseline quality check according to the fixed solution of the baseline vector, and determining a baseline solution result according to the check result.
The baseline quality check refers to that a synchronous loop closure difference and an independent loop closure difference are carried out on a fixed solution of a baseline vector, then whether the fixed solution of the baseline vector meets an error standard is judged according to a check result, and a final baseline calculation result is determined according to a judgment result.
Further, for the baseline quality check, step S305 includes: calculating a synchronous loop closure difference and an independent loop closure difference according to a fixed solution of the baseline vector; and when the synchronous ring closure difference meets a first error requirement and the independent ring closure difference meets a second error requirement, taking a fixed solution of the baseline vector as a baseline solution result.
It should be understood that the sync loop closure difference is the closure difference of the closed loop consisting of the sync observation baseline. Coordinate component closure difference limit difference:
full length relative closure difference limit difference:
wherein: a first error requirement for a poor synchronizer ring closure for baseline measurements.
In a specific implementation, the independent loop closure difference is the closure difference of the closed loop consisting of less than all of the simultaneous observation baselines. Coordinate component closure difference limit difference:
full length relative closure difference limit difference:
wherein: a second error requirement that is the independent loop closure difference for the baseline measurement.
When the synchronous ring closure difference and the independent ring closure difference meet the error requirement at the same time, the fixed solution of the baseline vector is directly used as a baseline solution result.
In this way, accurate baseline quality check of the fixed solution of the baseline vector from the synchronous loop closure difference and the independent loop closure difference is achieved.
In the embodiment, a preset observation formula is linearized to obtain a double-difference observation formula; performing initial adjustment calculation on the static observation data and the real-time observation data of the reference station through the double-difference observation equation; determining the integer value of the whole week unknown number according to the initial adjustment calculation result; determining a fixed solution of a baseline vector according to the integer value of the whole week unknown number; and carrying out baseline quality check according to the fixed solution of the baseline vector, and determining a baseline solution result according to the check result. By the method, initial adjustment calculation is firstly carried out in a double-difference observation equation mode, then the fixed solution of the baseline vector is determined by the integer value of the whole-week unknown number, finally the baseline quality check is carried out, and finally the accurate baseline solution result which meets the error requirement is obtained.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a land traffic star-to-ground control network measurement program, and the land traffic star-to-ground control network measurement program realizes the steps of the land traffic star-to-ground control network measurement method when being executed by a processor.
The storage medium adopts all the technical solutions of all the embodiments, so that the storage medium has at least all the beneficial effects brought by the technical solutions of the embodiments, and is not described in detail herein.
Referring to fig. 11, fig. 11 is a block diagram showing the construction of a first embodiment of the land traffic satellite control network measuring apparatus according to the present invention.
As shown in fig. 11, the land traffic star-to-ground control network measurement device provided by the embodiment of the invention includes:
the control point data acquisition module 10 is used for acquiring static observation data of a control point to be encrypted on the target control network.
And the reference station data acquisition module 20 is used for acquiring the reference station real-time observation data acquired by the plurality of continuously operating reference stations corresponding to the control points to be encrypted.
And the baseline resolving module 30 is configured to perform baseline resolving according to the static observation data and the real-time observation data of the reference station to obtain a baseline resolving result.
And the constraint adjustment module 40 is used for carrying out three-dimensional constraint adjustment according to the baseline calculation result.
The measurement parameter determining module 50 is configured to determine a target measurement parameter according to the three-dimensional constraint adjustment result.
In the embodiment, static observation data of a control point to be encrypted on a target control network is obtained; acquiring reference station real-time observation data of a plurality of continuously operated reference stations near the control point to be encrypted; performing baseline calculation according to the static observation data and the real-time observation data of the reference station to obtain a baseline calculation result; taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the baseline calculation result; and determining target measurement parameters according to the three-dimensional constraint adjustment result. By the method, baseline calculation is carried out on the static observation data obtained by erecting the instrument at the control point to be encrypted by combining the static observation data of the set GNSS continuous operation reference station, then three-dimensional constraint adjustment is carried out to determine the target measurement parameters, manual erection of the GNSS receiver at the control point to be encrypted is achieved for a smaller time, the measurement efficiency and reliability are improved, and the method of continuously operating the reference station in the control network is combined, so that manpower and the quantity of GNSS equipment needed for encryption measurement are saved.
In an embodiment, the reference station data obtaining module 20 is further configured to obtain reference station distribution information of the target control network; determining reference standard stations of the target number corresponding to the control points to be encrypted according to the standard station distribution information, wherein the distance between each reference standard station does not exceed a first target distance, the vertical distance between each reference standard station and the center line of a standard line is in a first distance section, and when the included angle of a curve of a traffic line is in a first angle range, at least one standard station exists outside the included angle of the curve of the traffic line; and acquiring real-time observation data of the reference stations acquired by each reference station.
In an embodiment, the baseline resolving module 30 is further configured to linearize a preset observation formula to obtain a double-difference observation formula; performing initial adjustment calculation on the static observation data and the real-time observation data of the reference station through the double-difference observation equation; determining the integer value of the whole week unknown number according to the initial adjustment calculation result; determining a fixed solution of a baseline vector according to the integer value of the whole week unknown number; and carrying out baseline quality check according to the fixed solution of the baseline vector, and determining a baseline solution result according to the check result.
