CN118330694A - GNSS (Global navigation satellite System) offshore positioning receiver and positioning method based on remote management - Google Patents
GNSS (Global navigation satellite System) offshore positioning receiver and positioning method based on remote management Download PDFInfo
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Abstract
The invention belongs to the technical field of GNSS (Global navigation satellite System) offshore positioning receivers and satellite navigation positioning, and discloses a GNSS offshore positioning receiver and a positioning method based on remote management. The method includes remotely managed GNSS offshore positioning receiver assembly; in an area within the sea from the coastline 8, a GNSS (Global navigation satellite System) offshore positioning receiver receives data acquisition parameters and data processing parameter setting commands from a cloud service management platform and performs classification processing, performs station star double difference operation, eliminates errors, performs real-time differential dynamic positioning RTK (real-time kinematic) calculation, and feeds back operation state parameters of the GNSS offshore positioning receiver at regular time; and (3) performing classification processing in an area which is out of the coast 8, and finishing absolute real-time precise single point positioning PPP calculation based on single station data. The invention provides a high-efficiency and reliable working method for navigation service and offshore resource exploration, and has wide application prospect.
Description
Technical Field
The invention belongs to the technical field of GNSS (Global navigation satellite System) offshore positioning receivers and satellite navigation positioning, and particularly relates to a GNSS offshore positioning receiver and a positioning method based on remote management.
Background
At present, the integrated GNSS (Global navigation satellite System) offshore positioning receiver for ground disaster monitoring has more varieties and is provided with continuous acquisition and transmission of signals under the condition of good communication, however, the conventional receiver for ground disaster navigation and the like has obvious poor applicability in the face of the processing of the offshore motion state and the ground communication signal deficiency condition. The diversity and continuous updating of the global navigation system also bring certain challenges to the multi-system integration and multi-mode switching of the system, especially the self-adaptive service capability of the receiver, can control monitoring equipment through remote management and carry high-precision positioning service software, and finish the high-precision positioning results of offshore centimeters and open sea decimeters. The Beidou short message function provides communication support for offshore two-way communication, and the precise single-point positioning PPP technology provides technical support for open sea high-precision positioning service.
Through the above analysis, the problems and defects existing in the prior art are as follows: the receiver in the prior art has low accurate positioning in the near-far sea and poor remote control effect on the receiver. Moreover, the positioning mode of the receiver in the prior art is complex and poor in reliability, has low adaptability to communication environment, and cannot meet the positioning requirement and data transmission under open sea communication.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiments of the present invention provide a remote management-based GNSS offshore positioning receiver and a positioning method. In view of the development of the offshore Beidou short message technology and the enrichment of the GNSS data processing theory, the invention improves the positioning accuracy by continuously optimizing the positioning algorithm, simultaneously strengthens the adaptability to the offshore GNSS data processing, and further meets the continuously-increased requirements of the navigation field on efficient navigation and equipment management. Remotely managed GNSS maritime positioning receiver devices are an important part of current maritime space-time information services. By combining high-precision positioning with remote intelligent management, an efficient and reliable solution can be provided for offshore accurate position service, and intelligent development of marine position navigation equipment is promoted.
The technical scheme is as follows: the positioning method of the GNSS marine positioning receiver based on remote management comprises the following steps:
s1, completing the assembly of the whole observation system through a remotely managed GNSS (Global navigation satellite System) offshore positioning receiver;
s2, in an area within the sea 8 from the coastline, a GNSS marine positioning receiver receives a setting command of acquisition parameters and data processing parameters from a cloud service management platform, performs classification processing, and respectively completes parameter setting of GNSS chip data acquisition, data transmission parameter setting between GNSS data and the cloud service management platform and parameter setting of GNSS positioning calculation; the GNSS marine positioning receiver performs station star double difference operation with GNSS data acquired by the GNSS marine positioning receiver by receiving data from an onshore reference station, eliminates errors, performs real-time differential dynamic positioning RTK calculation, and feeds back running state parameters of the GNSS marine positioning receiver at regular time;
S3, in the area outside the sea of the coastline 8, the GNSS marine positioning receiver receives the instruction from the cloud service management platform and performs classification processing to respectively complete parameter setting for GNSS chip data acquisition, data transmission parameter setting between GNSS data and the cloud service management platform and parameter setting for GNSS positioning calculation; the GNSS marine positioning receiver receives the Beidou PPP-B2B signal through a GNSS chip, generates precise satellite orbit and satellite clock error products with broadcast ephemeris based on the real-time precise orbit and precise clock error correction parameters enhanced by a satellite base, completes absolute real-time precise single-point positioning PPP calculation based on single-station data, and feeds back the running state parameters of the GNSS marine positioning receiver through Beidou short message communication.
