CN201266237Y - High precision GPS difference system - Google Patents

High precision GPS difference system Download PDF

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Publication number
CN201266237Y
CN201266237Y CN 200820110220 CN200820110220U CN201266237Y CN 201266237 Y CN201266237 Y CN 201266237Y CN 200820110220 CN200820110220 CN 200820110220 CN 200820110220 U CN200820110220 U CN 200820110220U CN 201266237 Y CN201266237 Y CN 201266237Y
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data
station apparatus
module
information
mobile station
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CN 200820110220
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楠 姜
贺宏宇
魏茂森
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北京七维航测科技发展有限公司
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Abstract

The utility model discloses a high-precision differential global positioning system comprising a reference station device and a mobile radio station device which respectively comprise a GPS module, data transmission modules and an information processing module, wherein the two GPS modules are respectively connected with a GPS antenna used for acquiring GPS satellite digital information; the information processing module of the mobile radio station device is used for receiving the acquired satellite digital information and differential information and processing and calculating the position information of a moving carrier; the information processing module of the reference station device is used for receiving the acquired satellite digital information and the digital information of the mobile radio station device and processing and finishing differential operation; the two data transmission modules are used for transmitting the data between the mobile radio station device and the reference station device. The utility model can satisfy the test requirements of test bases or shooting ranges and realize high-precision flight check test measurement.

Description

高精度GPS差分系统 High-precision differential GPS system

技术领域 FIELD

本实用新型是关于车载、船载、机载、弹载试验设备的高精度导航定位技术,具体涉及一种高精度GPS差分系统。 The present invention relates to high-precision navigation and positioning technology vehicle, ship-borne, airborne, missile test apparatus, particularly relates to a high-precision differential GPS system.

背景技术 Background technique

目前,在基地或靶场等试验基地,为了测量运输车、船舰、飞机或弹体的飞行轨迹, 必须有相关设备测量各种载体在运动过程中的位置,当前使用的测试设备有光学检飞系统等。 Currently, the test range and other bases or base, in order to measure the flight track vehicles, ships, aircraft or missile, there must be a position measuring device related to a variety of carriers during the movement of the test equipment currently used optical flying object systems. 但光学检飞设备系统庞大复杂、费用高、周期长、操作人员多、作用距离只能限制在100km之内、测量精度低,因此在一些需要远程飞行试验中受到了限制。 However, the optical apparatus subject to fly large and complex system, high cost, long cycle, multi-operator, acting only within a distance of 100km, the measurement accuracy is low, and therefore is limited in some tests require a long flight.

全球定位系统(Global Positioning System - GPS)是美国从本世纪70年代开始研制,历时20年,耗资200亿美元,于1994年全面建成,具有在海、陆、空进行全方位实时三维导航与定位能力的新一代卫星导航与定位系统。 GPS (Global Positioning System - GPS) is the United States started to develop from the 1970s, which lasted 20 years, costing $ 20 billion, fully completed in 1994, with all real-time three-dimensional navigation and positioning in the sea, land and air a new generation of satellite navigation and positioning system capabilities. 经过我国测绘等部门近10年的使用表明,GPS以全天候、高精度、自动化、高效益等显著特点,赢得广大测绘工作者的信赖,并成功地应用于大地测量、工程测量、航空摄影测量、运载工具导航和管制、地壳运动监测、工程变形监测、资源勘察、地球动力学等多种学科,从而给测试定位、导航领域带来一场深刻的技术革命。 After surveying and mapping departments of nearly 10 years of use showed that, GPS with notable features all-weather, high precision, automation, high efficiency and so on, win the trust of surveying and mapping workers, and successfully applied geodesy, engineering surveying, aerial photography, vehicle navigation and control, crustal movement monitoring, deformation monitoring project, resource exploration, geodynamics and other disciplines, leading to a profound technological revolution to test positioning, navigation fields.

因此,利用GPS实现车载、船载、机载、弹载试验设备的高精度导航定位,可逐步替代原有的光学检飞系统。 Thus, using the vehicle using GPS, the ship, airborne, onboard navigation precision test equipment, can gradually replace the original object flying optical system.

实用新型内容 SUMMARY

本实用新型的目的是,利用现有的GPS技术,提供了一种高精度导航定位的GPS差分系统。 The object of the present invention, the use of GPS prior art, a differential GPS system is provided positioning accuracy navigation.

