CN1858615A - Single frequency GPS measuring device and its measuring positioning method - Google Patents
Single frequency GPS measuring device and its measuring positioning method Download PDFInfo
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- CN1858615A CN1858615A CNA2005100345421A CN200510034542A CN1858615A CN 1858615 A CN1858615 A CN 1858615A CN A2005100345421 A CNA2005100345421 A CN A2005100345421A CN 200510034542 A CN200510034542 A CN 200510034542A CN 1858615 A CN1858615 A CN 1858615A
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Abstract
This invention relates to a single-frequency GPS measuring device and its location method including receivers of a primary station and a mobile station, both of which include orderly connected GPS antenna, a GPS chip, a control circuit and its built-in control software module and a data interface, in which, the mobile station receiver also includes a data processor, the location method includes: the primary receiver receives the observation volumes of satellites and transmits them via its data interface, the mobile receiver receives the satellite observation volumes and transmits them to the data processor, which collects the volume then tests the quality, tests data packet sort, data decoding, data buffer, satellite clock synchronization , examination of satellite calendar, computation to satellite orbit, removing rough errors of the observation volume, the periodic hop test and process, difference computation and error analysis and output of the computation result.
Description
Technical field
The present invention relates to a kind of GPS (Global Positioning System, GPS) device, relate in particular to a kind of single frequency GPS measuring device and measurement and positioning method thereof that is used for measurement and positioning.
Background technology
The GPS technology is applied to the measurement and positioning history of existing more than ten years, it is aspect Surveying Engineering such as basic Surveying Engineering, cadastral survey, construction survey, topographical surveying, resource exploration and investigation aspects such as land resource, mineral resources, agricultural resource, environment-protection tourism, the collection aspect of the coordinate data of all kinds of facilities such as electric power water conservancy projects, municipal works, communications facility, and obtained using widely in field such as aspect the design of all kinds of construction works, construction, the examination.
At present, the GPS receiver can be divided into geodetic type receiver and navigational route type receiver according to measuring accuracy; Mainly can be divided into single-point location and difference location according to locator meams; Mainly be divided into single frequency receiving (L1) and dual-frequency receiver (L1 and L2) according to receive frequency; According to ageing mainly can be divided into real-time positioning and afterwards the location.And the locator meams that existing geodetic type receiver adopts usually all is difference location.During actual the use, the GPS receiver that the existing user of measurement uses generally has following several types:
1) dual-frequency receiver (observed quantity generally is at least C1, L1, L2, P1, P2) adopts the real time differential location, and precision is at 2-3cm;
2) dual-frequency receiver (observed quantity generally is at least C1, L1, L2, P1, P2) adopts difference location afterwards, precision＜1cm;
3) single frequency receiving (observed quantity is C1) adopts the real time differential location, and precision is generally speaking at 3-5m;
4) single frequency receiving (observed quantity generally is at least C1, L1) adopts difference location afterwards, and precision is generally speaking at 3-5cm.
Yet, though existing dual-frequency receiver precision height, ageing height, very expensive, be not suitable for common little user; Though and existing single frequency receiving is more cheap, but because observed quantity seldom, it can only realize the real time differential location of high-precision difference afterwards location and lower accuracy, can not realize high-precision real-time positioning, precision is generally all at 3-5m when carrying out real time differential for existing single frequency receiving, and result of use is not good.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, and provide a kind of single frequency GPS measuring device and measurement and positioning method thereof, thereby solve the real time differential location that present single frequency receiving can only be realized high-precision difference afterwards location and lower accuracy, can not realize high-precision real-time positioning, the problem that result of use is not good.
The technical solution adopted in the present invention is: a kind of single frequency GPS measuring device is provided, it comprises base station GPS receiver and station GPS receiver, wherein base station GPS receiver comprises the base station gps antenna that connects successively, base station GPS chip, base station control circuit and embedded Control Software module thereof, base station data transmission mouth, the station GPS receiver comprises the station GPS antenna that connects successively, the station GPS chip, movement station control circuit and embedded Control Software module thereof, moving station number is according to receiving port, and it also comprises a data processor that is connected with movement station control circuit and embedded Control Software module thereof.
Described base station data transmission mouth and moving station number comprise wireless communication module and radio-frequency antenna respectively according to receiving port, be used to transmit and receive through gps antenna receive, the observed quantity data of GPS chip and control circuit and embedded Control Software module arrangement thereof.
