CN117706583A - High-precision positioning method and system - Google Patents
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Abstract
The invention belongs to the technical field of positioning, and particularly relates to a high-precision positioning method, which comprises the steps of acquiring GNSS positioning data, RTK positioning data, IMU data and actual position data of a positioning object in a period of time to form a test data set; building a positioning model, training the positioning model through a test data set, and obtaining model position data; acquiring a position error according to the model position data and the actual position data, and correcting the positioning model according to the position error; and acquiring real-time GNSS positioning data, RTK positioning data and IMU data of the positioning object, and acquiring position data of the positioning object through a trained positioning model. The invention fuses GNSS positioning data, RTK positioning data and IMU data to realize higher-precision positioning and realize continuous positioning under weak signal or no signal condition.
Description
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to a high-precision positioning method and system.
Background
The accuracy of high accuracy positioning can be divided into several levels: the traditional global navigation satellite system has positioning errors of 5 to 10 meters at sub-meter level, centimeter level and millimeter level, and the improvement of positioning accuracy is the most important requirement of various Internet of things terminals in the universal intelligent networking era. At present, by means of a Beidou foundation enhancement system, higher-precision positioning can be achieved, the problems of high foundation construction cost and the like of current Beidou foundation enhancement are solved, and the problems of low precision are solved by adopting a single positioning module for positioning.
Disclosure of Invention
The invention provides a high-precision positioning method and a high-precision positioning system, which aim to solve the technical problems in the background art.
The technical scheme of the invention is as follows: a high precision positioning method comprising:
s10: acquiring GNSS positioning data, RTK positioning data, IMU data and actual position data of a positioning object in a period of time to form a test data set;
s20: building a positioning model, training the positioning model through a test data set, and obtaining model position data;
s30: acquiring a position error according to the model position data and the actual position data, and correcting the positioning model according to the position error;
s30: and acquiring real-time GNSS positioning data, RTK positioning data and IMU data of the positioning object, and acquiring position data of the positioning object through a trained positioning model.
Further, the GNSS positioning data is collected by a GNSS module, the RTK positioning data is collected by an RTK module, and the IMU data is collected by an IMU module.
Further, the step S20 includes: and establishing a positioning model by adopting an LSTM network model fusion algorithm, normalizing the data in the test data set, and training the model by the normalized test data set.
Further, the test dataset was as follows: 1. the ratio of (2) is divided into a training set and a testing set, wherein the training set is used for training the positioning model, and the testing set is used for testing and verifying the trained model.
Further, the step S30 includes:
the position error is the difference between the model position data and the actual position data,
and according to the position error, acquiring a position correction quantity through Kalman filtering, and correcting model position data output by the positioning model according to the position correction quantity to acquire final positioning data.
Another technical scheme of the invention is as follows: a high precision positioning system comprising: the system comprises a GNSS module, an IMU module, an RTK module and a processing module, wherein the GNSS module, the IMU module and the RTK module are all in communication connection with the processing module, and the processing module is used for executing any high-precision positioning method.
Further, the method further comprises the following steps: the satellite signal receiving circuit is connected with the filtering amplifying circuit, the interference suppressing circuit is connected with the filtering amplifying circuit, and the filtering amplifying circuit is connected with the GNSS module.
Further, the device also comprises a power supply module, a storage module and a clock module, wherein the power supply module, the storage module and the clock module are connected with the processing module.
The invention has the beneficial effects that: the invention fuses GNSS positioning data, RTK positioning data and IMU data to realize higher-precision positioning and realize continuous positioning under weak signal or no signal condition.
The invention can meet the application fields of high-precision positioning, high-precision time service and the like, is suitable for application fields of wearable equipment, internet of things equipment, unmanned aerial vehicle, intelligent driving, accurate agriculture, accurate measurement, power communication equipment and the like, and has the characteristics of high integration level, high performance, low power consumption, small size and the like.
Drawings
FIG. 1 is a flow chart of a high precision positioning method of the present invention.
FIG. 2 is a block diagram of a high precision positioning system according to the present invention.
Fig. 3 is a circuit diagram of an interference suppression circuit in the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings, in which the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present solution, a high-precision positioning method is provided, and it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from that herein.
In one embodiment of the present invention, fig. 1 is a schematic flow diagram provided by a specific flow of a high-precision positioning method according to the present invention, and as shown in fig. 1, the present invention specifically includes:
s10: and acquiring GNSS positioning data, RTK positioning data, IMU data and actual position data of the positioning object in a period of time to form a test data set.
The GNSS positioning data are collected by the GNSS module, the RTK positioning data are collected by the RTK module, and the IMU data are collected by the IMU module. Wherein, IMU moduleCompleting detection of acceleration data and attitude data of the alignment object, wherein the data form a vectorWherein B represents GNSS positioning data, A represents acceleration data, G represents attitude data, L represents passing actual position data, and R represents RTK positioning data.
S20: and establishing a positioning model, training the positioning model through a test data set, and obtaining model position data.
And establishing a positioning model by adopting an LSTM network model fusion algorithm, normalizing the data in the test data set, and training the model by the normalized test data set.
The test dataset was as follows: 1. the ratio of (2) is divided into a training set and a testing set, wherein the training set is used for training the positioning model, and the testing set is used for testing and verifying the trained model.
After the positioning model is trained, model position data can be output according to GNSS positioning data, RTK positioning data and IMU data.
S30: and acquiring a position error according to the model position data and the actual position data, and correcting the positioning model according to the position error.
The position error is the difference between the model position data and the actual position data, the position correction quantity is obtained through Kalman filtering according to the position error, and the model position data output by the positioning model is corrected according to the position correction quantity, so that the final positioning data is obtained.