In step S1, the GNSS maritime positioning receiver includes: the system comprises a GNSS module, a processor module, a data communication module and a power module; completing the assembly of the entire observation system, comprising:
S11, the GNSS module is connected with an external GNSS antenna, receives Beidou and GNSS signals received by the GNSS antenna, records obtained observed data, and sends the observed data to the processor module for real-time differential dynamic positioning or real-time precise single-point positioning processing to obtain a position result; the GNSS module receives the configuration command from the processor module and completes parameter setting for GNSS data acquisition;
S12, the processor module decodes the observed data from the GNSS module, performs RTK or PPP positioning calculation according to the set positioning parameters, obtains a positioning result and sends the positioning result to the cloud service management platform through the data communication module; the processor module decodes the binary message character string into a command and a parameter character string, performs classified execution according to the command type, and respectively completes a GNSS chip configuration command, a GNSS data transmission parameter configuration command of the cloud service management platform and a GNSS data processing command and parameter; after the processor module decodes the configuration command parameters from the data communication module, parameter configuration operation is executed, and remote management and configuration of the receiver are completed;
S13, the data communication module transmits a result of positioning calculation performed by the processor module or data acquired originally to the cloud service management platform, and the cloud service management platform transmits a configuration instruction to the processor module through the data communication module to perform remote management of the GNSS marine positioning receiver; the cloud service management platform receives the operation state monitoring information from the device in real time, and the GNSS marine positioning receiver regularly transmits the power supply voltage, the data storage state and the program operation state of the GNSS marine positioning receiver according to the data transmission parameter configuration;
s14, the power supply module provides stable and continuous power supply, and the voltage monitoring device is used for monitoring the running state and adopting low-voltage protection.
In step S13, the cloud service management platform sends a configuration instruction to the processor module through the data communication module to perform remote management of the GNSS marine positioning receiver, including:
S131, a remote management cloud service management platform adopts a B/S architecture, and a service application program is configured on a receiver and the cloud service management platform and is responsible for decoding data and executing commands;
S132, the cloud service management platform issues commands, returns states, remotely configures and remotely restarts the GNSS marine positioning receiver, and performs fault judgment according to the remotely returned state information of the GNSS marine positioning receiver;
S133, the GNSS marine positioning receiver regularly transmits the running state and voltage condition information of the GNSS marine positioning receiver device according to the cloud service management platform instruction, and provides information basis for the establishment of a maintenance scheme when faults occur; and the GNSS marine positioning receiver transmits the marine positioning result and the observed data to the cloud service management platform according to the working environment and the transmission load requirement.
In step S12, a classification process is performed, including:
S121, the cloud service management platform monitors the running state of the GNSS marine positioning receiver in real time in the data processing center, obtains a ground 4G network for communication according to the environment within the coast 8 of the coast, communicates with the cloud service platform through Beidou short message service according to the environment outside the coast 8 of the coast, and configures GNSS signal acquisition frequency, GNSS signal type, original data transmission content, state monitoring frequency of the GNSS marine positioning receiver, firmware and service software of the remote upgrading device;
S122, the processor module decodes the instruction sent by the cloud service management platform, performs corresponding operation, sends GNSS chip configuration command parameters to the GNSS chip according to the command type, configures the GNSS data transmission command parameters to obtain configuration parameter files, restarts data transmission software, modifies the corresponding configuration files for the GNSS data processing parameter commands and restarts positioning calculation software; and returning all instruction execution state values, and autonomously transmitting program running state and power equipment state information of the GNSS marine positioning receiver.
In step S2, performing RTK positioning calculation according to the set positioning parameters, to obtain a positioning result, and sending the positioning result to the cloud service management platform through the data communication module, including:
S21, setting a reference station on coastal land for a GNSS (global navigation satellite system) offshore positioning receiver in an area within the coast 8, and transmitting GNSS observation data of the reference station to a cloud service management platform, wherein the cloud service management platform transmits the GNSS observation data to the GNSS offshore positioning receiver through a data output module;
S22, the GNSS marine positioning receiver receives real-time observation data from the reference station, and synchronously processes the real-time observation data and the GNSS observation data received by the GNSS antenna of the GNSS marine positioning receiver, and adopts a mode of sequential difference between satellites and receivers to eliminate the observation errors related to the positioning and middle receiver and the satellites, so as to complete the real-time differential dynamic positioning result based on the shore reference station and provide the coordinate position of the GNSS marine positioning receiver relative to the shore reference station.
In step S3, precise single-point positioning is realized by using the beidou PPP-B2B signal, and running state parameters of the GNSS maritime positioning receiver are fed back through beidou short message communication, including:
S31, in the area outside the coastline 8, the Beidou short message function completion device is in bidirectional communication with the cloud service management platform;
S32, PPP positioning adopts PPP-B2B service, uses received broadcast ephemeris and PPP-B2B information, and restores to real-time rapid precise orbit and real-time precise clock correction information according to a correction formula provided by a Beidou No. three system, and a GNSS marine positioning receiver performs real-time precise single-point positioning by using a real-time precise orbit clock product, wherein the expression is as follows:
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in the method, in the process of the invention, For the purpose of the correction of the track position,For the satellite positions in the broadcast ephemeris,For the satellite position correction vector,For the satellite clock-difference,For the broadcast ephemeris clock differential,For the correction of the parameters for the clock correction,Is the speed of light.
In step S31, when the beidou short message function completion device performs bidirectional communication with the cloud service management platform, the GNSS offshore positioning receiver autonomously receives signals from the beidou PPP-B2B service.
In step S32, the GNSS maritime positioning receiver performs real-time precise single point positioning using real-time precise track clock error products, including:
S321, data input: the observation data and broadcast ephemeris information are received, PPP-B2B telegraph text broadcast by a satellite is received, recorded and decoded by a GNSS module;
S322, data preprocessing: decoding PPP-B2B message to obtain satellite clock error, orbit and code deviation correction; version number matching is carried out, including matching of navigation data and corrections and matching among different types of corrections, so that the corrections can be subjected to error correction;
S323, data processing: processing errors in the navigation data, and calculating to obtain satellite positions, pseudo-ranges after error correction and carrier phase observation values;
s324, parameter estimation: using extended kalman filtering, unknown parameters including three-dimensional coordinate values of the site, and error terms that cannot be corrected in step S423;
s325, outputting a result: outputting position information, DOP value and RMS value;
S326, after PPP-B2B-based PPP processing, the obtained position information is sent to a Beidou GEO satellite through a short message sending terminal, received and forwarded through a Beidou ground monitoring station, and finally the position information is transmitted to a cloud service management platform for management and display processing at the cloud service management platform.