Described base station data transmission mouth and moving station number comprise bluetooth port respectively according to receiving port.
Described base station data transmission mouth and moving station number comprise the RS232 port respectively according to receiving port.
A kind of measurement and positioning method that adopts single frequency GPS measuring device of the present invention is provided, and it may further comprise the steps:
1) base station GPS receiver receives the moonscope amount by the base station gps antenna, and sends during by the cause for gossip of base station data transmission after base station GPS chip and control circuit and embedded Control Software module arrangement thereof;
2) the station GPS receiver receives the moonscope amount by the station GPS antenna, and real-time Transmission is to data processor after station GPS chip and control circuit and embedded Control Software module arrangement thereof, and the base station GPS receiver observed quantity that moving station number sends when being received from the cause for gossip of base station data transmission in real time according to receiving port also transfers to data processor;
3) data processor real-time collecting to the laggard line data quality check of observed quantity of base station GPS receiver and station GPS receiver, the classification of data inspection bag, data decode, data buffering, satellite clock synchronously, satellite ephemeris inspection, satellite orbit calculatings, observed quantity elimination of rough difference, the detection of observed quantity cycle slip and processing, Difference Calculation and error analysis, result of calculation puts the treatment step of exporting in order.
Described step 3) specifically may further comprise the steps:
301. the base station GPS receiver 10 that real-time collecting is arrived and the observed quantity Input Data Process 26 of station GPS receiver 20;
302. the input data are carried out quality check;
303. the classification of data inspection bag, the observed quantity of differentiation back base station GPS receiver 10 and the observed quantity of station GPS receiver 20 be execution in step 304 respectively;
304. the data decode classification, step 305 and step 307 are carried out in the observed quantity of base station GPS receiver 10 after above-mentioned steps, and step 306 and step 307 are carried out in the observed quantity of station GPS receiver 20 after above-mentioned steps;
Carry out data buffering 305. enter base station observation data cyclic buffer, execution in step 308 again;
Carry out data buffering 306. enter movement station observation data cyclic buffer, execution in step 308 again;
Carry out the satellite ephemeris inspection 307. enter the almanac data common buffer, execution in step 309 again;
308. carry out the clock synchronization of above-mentioned two observed quantities, satellite is synchronous, if synchronously, then execution in step 309, if asynchronous, then returns step 301;
Calculate 309. carry out the track of synchronous satellite, execution in step 310 again, make mistakes if calculate, and then return step 301;
Judge that execution in step 311 again 310. carry out the observed quantity elimination of rough difference,, then return step 301 if judgement makes mistakes;
311. carry out the detection of observed quantity cycle slip and recover processing, if no cycle slip, or detected cycle slip, and recover successfully, then execution in step 312, if recovery is unsuccessful, then return step 301;
312. carry out Difference Calculation and error analysis, execution in step 313 again, if computational analysis makes mistakes, then return step 301;
313. the result of calculation arrangement is outputed to user interface, and present embodiment is data file and program interface.
Beneficial effect of the present invention is: though single frequency GPS measuring device of the present invention and measurement and positioning method thereof are collected less observed quantity, by the high-precision real time differential location that measurement and positioning method of the present invention can realize dual-frequency receiver, result of use is good.
Description of drawings
Fig. 1 is the synoptic diagram of the base station GPS receiver of single frequency GPS measuring device of the present invention;
Fig. 2 is the synoptic diagram of the station GPS receiver of single frequency GPS measuring device of the present invention;
Fig. 3 is the workflow diagram of the data processing of single-frequency GPS measurement and positioning method of the present invention.
Embodiment
See also Fig. 1 and Fig. 2, single frequency GPS measuring device of the present invention comprises base station GPS receiver 10 and station GPS receiver 20.
Base station GPS receiver 10 comprises base station gps antenna 11, base station GPS chip 12, base station control circuit and embedded Control Software module 13, base station wireless communication module 14 and the base station radio-frequency antenna 15 thereof that connects successively.During use, base station GPS receiver 10 transfixions, it collects the signal of gps satellites by base station gps antenna 11, again after base station GPS chip 12 and base station control circuit and embedded Control Software module 13 thereof are done data preparation in real time by base station wireless communication module 14 (its can be radio station, GSM GPRS CDMA etc.) and base station radio-frequency antenna 15 satellite is sent to station GPS receiver 20 with respect to the observed quantity (C1, L1) of the base station gps antenna 11 of base station GPS receiver 10.