Meanwhile, the position error is acquired for a plurality of times through the test data set, so that the position error can be adjusted, and a more accurate correction amount is acquired.
S40: and acquiring real-time GNSS positioning data, RTK positioning data and IMU data of the positioning object, and acquiring position data of the positioning object through a trained positioning model.
In another aspect of the present invention, fig. 2 is a block diagram of a specific structure of a high-precision positioning system, and as shown in fig. 2, the present invention specifically includes: the positioning system comprises a GNSS module 2, an IMU module 4, an RTK module 3 and a processing module 1, wherein the GNSS module 2, the IMU module 4 and the RTK module 3 are all in communication connection with the processing module 1, and the processing module 1 is used for executing any one of the high-precision positioning methods.
The processing module 1 may specifically be an MCU chip.
The GNSS module 2 is configured to receive and decode the full-band satellite signals, determine information such as position, speed, time, and the like, and acquire GNSS position data.
The IMU module 4 completes detection of acceleration data and posture data of the alignment object, thereby acquiring IMU data including acceleration data and posture data.
The RTK module 3 realizes carrier phase difference and achieves differential base station positioning. And carrying out real-time differential operation according to a relative positioning principle, so as to calculate the three-dimensional coordinates and the precision of the module and obtain RTK positioning data.
In one embodiment of the present technical solution, the present invention further includes: the satellite signal receiving circuit 5, the interference suppression circuit 7 and the filter amplification circuit 6, wherein the satellite signal receiving circuit 5 is connected with the filter amplification circuit 6, the interference suppression circuit 7 is connected with the filter amplification circuit 6, and the filter amplification circuit 6 is connected with the GNSS module 2.
The satellite receiving circuit is used for receiving satellite signals, the filtering and amplifying circuit 6 is used for realizing radio frequency receiving and transmitting conversion of baseband signals, filtering interference signals and amplifying, and the interference suppression circuit is specifically shown in fig. 3 and used for completing an anti-interference hardware acceleration circuit, so that radio frequency interference can be rapidly detected and suppressed. The satellite receiving circuit and the filter amplifying circuit 6 are conventional in the art, and will not be described herein.
In one embodiment of the present disclosure, the present disclosure further includes a power supply module 8, a storage module 10, and a clock module 9, where the power supply module 8, the storage module 10, and the clock module 9 are all connected to the processing module 1.
The power supply module 8 is used for supplying power to the power utilization module, and the storage module 10 includes a ROM, RAM, FLASH to support the overall operation of the module. The clock module 9 provides an operating clock beat reference.
The system can meet the requirements of high-precision positioning, high-precision time service and other applications, is suitable for application fields of wearable equipment, internet of things equipment, unmanned aerial vehicle, intelligent driving, accurate agriculture, accurate measurement, power communication equipment and the like, has the characteristics of high integration level, high performance, low power consumption, small size and the like, is developed to promote industrialization of full-frequency band positioning chips, realizes large-scale popularization and application of double-frequency high-precision positioning modules, pulls fusion development of upstream enterprises and downstream enterprises, and realizes collaborative innovation of an industrial chain.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and all such modifications and equivalents are intended to be encompassed in the scope of the claims of the present invention.
Claims (8)
1. A high precision positioning method, comprising:
s10: acquiring GNSS positioning data, RTK positioning data, IMU data and actual position data of a positioning object in a period of time to form a test data set;
s20: building a positioning model, training the positioning model through a test data set, and obtaining model position data;
s30: acquiring a position error according to the model position data and the actual position data, and correcting the positioning model according to the position error;
s40: and acquiring real-time GNSS positioning data, RTK positioning data and IMU data of the positioning object, and acquiring position data of the positioning object through a trained positioning model.
2. The high precision positioning method according to claim 1, characterized in that the GNSS positioning data are acquired by a GNSS module, the RTK positioning data are acquired by an RTK module (3), and the IMU data are acquired by an IMU module (4).
3. The high-precision positioning method according to claim 1, wherein the step S20 includes:
and establishing a positioning model by adopting an LSTM network model fusion algorithm, normalizing the data in the test data set, and training the model by the normalized test data set.
4. The high precision positioning method according to claim 1, wherein the test dataset is prepared according to 4: 1. the ratio of (2) is divided into a training set and a testing set, wherein the training set is used for training the positioning model, and the testing set is used for testing and verifying the trained model.
5. The high-precision positioning method according to claim 1, wherein the step S30 includes:
the position error is the difference between the model position data and the actual position data,
and according to the position error, acquiring a position correction quantity through Kalman filtering, and correcting model position data output by the positioning model according to the position correction quantity to acquire final positioning data.
6. A high precision positioning system, comprising: the device comprises a GNSS module (2), an IMU module (4), an RTK module (3) and a processing module (1), wherein the GNSS module (2), the IMU module (4) and the RTK module (3) are all in communication connection with the processing module (1), and the processing module (1) is used for executing the high-precision positioning method according to any one of claims 1-5.
7. The high precision positioning system according to claim 1, further comprising: the satellite signal receiving circuit (5), the interference suppression circuit (7) and the filtering amplification circuit (6), the satellite signal receiving circuit (5) is connected with the filtering amplification circuit (6), the interference suppression circuit (7) is connected with the filtering amplification circuit (6), and the filtering amplification circuit (6) is connected with the GNSS module (2).
8. The high-precision positioning system according to claim 1, further comprising a power supply module (8), a storage module (10) and a clock module (9), wherein the power supply module (8), the storage module (10) and the clock module (9) are connected with the processing module (1).
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