Step S323 further includes: and performing rough difference elimination and cycle slip detection.
Another object of the present invention is to provide a remote-management-based GNSS maritime positioning receiver, which is applied to the positioning method of the remote-management-based GNSS maritime positioning receiver, and the GNSS maritime positioning receiver includes:
the GNSS module is externally connected with a GNSS antenna and receives satellite signals of four systems of Beidou and GPS, GLONASS, galileo;
the data communication module comprises a 4G module, an external 4G antenna and a Beidou short message antenna, wherein the Beidou short message antenna comprises a Beidou short message module and an external short message communication antenna;
The processor module comprises a Linux running system, GNSS positioning software and GNSS data transmission software;
the power module comprises an external storage battery, a solar panel and a voltage monitoring chip.
By combining all the technical schemes, the invention has the following beneficial effects: the invention aims to finish accurate positioning of the receiver in different sea areas and finish remote control of the receiver, and compared with the conventional land receiver, the positioning method has obvious advantages in flexibility and diversity of data transmission, and meanwhile, the remote management function of two-way communication improves the intelligent advantage of equipment. The GNSS marine positioning receiver device is responsible for acquisition of GNSS signals and navigation data processing, the data communication module is used for completing instruction distribution and execution feedback of the GNSS chip, the processor and the cloud service management platform, and the cloud service management platform is used for completing state management and data management of a large number of GNSS marine positioning receiver devices.
The data processing algorithm usually equipped for the conventional GNSS marine positioning receiver only comprises an RTK algorithm, the precise single-point positioning technology cannot be completed under the condition of single station measurement at sea, the conventional GNSS marine positioning receiver is applied on land, the remote management function at sea is lost, and the long-term continuous operation requirement at sea cannot be used; the problems of remote management and offshore accurate positioning of the receiver are successfully solved by careful design of hardware and software of the receiver and functional completion of remote control of the receiver. This provides reliable support for spatial and temporal information for marine and marine resource development; secondly, based on the cloud service management platform, the design in the aspect of remote management is completed, and the user side can conveniently send commands to the receiver to complete flexible control of the receiver. Meanwhile, the user side can also carry out remote configuration on the receiver, such as adjusting the sampling frequency of the receiver, so as to meet the requirements in different scenes; further, the receiver designed by the invention can return the state of the receiver in real time, so that a user can monitor the running condition of the receiver at any time and any place, and the normal operation of equipment is ensured; under remote control, the user can restart the receiver, and stability and reliability of the device are improved. The hardware part of the receiver mainly comprises a GNSS module, a processor module, a data communication module and a power module. The modules work cooperatively to ensure that the receiver can stably run under various conditions and complete the functions of offshore positioning and remote management. Finally, the working method of the receiver skillfully combines two modes of RTK positioning within the coast 8 and precision positioning outside the coast 8 through PPP based on PPP-B2B, compared with the traditional GNSS receiver, the GNSS positioning mode is more flexible and reliable, has higher adaptability to communication environment, and especially meets the positioning requirement under the communication outside the coast 8. The flexible working method ensures that accurate positioning and data transmission can be completed under different sea areas and network conditions.
The invention provides a GNSS marine positioning receiver device with high efficiency and reliability for navigation service and marine resource exploration and a working method thereof, and has wide application prospect. In the area within the sea from the coastline 8, the GNSS marine positioning receiver receives the data acquisition parameters and the data processing parameter setting commands from the cloud service management platform, performs classification processing, performs station star double difference operation, eliminates errors, performs real-time differential dynamic positioning RTK calculation, and feeds back the running state parameters of the GNSS marine positioning receiver at regular time; and (3) performing classification processing in an area which is out of the coast 8, and finishing absolute real-time precise single point positioning PPP calculation based on single station data. The GNSS marine positioning receiver device and the working method thereof with high efficiency and reliability for remote management are provided for navigation service and marine resource exploration, and the GNSS marine positioning receiver device and the working method thereof have wide application prospect.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure;
FIG. 1 is a flow chart of a positioning method of a GNSS marine positioning receiver based on remote management according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a remote management-based GNSS offshore positioning receiver according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
The GNSS marine positioning receiver and the positioning method based on remote management provided by the embodiment of the invention have the innovation points that: according to the method, remote management and diversity positioning service of the offshore GNSS positioning device are realized, in an area within 8 seas from a coastline, a GNSS offshore positioning receiver receives parameter configuration instructions from a cloud service management platform through a ground 4G network and the like, performs dynamic differential positioning data processing, and can return positioning service results and device running state information in real time; and receiving configuration information from a cloud service platform and returning equipment operation states and positioning service results in real time based on Beidou short message communication service in an area outside the coast 8. The positioning service is realized by a single station real-time precise single point positioning PPP algorithm based on the Beidou PPP-B2B signal. The GNSS marine positioning receiver device for the whole sea area is provided for navigation service and marine resource exploration, is high-efficient and reliable in remote management, and has a wide application prospect.