See also Fig. 3, the data processor 26 of single frequency GPS measuring device of the present invention and measuring method thereof real-time collecting to the laggard line data quality check of observed quantity of base station GPS receiver 10 and station GPS receiver 20, the classification of data inspection bag, data decode, data buffering, satellite clock synchronously, satellite ephemeris inspection, satellite orbit calculatings, observed quantity elimination of rough difference, the detection of observed quantity cycle slip and processing, Difference Calculation and error analysis, result of calculation puts treatment steps such as output in order, and is specific as follows:
301. the base station GPS receiver 10 that real-time collecting is arrived and the observed quantity Input Data Process 26 of station GPS receiver 20;
302. the input data are carried out quality check;
303. the classification of data inspection bag, the observed quantity of differentiation back base station GPS receiver 10 and the observed quantity of station GPS receiver 20 be execution in step 304 respectively;
304. the data decode classification, step 305 and step 307 are carried out in the observed quantity of base station GPS receiver 10 after above-mentioned steps, and step 306 and step 307 are carried out in the observed quantity of station GPS receiver 20 after above-mentioned steps;
Carry out data buffering 305. enter base station observation data cyclic buffer, execution in step 308 again;
Carry out data buffering 306. enter movement station observation data cyclic buffer, execution in step 308 again;
Carry out the satellite ephemeris inspection 307. enter the almanac data common buffer, execution in step 309 again;
308. carry out the clock synchronization of above-mentioned two observed quantities, satellite is synchronous, if synchronously, then execution in step 309, if asynchronous, then returns step 301;
Calculate 309. carry out the track of synchronous satellite, execution in step 310 again, make mistakes if calculate, and then return step 301;
Judge that execution in step 311 again 310. carry out the observed quantity elimination of rough difference,, then return step 301 if judgement makes mistakes;
311. carry out the detection of observed quantity cycle slip and recover processing, if no cycle slip, or detected cycle slip, and recover successfully, then execution in step 312, if recovery is unsuccessful, then return step 301;
312. carry out Difference Calculation and error analysis, execution in step 313 again, if computational analysis makes mistakes, then return step 301;
313. the result of calculation arrangement is outputed to user interface, and present embodiment is data file and program interface.
Be appreciated that, the described result of calculation of present embodiment all is coordinate, this coordinate all refers to the geographic coordinate based on all kinds of coordinate frames (as Xi'an 54 coordinate systems, Beijing 80 coordinate systems, WGS-84 coordinate system and all kinds of self-defining coordinate system), the expression mode of its coordinate includes but not limited to rectangular space coordinate (X Y Z), longitude and latitude (B L), height value (h) of planimetric rectangular coordinates (x y) expression mode and vertical direction etc.Single frequency GPS measuring device of the present invention but by tight data processing and good computing method, can obtain the bearing accuracy of 3-5cm very easily under less observed quantity.
Be appreciated that the base station GPS receiver 10 of single frequency GPS measuring device of the present invention and station GPS receiver 20 also bluetooth module can be set or the RS232 FPDP is carried out the observed quantity data transmission.
Claims (6)
1. single frequency GPS measuring device, it is characterized in that: comprise base station GPS receiver and station GPS receiver, wherein base station GPS receiver comprises the base station gps antenna that connects successively, base station GPS chip, base station control circuit and embedded Control Software module thereof, base station data transmission mouth, the station GPS receiver comprises the station GPS antenna that connects successively, the station GPS chip, movement station control circuit and embedded Control Software module thereof, moving station number is according to receiving port, and it also comprises a data processor that is connected with movement station control circuit and embedded Control Software module thereof.
2. single frequency GPS measuring device as claimed in claim 1, it is characterized in that: described base station data transmission mouth and moving station number comprise wireless communication module and radio-frequency antenna respectively according to receiving port, be used to transmit and receive through gps antenna receive, the observed quantity data of GPS chip and control circuit and embedded Control Software module arrangement thereof.
3. single frequency GPS measuring device as claimed in claim 1 is characterized in that: described base station data transmission mouth and moving station number comprise bluetooth port respectively according to receiving port.
4. single frequency GPS measuring device as claimed in claim 1 is characterized in that: described base station data transmission mouth and moving station number comprise the RS232 port respectively according to receiving port.