In an embodiment, the baseline resolving module 30 is further configured to determine solution vector information and accuracy information according to the initial adjustment calculation result; determining a plurality of groups of possible combination solutions of the whole unknown number according to the solution vector information and the precision information; each possible combination solution is taken as a known value and is put into a baseline solution equation to obtain a baseline vector; and determining the integer value of the whole-week unknown number according to the baseline vector.
In an embodiment, a synchronous loop closure difference and an independent loop closure difference are calculated from a fixed solution of the baseline vector; and when the synchronous ring closure difference meets a first error requirement and the independent ring closure difference meets a second error requirement, taking a fixed solution of the baseline vector as a baseline solution result.
In an embodiment, the constraint adjustment module 40 is further configured to extract a function independent baseline vector and accuracy statistics corresponding to the function independent baseline vector according to the baseline calculation result; determining a basic mathematical model according to the function independent baseline vector and the precision statistical information; solving parameter estimation information and parameter estimation precision statistical information of the basic mathematical model; updating the basic mathematical model according to the parameter estimation information and the parameter estimation accuracy statistical information to obtain an unconstrained adjustment mathematical model; carrying out three-dimensional unconstrained adjustment according to the baseline solution result and the unconstrained adjustment mathematical model to obtain a three-dimensional unconstrained adjustment result; and taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the three-dimensional unconstrained adjustment result.
In an embodiment, the constraint adjustment module 40 is further configured to determine a target baseline vector, an observation value weighting mode, and a starting point coordinate according to the three-dimensional unconstrained adjustment result; determining a three-dimensional constraint adjustment model according to the target baseline vector, the observation value weighting mode and the starting point coordinates; and taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment through the three-dimensional constraint adjustment model.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in the present embodiment may refer to the method for measuring the satellite-to-ground control network for land traffic provided in any embodiment of the present invention, which is not described herein again.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The land traffic star-to-ground control network measuring method is characterized by comprising the following steps of:
acquiring static observation data of a control point to be encrypted on a target control network;
acquiring reference station real-time observation data of a plurality of continuously operating reference stations near the control point to be encrypted;
performing baseline calculation according to the static observation data and the real-time observation data of the reference station to obtain a baseline calculation result;
taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the baseline calculation result;
and determining target measurement parameters according to the three-dimensional constraint adjustment result.
2. The method of claim 1, wherein the acquiring reference station real-time observations of a plurality of continuously operating reference stations in the vicinity of the control point to be encrypted comprises:
Acquiring reference station distribution information of the target control network;
determining the number of continuously-running reference stations corresponding to the control points to be encrypted according to the reference station distribution information, wherein the distance between each reference station does not exceed a first target distance, the vertical distance between each reference station and the line center line is in a first distance interval, and when the included angle of the curve of the traffic line is in a first angle range, at least one reference station exists outside the included angle of the curve of the traffic line;
and acquiring real-time observation data of the reference stations acquired by each continuous operation reference station.
3. The method of claim 1, wherein said performing a baseline solution based on the static observation data of the encryption control point and the reference station real-time observation data to obtain a baseline solution result comprises:
linearizing a preset observation formula to obtain a double-difference observation formula;
performing initial adjustment calculation on the static observation data and the real-time observation data of the reference station through the double-difference observation equation;
determining the integer value of the whole week unknown number according to the initial adjustment calculation result;
determining a fixed solution of a baseline vector according to the integer value of the whole week unknown number;
And carrying out baseline quality check according to the fixed solution of the baseline vector, and determining a baseline solution result according to the check result.
4. A method according to claim 3, wherein said determining an integer value of the whole week unknowns from said initial adjustment calculation comprises:
determining solution vector information and precision information according to the initial adjustment calculation result;
determining a plurality of groups of possible combination solutions of the whole unknown number according to the solution vector information and the precision information;
each possible combination solution is taken as a known value and is put into a baseline solution equation to obtain a baseline vector;
and determining the integer value of the whole-week unknown number according to the baseline vector.
5. The method of claim 3, wherein the performing baseline quality check based on the fixed solution of the baseline vector and determining a baseline solution result based on the check result comprises:
calculating a synchronous loop closure difference and an independent loop closure difference according to a fixed solution of the baseline vector;
and when the synchronous ring closure difference meets a first error requirement and the independent ring closure difference meets a second error requirement, taking a fixed solution of the baseline vector as a baseline solution result.
6. The method of claim 1, wherein said performing three-dimensional constraint adjustment based on the baseline solution using the three-dimensional coordinates of the reference station as constraint points comprises:
Extracting a function independent baseline vector and precision statistical information corresponding to the function independent baseline vector according to the baseline calculation result;
determining a basic mathematical model according to the function independent baseline vector and the precision statistical information;
solving parameter estimation information and parameter estimation precision statistical information of the basic mathematical model;
updating the basic mathematical model according to the parameter estimation information and the parameter estimation accuracy statistical information to obtain an unconstrained adjustment mathematical model;
carrying out three-dimensional unconstrained adjustment according to the baseline solution result and the unconstrained adjustment mathematical model to obtain a three-dimensional unconstrained adjustment result;
and taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment according to the three-dimensional unconstrained adjustment result.