The positioning method of the GNSS marine positioning receiver based on remote management provided by the invention comprises the following steps:
the remotely managed GNSS marine positioning receiver is assembled and arranged to complete the whole observation system.
And the GNSS offshore positioning receiver receives the data acquisition parameters and the data processing parameter setting commands from the cloud service management platform through the data communication module in the area within the coast 8, and the processor decodes the commands and executes corresponding configuration parameters.
And setting a GNSS reference station to enhance the offshore positioning service capability in an area within the coast 8, transmitting a GNSS offshore positioning receiver through a data communication module, completing high-precision positioning service by using an RTK positioning technology, and feeding back running state parameters of the device at regular time by the GNSS offshore positioning receiver through a two-way communication network.
And in the area outside the coastline 8, the GNSS offshore positioning receiver device receives the instruction from the cloud service management platform through Beidou short message communication, and the processor decodes the instruction content and executes the instruction.
And in the area outside the coastline 8, the GNSS offshore positioning receiver receives the Beidou PPP-B2B signal through the GNSS chip to complete PPP positioning, adapts to the offshore single-point positioning working condition, and feeds back the running state parameters of the device through Beidou short message communication.
Embodiment 1, as another implementation mode of the present invention, is a positioning method of a GNSS marine positioning receiver based on remote management, configured to complete remote management and accurate positioning service capability of the GNSS marine positioning receiver with high precision, complete configuration of remote data acquisition parameters of the GNSS marine positioning receiver and monitoring of operating state parameters of the receiver by using a two-way communication function of a ground 4G communication network or a beidou short message communication module, and complete unified management of a large number of data terminals and setting of RTK/PPP personalized positioning service requirements by using a cloud service management platform, and specifically includes the following steps:
s1, completing the assembly of the whole observation system through a remotely managed GNSS (Global navigation satellite System) offshore positioning receiver;
s2, in an area within the sea 8 from the coastline, a GNSS marine positioning receiver receives a setting command of acquisition parameters and data processing parameters from a cloud service management platform, performs classification processing, and respectively completes parameter setting of GNSS chip data acquisition, data transmission parameter setting between GNSS data and the cloud service management platform and parameter setting of GNSS positioning calculation; the GNSS marine positioning receiver performs station star double difference operation with GNSS data acquired by the GNSS marine positioning receiver by receiving data from an onshore reference station, eliminates errors, performs real-time differential dynamic positioning RTK calculation, and feeds back running state parameters of the GNSS marine positioning receiver at regular time;
S3, in the area outside the sea of the coastline 8, the GNSS marine positioning receiver receives the instruction from the cloud service management platform and performs classification processing to respectively complete parameter setting for GNSS chip data acquisition, data transmission parameter setting between GNSS data and the cloud service management platform and parameter setting for GNSS positioning calculation; the GNSS marine positioning receiver receives the Beidou PPP-B2B signal through a GNSS chip, generates precise satellite orbit and satellite clock error products with broadcast ephemeris based on the real-time precise orbit and precise clock error correction parameters enhanced by a satellite base, completes absolute real-time precise single-point positioning PPP calculation based on single-station data, and feeds back the running state parameters of the GNSS marine positioning receiver through Beidou short message communication.
In the embodiment of the present invention, the "assembling and installing the remotely managed GNSS maritime positioning receiver to complete the whole observation system" described in step S1 includes: the system comprises a GNSS module, a processor module, a data communication module and a power module.
The specific completion process is as follows:
S11, the GNSS module is connected with the external GNSS antenna, receives Beidou and other GNSS signals received by the GNSS antenna, records and obtains corresponding continuously observed data, and sends the data to the processor for real-time differential dynamic positioning or real-time precise single-point positioning processing to obtain a high-precision position result. The GNSS module can also receive configuration commands from the processor to complete parameter setting of the device for GNSS data acquisition.
S12, the processor module decodes the observed data from the GNSS module, performs corresponding RTK or PPP positioning calculation according to the set positioning parameters, obtains a positioning result and sends the positioning result to the cloud service management platform through the data communication module. The processor can decode the binary message character string into a command and a parameter character string at the same time, and execute the command according to the command type in a classified mode, so that a GNSS chip configuration command, a GNSS data transmission parameter configuration command and a GNSS data processing command and parameter of the cloud service management platform can be respectively completed. After the processor module decodes the configuration command parameters from the communication module, parameter configuration operation is executed, and remote management and configuration of the receiver are completed.
And S13, the data communication module transmits the result of positioning calculation by the processor or the data acquired originally to the cloud service management platform, the cloud service management platform can also transmit a configuration instruction to the processor through the data communication module to carry out remote management of the receiver, meanwhile, the cloud service management platform also receives the operation state monitoring information from the device in real time, and the receiver periodically transmits the power supply voltage, the data storage state and the program operation state of the receiver at regular time according to the configuration of the data transmission parameters, so that the cloud service end is ensured to master the operation information of the hardware and the software of the receiver in real time.
S14, a power supply module provides stable and continuous power supply for the device at sea, and the power supply of the device is guaranteed through an external solar panel and a storage battery, and meanwhile, the operation state of the device is monitored and low-voltage protection measures are taken by utilizing a voltage monitoring function.