5. one kind is adopted the measurement and positioning method of single frequency GPS measuring device according to claim 1, it is characterized in that may further comprise the steps:
1) base station GPS receiver receives the moonscope amount by the base station gps antenna, and sends during by the cause for gossip of base station data transmission after base station GPS chip and control circuit and embedded Control Software module arrangement thereof;
2) the station GPS receiver receives the moonscope amount by the station GPS antenna, and real-time Transmission is to data processor after station GPS chip and control circuit and embedded Control Software module arrangement thereof, and the base station GPS receiver observed quantity that moving station number sends when being received from the cause for gossip of base station data transmission in real time according to receiving port also transfers to data processor;
3) data processor real-time collecting to the laggard line data quality check of observed quantity of base station GPS receiver and station GPS receiver, the classification of data inspection bag, data decode, data buffering, satellite clock synchronously, satellite ephemeris inspection, satellite orbit calculatings, observed quantity elimination of rough difference, the detection of observed quantity cycle slip and processing, Difference Calculation and error analysis, result of calculation puts the treatment step of exporting in order.
6. measurement and positioning method as claimed in claim 5 is characterized in that: described step 3) specifically may further comprise the steps:
301. the base station GPS receiver 10 that real-time collecting is arrived and the observed quantity Input Data Process 26 of station GPS receiver 20;
302. the input data are carried out quality check;
303. the classification of data inspection bag, the observed quantity of differentiation back base station GPS receiver 10 and the observed quantity of station GPS receiver 20 be execution in step 304 respectively;
304. the data decode classification, step 305 and step 307 are carried out in the observed quantity of base station GPS receiver 10 after above-mentioned steps, and step 306 and step 307 are carried out in the observed quantity of station GPS receiver 20 after above-mentioned steps;
Carry out data buffering 305. enter base station observation data cyclic buffer, execution in step 308 again;
Carry out data buffering 306. enter movement station observation data cyclic buffer, execution in step 308 again;
Carry out the satellite ephemeris inspection 307. enter the almanac data common buffer, execution in step 309 again;
308. carry out the clock synchronization of above-mentioned two observed quantities, satellite is synchronous, if synchronously, then execution in step 309, if asynchronous, then returns step 301;
Calculate 309. carry out the track of synchronous satellite, execution in step 310 again, make mistakes if calculate, and then return step 301;
Judge that execution in step 311 again 310. carry out the observed quantity elimination of rough difference,, then return step 301 if judgement makes mistakes;
311. carry out the detection of observed quantity cycle slip and recover processing, if no cycle slip, or detected cycle slip, and recover successfully, then execution in step 312, if recovery is unsuccessful, then return step 301;
312. carry out Difference Calculation and error analysis, execution in step 313 again, if computational analysis makes mistakes, then return step 301;
313. the result of calculation arrangement is outputed to user interface, and present embodiment is data file and program interface.
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| CNB2005100345421A CN100549719C (en) | 2005-04-30 | 2005-04-30 | Single frequency GPS measuring device and measurement and positioning method thereof |
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| CNB2005100345421A CN100549719C (en) | 2005-04-30 | 2005-04-30 | Single frequency GPS measuring device and measurement and positioning method thereof |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1975458B (en) * | 2006-12-12 | 2011-03-23 | 深圳市赛格导航科技股份有限公司 | Redundant GPS system and method thereof |
| CN102012516A (en) * | 2010-10-26 | 2011-04-13 | 上海华测导航技术有限公司 | Self-starting reference station and method for performing global position system (GPS) real-time dynamic measurement |
| CN101334462B (en) * | 2008-06-03 | 2011-04-27 | 电子科技大学 | Integer ambiguity granularity changing determination method in single frequency receiving machine absolute positioning |