7. The method of claim 6, wherein said performing three-dimensional constraint adjustment based on said three-dimensional unconstrained adjustment results using three-dimensional coordinates of said reference station as constraint points comprises:
determining a target baseline vector, an observation value weighting mode and a starting point coordinate according to the three-dimensional unconstrained adjustment result;
determining a three-dimensional constraint adjustment model according to the target baseline vector, the observation value weighting mode and the starting point coordinates;
And taking the three-dimensional coordinates of the reference station as constraint points, and carrying out three-dimensional constraint adjustment through the three-dimensional constraint adjustment model.
8. A land traffic star-to-ground control network measurement device, characterized in that the land traffic star-to-ground control network measurement device comprises:
the control point data acquisition module is used for acquiring static observation data of a control point to be encrypted on the target control network;
the reference station data acquisition module is used for acquiring reference station real-time observation data of a plurality of continuously running reference stations near the control point to be encrypted;
the baseline resolving module is used for performing baseline resolving according to the static observation data of the encryption control point and the real-time observation data of the reference station to obtain a baseline resolving result;
the constraint adjustment module is used for taking the three-dimensional coordinates of the reference station as constraint points and carrying out three-dimensional constraint adjustment according to the baseline solution result;
and the measurement parameter determining module is used for determining target measurement parameters according to the three-dimensional constraint adjustment result.
9. A land traffic satellite-to-ground control network measurement device, the device comprising: a memory, a processor and a land traffic satellite control network measurement program stored on the memory and operable on the processor, the land traffic satellite control network measurement program configured to implement the land traffic satellite control network measurement method of any one of claims 1 to 7.
10. A storage medium having stored thereon a land traffic star-to-ground control network measurement program which, when executed by a processor, implements the land traffic star-to-ground control network measurement method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311141540.7A CN117555004A (en) | 2023-09-04 | 2023-09-04 | Land traffic satellite-ground control network measuring method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311141540.7A CN117555004A (en) | 2023-09-04 | 2023-09-04 | Land traffic satellite-ground control network measuring method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117555004A true CN117555004A (en) | 2024-02-13 |
Family
ID=89819306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311141540.7A Pending CN117555004A (en) | 2023-09-04 | 2023-09-04 | Land traffic satellite-ground control network measuring method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117555004A (en) |
-
2023
- 2023-09-04 CN CN202311141540.7A patent/CN117555004A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107390243A (en) | A kind of GNSS location datas and geography fence critical point thresholding method | |
| CN102998690B (en) | Attitude angle direct resolving method based on global position system (GPS) carrier wave double-difference equation | |
| Xu | Application of GPS-RTK technology in the land change survey | |
| CN106597504A (en) | Measurement system and method for building construction | |
| Mulakala | Measurement accuracy of the DJI phantom 4 RTK & photogrammetry | |
| US20190186913A1 (en) | Method for verifying accuracy of rtk tilt compensation measurement | |
| CN112363191A (en) | RTK-based field forest sample plot positioning method | |
| Schloderer et al. | Application of GNSS-RTK derived topographical maps for rapid environmental monitoring: a case study of Jack Finnery Lake (Perth, Australia) | |
| RU2612625C2 (en) | Integrated terrain modelling system | |
| CN101266153B (en) | Mapping engineering top total station accuracy assessment method | |
| CN114923466B (en) | Method and system for measuring and guiding center line offset of large-span bridge | |
| CN117555004A (en) | Land traffic satellite-ground control network measuring method, device, equipment and storage medium | |
| CN114488247A (en) | Method for analyzing mobility of equipment based on high-precision Beidou differential positioning | |
| CN110146050B (en) | Communication base station antenna monitoring method | |
| Yurdakul et al. | The effect of GLONASS on position accuracy in CORS-TR measurements at different baseline distances | |
| Taylor et al. | Surface modelling for GPS satellite visibility | |
| Patel | Modernizing Field Surveying: The Role and Impact of GNSS-RTK Technology in Digital Mapping | |
| Gašinec et al. | Analysis of geodetic network established inside the Dobšinská Ice Cave Space | |
| Dai | [Retracted] Analysis of Surveying and Mapping Method of Landownership and Environmental Resources Confirmation Based on GPS Technology | |
| CN107422340A (en) | A kind of multipoint location system receiving station positional error correction method | |
| Oran et al. | A precise proximity-weight formulation for map matching algorithms | |
| Kovalev et al. | Structural design of satellite geodetic networks using mobile monitoring stations | |
| CN114236585B (en) | Target motion monitoring method based on Beidou navigation satellite system and storage medium | |
| Simpson et al. | Updated survey standards and control guidance for improved operations | |
| Petrescu et al. | Topographic lifting of a sewerage network in Santamaria Orlea commune, Hunedoara county. |
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 |