In the embodiment of the invention, the GNSS offshore positioning receiver in step S1 is designed as a split machine, that is, the GNSS data acquisition terminal is separated from the GNSS antenna, the GNSS signal receiving antenna is placed at the data acquisition position, which is generally placed at the highest position of the carrier and has no shielding around, and when on the offshore dynamic carrier, it is in rapid motion, and the GNSS data recording, processing and transmitting part is placed at the lower part of the carrier, so that the motion state is stable, and the influence of the GNSS signal processing device by sea waves is reduced. And a GNSS feeder is used for connecting the GNSS antenna with the receiver, so that the integration level, the safety and the maintainability of the equipment are improved.
In the embodiment of the present invention, in step S13, the cloud service management platform completes remote management for the GNSS offshore positioning receiver. The completion flow is as follows:
S131, the remote management cloud service management platform adopts a B/S architecture, and a service application program is configured on the receiver and the cloud service management platform and is responsible for decoding data and executing commands.
S132, the cloud service management platform can perform a series of operations such as command issuing, state returning, remote configuration, remote restarting and the like on the receiver, can perform fault judgment according to the state information of the receiver returned by the remote, and according to the power voltage state, the data storage state and the software running state returned by the receiver, analyze whether the working fault of the receiver is caused by insufficient solar power supply, insufficient data storage space, software running fault and the like, and can wait for the recovery of power supply of a sunny day for the power supply problem, and upgrade and reform a storage battery under the condition permission; the method can be used for remotely deleting historical data for the problem of the storage space, remotely upgrading and restarting the software operation faults, comprehensively judging other complex faults according to conditions, and making a plurality of possible maintenance schemes. Therefore, maintenance staff can solve simple problems by using mature solutions, and complex problems can be formulated with pertinence to a maintenance method, so that a series of operations such as frequent field checking, field formulation, field repeated testing and the like are avoided, and the time and cost required by maintenance are reduced as much as possible.
S133, the GNSS marine positioning receiver can send information such as the running state, the voltage condition and the like of the GNSS marine positioning receiver device at regular time according to the cloud service management platform instruction, and can provide information basis for the establishment of a maintenance scheme when the local receiver device fails; meanwhile, the GNSS marine positioning receiver device transmits the marine positioning result and the observed data to the cloud service management platform according to the working environment and the transmission load requirement.
In the embodiment of the invention, the GNSS module supports a high-precision GNSS board card and comprises the receiving of the Beidou III PPP-B2B signal; the data communication module comprises a 4G module and a Beidou short message function module, wherein the 4G module adopts a PCIe interface and can use a USB2.0 protocol and a USART interface to carry out data transmission; the Beidou short message function module can receive and decode Beidou enhanced positioning information; the processor module is provided with an ARM processor with low power consumption and high performance, and has good performance and power consumption balance; the power module mainly comprises equipment voltage stabilization input and voltage change monitoring, and provides circuit protection and running state monitoring indexes for field operation equipment.
In the embodiment of the present invention, in step S12, the device in the area within the coast 8 is used for processing the instruction of the cloud service management platform, and the completion process is as follows:
S121, the cloud service management platform monitors the running state of the GNSS marine positioning receiver in real time in the data processing center, can obtain a ground 4G network according to the environment within the coast 8 from the coastline, configures the GNSS signal acquisition frequency, the GNSS signal type, the original data transmission content and the state monitoring frequency of the GNSS marine positioning receiver, and remotely upgrades the firmware and service software of the device.
S122, the processor decodes the instruction sent by the cloud service management platform, performs corresponding operation, sends GNSS chip configuration command parameters to the GNSS chip according to the command type, configures the GNSS data transmission command parameters to obtain configuration parameter files, restarts the data transmission software, modifies the corresponding configuration files for the GNSS data processing parameter commands, and restarts the positioning calculation software. And can return all instruction execution state values, and autonomously send equipment state information such as program running state of the device and electric quantity of the receiver.
In the embodiment of the invention, in step S2, the precise positioning is completed in the area within the coast 8 by using the RTK technique, and the completion process is as follows:
S21, setting a reference station on the coast land for the GNSS marine positioning receiver in the area within the coast 8, and sending GNSS observation data of the reference station to a cloud service management platform, wherein the cloud service management platform sends the GNSS marine positioning receiver through a data output module.
S22, the GNSS marine positioning receiver receives real-time observation data from the reference station, and synchronously processes the real-time observation data and the GNSS observation data received by the GNSS antenna of the GNSS marine positioning receiver, and adopts a mode of sequential difference between satellites and the receivers to eliminate the observation errors related to the positioning and middle receiver and the satellites, so as to complete the real-time differential dynamic positioning result based on the shore reference station and provide the accurate coordinate position of the GNSS marine positioning receiver relative to the shore reference station.
In the embodiment of the present invention, the GNSS marine positioning receiver apparatus in step S3 receives the instruction from the cloud service management platform through the Beidou short message communication, and the completion process is as follows:
S31, in the area outside the coast 8, the GNSS offshore positioning receiver cannot acquire the ground 4G signal, the Beidou short message function can complete the bidirectional communication between the device and the cloud service management platform, a reference station is not required to be arranged on the shore, and the GNSS offshore positioning receiver device can autonomously receive signals from the Beidou PPP-B2B service.
S32, PPP positioning adopts PPP-B2B service, uses received broadcast ephemeris and PPP-B2B information, and restores to real-time rapid precise orbit and real-time precise clock correction information according to a correction formula provided by a Beidou No. three system, and a GNSS marine positioning receiver terminal uses a real-time precise orbit clock correction product to perform real-time precise single-point positioning.