| CN102540228A (en) * | 2012-03-02 | 2012-07-04 | 重庆九洲星熠导航设备有限公司 | High precision single point positioning system of single frequency global positioning system (GPS) and method |
| CN103293535A (en) * | 2013-05-24 | 2013-09-11 | 北京东方计量测试研究所 | Real-time testing system of satellite navigation receiver |
| CN103645482A (en) * | 2013-12-25 | 2014-03-19 | 上海华测导航技术有限公司 | Arbitrary point based set achievement method of GPS (Global Position System) real-time dynamic measurement of base station |
| CN103959092A (en) * | 2011-11-29 | 2014-07-30 | 纳格拉影像股份有限公司 | Method and system to confirm co-location of multiple devices within a geographic area |
| CN104022574A (en) * | 2014-06-09 | 2014-09-03 | 国网新疆伊犁供电有限责任公司 | Information system used for whole monitoring power system metering device |
| CN104765056A (en) * | 2015-03-31 | 2015-07-08 | 惠州华阳通用电子有限公司 | Vehicle-mounted sub-meter positioning system and method |
| CN106290729A (en) * | 2016-08-09 | 2017-01-04 | 成都润泰茂成科技有限公司 | A kind of Monitoring Data processing means |
| CN106680854A (en) * | 2017-01-17 | 2017-05-17 | 桂林电子科技大学 | Low cost and high precision positioning system and method |
| CN110133684A (en) * | 2019-04-16 | 2019-08-16 | 湖南致力工程科技有限公司 | A kind of GNSS static state resolving receiver apparatus |
| CN112747714A (en) * | 2020-12-22 | 2021-05-04 | 北京航天飞腾装备技术有限责任公司 | Differential GPS height measurement system and method suitable for unmanned helicopter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US6704652B2 (en) * | 2001-10-29 | 2004-03-09 | Total Soft Bank Ltd. | Real time self differential global positioning system and method for a moving station in a local area, and terminal global positioning system using the same |
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2005
- 2005-04-30 CN CNB2005100345421A patent/CN100549719C/en not_active Expired - Fee Related
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| CN1975458B (en) * | 2006-12-12 | 2011-03-23 | 深圳市赛格导航科技股份有限公司 | Redundant GPS system and method thereof |
| CN101334462B (en) * | 2008-06-03 | 2011-04-27 | 电子科技大学 | Integer ambiguity granularity changing determination method in single frequency receiving machine absolute positioning |
| CN102012516A (en) * | 2010-10-26 | 2011-04-13 | 上海华测导航技术有限公司 | Self-starting reference station and method for performing global position system (GPS) real-time dynamic measurement |
| CN103959092A (en) * | 2011-11-29 | 2014-07-30 | 纳格拉影像股份有限公司 | Method and system to confirm co-location of multiple devices within a geographic area |
| CN103959092B (en) * | 2011-11-29 | 2016-12-14 | 纳格拉影像股份有限公司 | For confirming the method and system that multiple device is co-located in a geographic area |
| CN102540228A (en) * | 2012-03-02 | 2012-07-04 | 重庆九洲星熠导航设备有限公司 | High precision single point positioning system of single frequency global positioning system (GPS) and method |
| CN102540228B (en) * | 2012-03-02 | 2015-09-16 | 重庆九洲星熠导航设备有限公司 | A kind of single-frequency GPS high-precision point positioning system and method |
| CN103293535A (en) * | 2013-05-24 | 2013-09-11 | 北京东方计量测试研究所 | Real-time testing system of satellite navigation receiver |
| CN103293535B (en) * | 2013-05-24 | 2015-11-18 | 北京东方计量测试研究所 | Satellite navigation receiver real-time testing system |
| CN103645482A (en) * | 2013-12-25 | 2014-03-19 | 上海华测导航技术有限公司 | Arbitrary point based set achievement method of GPS (Global Position System) real-time dynamic measurement of base station |
| CN104022574B (en) * | 2014-06-09 | 2017-01-11 | 国家电网公司 | Information system used for whole monitoring power system metering device |
| CN104022574A (en) * | 2014-06-09 | 2014-09-03 | 国网新疆伊犁供电有限责任公司 | Information system used for whole monitoring power system metering device |
| CN104765056A (en) * | 2015-03-31 | 2015-07-08 | 惠州华阳通用电子有限公司 | Vehicle-mounted sub-meter positioning system and method |
| CN106290729A (en) * | 2016-08-09 | 2017-01-04 | 成都润泰茂成科技有限公司 | A kind of Monitoring Data processing means |
| CN106680854A (en) * | 2017-01-17 | 2017-05-17 | 桂林电子科技大学 | Low cost and high precision positioning system and method |
| CN110133684A (en) * | 2019-04-16 | 2019-08-16 | 湖南致力工程科技有限公司 | A kind of GNSS static state resolving receiver apparatus |
| CN112747714A (en) * | 2020-12-22 | 2021-05-04 | 北京航天飞腾装备技术有限责任公司 | Differential GPS height measurement system and method suitable for unmanned helicopter |
| CN112747714B (en) * | 2020-12-22 | 2023-02-17 | 北京航天飞腾装备技术有限责任公司 | Differential GPS height measurement system and method suitable for unmanned helicopter |
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