Embodiment 2 as shown in fig. 2, a remote management-based GNSS maritime positioning receiver (remote management GNSS positioning terminal) provided in an embodiment of the present invention includes: the system comprises a GNSS module, a data communication module, a processor module and a power module; the remote management-based GNSS marine positioning receiver also needs the assistance of other accessories in the working process, wherein a GNSS module is externally connected with a GNSS antenna and receives satellite signals of four systems of Beidou and GPS, GLONASS, galileo;
The data communication module comprises a 4G module, an external 4G antenna and a Beidou short message antenna, wherein the Beidou short message antenna comprises a Beidou short message module and an external short message communication antenna;
the processor module comprises a Linux running system, GNSS positioning software and GNSS data transmission software;
the power module comprises an external storage battery, a solar panel and a voltage monitoring chip.
The working flow of the GNSS marine positioning receiver based on remote management is as follows:
firstly, assembling a working platform of a GNSS (Global navigation satellite System) offshore positioning receiver with a remote management function, wherein the cloud service management platform and the GNSS offshore positioning receiver complete network communication through a 4G module at a position within 8 seas from a coastline; the Beidou short message communication is adopted in the area without 4G signals outside the coastline 8;
The GNSS antenna is connected with the GNSS module through a TNC feeder line; the 4G antenna is connected with the 4G module in a wired mode; the short message communication antenna is connected with the short message module in a wired mode; the GNSS module is connected with the processor module in a wired mode; the short message module is connected with the processor module in a wired mode; the processor module is connected with the data communication module in a wireless mode; the data communication module is connected with the cloud service management platform in a wireless mode; the power module is connected with the GNSS module, the processor module, the data communication module and the like in a wired mode.
And secondly, aiming at implementation of positioning service within the coast 8, RTK positioning technology can be adopted, a static reference station is required to be established on the coast, a clear and unoccluded area is selected by the station, and a certain distance is reserved from the coast, so that the influence of multipath on the water surface is prevented. Setting the sampling rate of a reference station to be 1Hz, adopting a 4G network for data transmission, and carrying out data transmission according to an Ntrip protocol, wherein the data format is RTCM3.
And thirdly, arranging a GNSS (Global navigation satellite System) offshore positioning receiver based on an offshore buoy system, arranging a GNSS antenna arranging platform at the top of a mast by the offshore buoy, connecting and fixing the GNSS antenna by using a steel connecting rod, connecting the GNSS antenna and the GNSS offshore positioning receiver to a working bin at the bottom of the buoy by adopting a GNSS signal feeder line, and fixing the GNSS offshore positioning receiver on a working table by adopting screws so as to avoid equipment damage under the influence of sea surge fluctuation. The buoy adopts a solar power supply system to directly provide standard 12V working voltage for the GNSS marine positioning receiver.
After the GNSS marine positioning receiver is powered on and started, the GNSS marine positioning receiver is initialized to start operation, and after the start operation is completed, a timing task is called to start a task process, and data acquisition and data transmission processing work is started. After the software is started, preset configuration information is read, and default configuration information such as serial port baud rate, input and output parameters and the like is set. The original data transmission adopts an Ntrip protocol, adopts an RTCM3 format and is transmitted to a cloud service data center. Meanwhile, GNSS positioning software carried by the GNSS offshore positioning receiver processes GNSS observation data, and RTK positioning calculation is completed by receiving differential observation data from the reference station. Based on the MQTT protocol, the positioning result of the GNSS marine positioning receiver is sent in real time. Meanwhile, after the GNSS marine positioning receiver is started, the MQTT client is started to transmit the equipment state at fixed time. And the cloud service management platform transmits the information to the GNSS offshore positioning receiver according to the positioning requirement and the designated command parameters through the MQTT protocol, and the processor receives corresponding information and then decodes and executes corresponding configuration commands.
Step four, the buoy device is placed in an area outside the coastline 8, a GNSS reference station is not required to be arranged at the moment, the Beidou chip is used for receiving the Beidou PPP-B2B signal, decoding the B2B signal, recovering real-time precise orbit and precise clock correction information together with broadcast ephemeris, and completing precise single-point positioning service based on single receiver data on the buoy, wherein the precise single-point positioning process based on the Beidou PPP-B2B is as follows:
(1) Data input: in addition to the observations and broadcast ephemeris information, the PPP-B2B message broadcast by the satellite needs to be received, and the GNSS module receives, records and decodes the message.
(2) Data preprocessing: decoding PPP-B2B message to obtain satellite clock error, orbit and code deviation correction; version number matching, including matching of navigation data and corrections, and matching between different types of corrections is also required to ensure that the corrections can be accurately and effectively error corrected.
(3) And (3) data processing: it is to process various errors in the navigation data. The correction provided by the current PPP-B2B can correct satellite orbit and satellite clock error, in PPP, ionosphere errors are generally counteracted by ionosphere combination, and other errors can be corrected by adopting standard models. Through the method, the satellite position with relative precision, the pseudo-range and carrier phase observed value after error correction can be calculated, and meanwhile, some coarse error elimination and cycle slip detection work are needed.
(4) Parameter estimation: the unknown parameters include three-dimensional coordinate values of the station and error terms that cannot be corrected in the previous step, including tropospheric delay wet component, receiver clock bias, and integer ambiguity in carrier phase observations using extended kalman filtering.
(5) And (3) outputting results: output location information, DOP value, RMS value, etc.
(6) After PPP-B2B-based PPP processing, the obtained position information is sent to a Beidou GEO satellite through a short message sending terminal, received and forwarded through a Beidou ground monitoring station, and finally the position information is transmitted to a cloud service management platform for management and display processing at the cloud service management platform.
According to the above, the receiver can remotely perform operations such as command issuing, state feedback, receiver configuration and restarting, and the GNSS offshore positioning receiver is designed in a targeted manner according to the characteristics of different distances from the coastline, so that the GNSS offshore positioning receiver can respectively select different working modes and positioning methods within the coast 8 and outside the coast 8, and people can accurately know positioning information.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The content of the information interaction and the execution process between the devices/units and the like is based on the same conception as the method embodiment of the present invention, and specific functions and technical effects brought by the content can be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present invention. For specific working processes of the units and modules in the system, reference may be made to corresponding processes in the foregoing method embodiments.
The embodiment of the invention also provides a computer device, which comprises: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor performing the steps of any of the various method embodiments described above when the computer program is executed.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the respective method embodiments described above.
The embodiment of the invention also provides an information data processing terminal, which is used for providing a user input interface to implement the steps in the method embodiments when the information data processing terminal is executed on an electronic device, and the information data processing terminal is not limited to a mobile phone, a computer and a switch.
The embodiment of the invention also provides a server which is used for providing a user input interface for implementing the steps in the method embodiments when the server is executed on the electronic device.
Embodiments of the present invention provide a computer program product which, when run on an electronic device, causes the electronic device to perform the steps of the method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may accomplish all or part of the flow of the method of the above-described embodiments, and may be accomplished by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may accomplish the steps of the above-described method embodiments when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RandomAccessMemory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
While the invention has been described with respect to what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. A positioning method of a GNSS maritime positioning receiver based on remote management, the method comprising:
s1, completing the assembly of the whole observation system through a remotely managed GNSS (Global navigation satellite System) offshore positioning receiver;
s2, in an area within the sea 8 from the coastline, a GNSS marine positioning receiver receives a setting command of acquisition parameters and data processing parameters from a cloud service management platform, performs classification processing, and respectively completes parameter setting of GNSS chip data acquisition, data transmission parameter setting between GNSS data and the cloud service management platform and parameter setting of GNSS positioning calculation; the GNSS marine positioning receiver performs station star double difference operation with GNSS data acquired by the GNSS marine positioning receiver by receiving data from an onshore reference station, eliminates errors, performs real-time differential dynamic positioning RTK calculation, and feeds back running state parameters of the GNSS marine positioning receiver at regular time;
S3, in the area outside the sea of the coastline 8, the GNSS marine positioning receiver receives the instruction from the cloud service management platform and performs classification processing to respectively complete parameter setting for GNSS chip data acquisition, data transmission parameter setting between GNSS data and the cloud service management platform and parameter setting for GNSS positioning calculation; the GNSS marine positioning receiver receives the Beidou PPP-B2B signal through a GNSS chip, generates precise satellite orbit and satellite clock error products with broadcast ephemeris based on the real-time precise orbit and precise clock error correction parameters enhanced by a satellite base, completes absolute real-time precise single-point positioning PPP calculation based on single-station data, and feeds back the running state parameters of the GNSS marine positioning receiver through Beidou short message communication.
2. The positioning method of a remotely managed GNSS maritime positioning receiver according to claim 1, wherein in step S1, the GNSS maritime positioning receiver includes: the system comprises a GNSS module, a processor module, a data communication module and a power module; completing the assembly of the entire observation system, comprising:
S11, the GNSS module is connected with an external GNSS antenna, receives Beidou and GNSS signals received by the GNSS antenna, records obtained observed data, and sends the observed data to the processor module for real-time differential dynamic positioning or real-time precise single-point positioning processing to obtain a position result; the GNSS module receives the configuration command from the processor module and completes parameter setting for GNSS data acquisition;
S12, the processor module decodes the observed data from the GNSS module, performs RTK or PPP positioning calculation according to the set positioning parameters, obtains a positioning result and sends the positioning result to the cloud service management platform through the data communication module; the processor module decodes the binary message character string into a command and a parameter character string, performs classified execution according to the command type, and respectively completes a GNSS chip configuration command, a GNSS data transmission parameter configuration command of the cloud service management platform and a GNSS data processing command and parameter; after the processor module decodes the configuration command parameters from the data communication module, parameter configuration operation is executed, and remote management and configuration of the receiver are completed;
S13, the data communication module transmits a result of positioning calculation performed by the processor module or data acquired originally to the cloud service management platform, and the cloud service management platform transmits a configuration instruction to the processor module through the data communication module to perform remote management of the GNSS marine positioning receiver; the cloud service management platform receives the operation state monitoring information from the device in real time, and the GNSS marine positioning receiver regularly transmits the power supply voltage, the data storage state and the program operation state of the GNSS marine positioning receiver according to the data transmission parameter configuration;
s14, the power supply module provides stable and continuous power supply, and the voltage monitoring device is used for monitoring the running state and adopting low-voltage protection.
3. The positioning method of a remote-management-based GNSS marine positioning receiver according to claim 2, wherein in step S13, the cloud service management platform sends a configuration instruction to the processor module through the data communication module to perform remote management of the GNSS marine positioning receiver, including:
S131, a remote management cloud service management platform adopts a B/S architecture, and a service application program is configured on a receiver and the cloud service management platform and is responsible for decoding data and executing commands;
S132, the cloud service management platform issues commands, returns states, remotely configures and remotely restarts the GNSS marine positioning receiver, and performs fault judgment according to the remotely returned state information of the GNSS marine positioning receiver;
S133, the GNSS marine positioning receiver regularly transmits the running state and voltage condition information of the GNSS marine positioning receiver device according to the cloud service management platform instruction, and provides information basis for the establishment of a maintenance scheme when faults occur; and the GNSS marine positioning receiver transmits the marine positioning result and the observed data to the cloud service management platform according to the working environment and the transmission load requirement.
4. The positioning method of a remotely managed GNSS maritime positioning receiver according to claim 1, wherein in step S12, a classification process is performed, including:
S121, the cloud service management platform monitors the running state of the GNSS marine positioning receiver in real time in the data processing center, obtains a ground 4G network to communicate according to the environment within the coast 8 of the coastline, communicates with the cloud service platform through Beidou short message service according to the environment outside the coast 8 of the coast, configures GNSS signal acquisition frequency, GNSS signal type, original data transmission content and state monitoring frequency of the GNSS marine positioning receiver, and remotely upgrades firmware and service software of the device;
S122, the processor module decodes the instruction sent by the cloud service management platform, performs corresponding operation, sends GNSS chip configuration command parameters to the GNSS chip according to the command type, configures the GNSS data transmission command parameters to obtain configuration parameter files, restarts data transmission software, modifies the corresponding configuration files for the GNSS data processing parameter commands and restarts positioning calculation software; and returning all instruction execution state values, and autonomously transmitting program running state and power equipment state information of the GNSS marine positioning receiver.
5. The positioning method of a remote management-based GNSS marine positioning receiver according to claim 1, wherein in step S2, RTK positioning calculation is performed according to the set positioning parameters, and positioning results are obtained and sent to a cloud service management platform through a data communication module, including:
S21, setting a reference station on coastal land for a GNSS (global navigation satellite system) offshore positioning receiver in an area within the coast 8, and transmitting GNSS observation data of the reference station to a cloud service management platform, wherein the cloud service management platform transmits the GNSS observation data to the GNSS offshore positioning receiver through a data output module;
S22, the GNSS marine positioning receiver receives real-time observation data from the reference station, and synchronously processes the real-time observation data and the GNSS observation data received by the GNSS antenna of the GNSS marine positioning receiver, and adopts a mode of sequential difference between satellites and receivers to eliminate the observation errors related to the positioning and middle receiver and the satellites, so as to complete the real-time differential dynamic positioning result based on the shore reference station and provide the coordinate position of the GNSS marine positioning receiver relative to the shore reference station.
6. The positioning method of a remote-management-based GNSS marine positioning receiver according to claim 1, wherein in step S3, feeding back the operation state parameters of the GNSS marine positioning receiver through the beidou short message communication includes:
S31, in the area outside the coastline 8, the Beidou short message function completion device is in bidirectional communication with the cloud service management platform;
S32, PPP positioning adopts PPP-B2B service, uses received broadcast ephemeris and PPP-B2B information, and restores to real-time rapid precise orbit and real-time precise clock correction information according to a correction formula provided by a Beidou No. three system, and a GNSS marine positioning receiver performs real-time precise single-point positioning by using a real-time precise orbit clock product, wherein the expression is as follows:
；
；
in the method, in the process of the invention, For the purpose of the correction of the track position,For the satellite positions in the broadcast ephemeris,For the satellite position correction vector,For the satellite clock-difference,For the broadcast ephemeris clock differential,For the correction of the parameters for the clock correction,Is the speed of light.
7. The method according to claim 6, wherein in step S31, the GNSS marine positioning receiver autonomously receives signals from the beidou PPP-B2B service when the beidou short message function completion device is in bidirectional communication with the cloud service management platform.
8. The method according to claim 6, wherein in step S32, the GNSS marine positioning receiver performs real-time precise single point positioning using real-time precise orbit clock error products, comprising:
S321, data input: the observation data and broadcast ephemeris information are received, PPP-B2B telegraph text broadcast by a satellite is received, recorded and decoded by a GNSS module;
S322, data preprocessing: decoding PPP-B2B message to obtain satellite clock error, orbit and code deviation correction; version number matching is carried out, including matching of navigation data and corrections and matching among different types of corrections, so that the corrections can be subjected to error correction;
S323, data processing: processing errors in the navigation data, and calculating to obtain satellite positions, pseudo-ranges after error correction and carrier phase observation values;
s324, parameter estimation: using extended kalman filtering, unknown parameters including three-dimensional coordinate values of the site, and error terms that cannot be corrected in step S323;
s325, outputting a result: outputting position information, DOP value and RMS value;
S326, after PPP-B2B-based PPP processing, the obtained position information is sent to a Beidou GEO satellite through a short message sending terminal, received and forwarded through a Beidou ground monitoring station, and finally the position information is transmitted to a cloud service management platform for management and display processing at the cloud service management platform.
9. The method of remotely managed GNSS maritime positioning receiver of claim 8 wherein step S323 further comprises: and performing rough difference elimination and cycle slip detection.
10. A remotely managed GNSS maritime positioning receiver according to any of the claims 1-9, comprising:
the GNSS module is externally connected with a GNSS antenna and receives satellite signals of four systems of Beidou and GPS, GLONASS, galileo;
the data communication module comprises a 4G module, an external 4G antenna and a Beidou short message antenna, wherein the Beidou short message antenna comprises a Beidou short message module and an external short message communication antenna;
The processor module comprises a Linux running system, GNSS positioning software and GNSS data transmission software;
the power module comprises an external storage battery, a solar panel and a voltage monitoring chip.
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