本实用新型的技术方案是: The utility model is a technical solution:

一种高精度GPS差分系统,包括基准站装置和移动站装置,移动站装置安装在移动载体上,基准站装置的位置固定,其特征在于,基准站装置和移动站装置分别包括一GPS模块、 一数据传输模块和一信息处理模块,其中,两个GPS模块分别连接一GPS天线,用于采集GPS卫星数字信息,移动站装置的信息处理模块,用于接收采集到的卫星数字信息, 接收差分信息, 一并进行处理,最终解算出移动载体的位置信息,基准站装置的信息处理 A high precision differential GPS system comprising a base station apparatus and the mobile station apparatus, the mobile station apparatus mounted on a mobile support, a fixed location of the base station apparatus, wherein the base station apparatus and the mobile station means comprise a GPS module, a data transmission module and an information processing module, wherein two modules are connected to a GPS antenna GPS, GPS satellites for acquiring the digital information, the information processing module of the mobile station apparatus for receiving satellite digital information collected, receives the differential information is processed together, the final solution calculates the position information of the mobile carrier, the information processing apparatus of the base station

3模块,用于接收采集到的卫星数字信息,接收移动站装置的数据信息, 一并进行处理,完成差分运算,两个数据传输模块用于传输移动站装置和基准站装置之间的数据。 3 module configured to receive satellite digital information collected, the received data information of the mobile station apparatus, together with processed difference calculation is completed, the two data transmission means for transmitting data between a mobile station apparatus and base station apparatus.

所述基准站装置的数据传输模块和移动站的数据传输模块之间设有无线传输模块。 Wireless transmission module is provided between the data transmission module data transmission module and the mobile station the base station apparatus.

所述移动站装置还包括一数据存储模块,该模块用于进行数据采集、存储。 The mobile station apparatus further comprises a data storage module that is used for data acquisition, storage.

所述基准站装置还包括一数据存储模块,该模块用于采集、存储移动站装置和基准站装置的状态信息、位置信息和数据采集信息。 The base station apparatus further comprises a data storage module, the module status information collection, storage means and a base station the mobile station apparatus, the location information and data collection information.

所述基准站装置和移动站装置还分别包括一电源模块,该模块用于为装置提供所需的电源。 The base station apparatus and the mobile station apparatus respectively further comprises a power supply module, the module for supplying power necessary for the apparatus.

所述基准站装置设有一实时显示模块,该实时显示模块用于显示移动站装置和基准站装置的状态信息、位置信息和数据采集信息,同时提供移动载体的运动轨迹图。 The base station apparatus is provided with a real time display module, the display module for displaying real-time status information of the mobile station apparatus and base station apparatus, the location information and data collection information, while providing a trajectory of the moving carrier of FIG.

基准站装置的数据存储模块和移动站装置的数据存储模块连接一事后数据处理模块, 该事后数据处理模块针对上述两个装置釆集的数据进行数据转换、数据处理、数据打包、 数据分析和数据回放。 Data storage module and the base station apparatus the mobile station apparatus data storage module is connected to a data post processing module, the data post-processing module for data conversion for data of the two sets preclude the apparatus, data processing, data packing, data analysis and data playback.

与现有技术相比,本实用新型的有益效果是: Compared with the prior art, the beneficial effects are:

本项实用新型高精度GPS差分系统可实现高精度检飞试验测量。 The present utility model with high accuracy differential GPS system with high precision flight test measures the subject can be achieved. 其作用距离大(无遮挡作用距离超过了500km甚至达到1000km以上),满足了试验基地或耙场的试验要求, 完全满足现有车载设备、船舰载设备、机载设备试验的要求。 Its role from large (no more than 500km from the shielding effect even up to 1000km above), to meet the test site or test requirements rake field, fully meet the existing on-board equipment required to ship shipboard equipment, airborne equipment test. 尤其重要的是该GPS差分系统的精度相当高,单点定位经度达到亚米级,实时差分处理精度能够达到15mm+1.5ppm, 后处理精度能够达到10mm+1.0ppm,比光学检飞系统的检测精度提高了一个数量级。 It is particularly important that the accuracy of differential GPS system is quite high, longitude point positioning sub-meter, the processing accuracy can be achieved in real time difference 15mm + 1.5ppm, after the processing accuracy can reach 10mm + 1.0ppm, flying object than the optical detection system accuracy is increased by an order of magnitude. 具体优点如下: Specific advantages are as follows:

1、 采用GPS全球卫星定位系统,可以在全球范围使用,无地域的限制; 1, using the GPS global satellite positioning system, can be used worldwide without geographical restriction;

2、 本实用新型的实时处理精度和事后处理精度高,可以为高精度的试验提供需要的基准,能够满足各种试验的应用; 2, the present invention high precision real-time processing and post-processing accuracy, can provide a reference for the required precision of the test can be applied to meet various tests;

3、 实时性好,本实用新型的在实时上几乎没有延迟,延迟主要来自于传输链路,几乎可以忽略; 3, real-time, the present invention is almost no delay in real-time, delayed mainly from the transmission link, almost negligible;

4、 硬件安装方便,操作非常简单,适合于各种层次人群使用; 4, easy hardware installation, operation is very simple, suitable for all levels of use of the crowd;

5、 软件提供动态连接,方便用户作二次开发; 5, the dynamic link software, user-friendly for secondary development;

6、 本实用新型费用相对较低,可以适用于各种试验环境。 6, the present invention is relatively low cost, can be applied to a variety of test environments. 附图说明 BRIEF DESCRIPTION

图l为本实用新型结构示意图; 图2为本实用新型实时显示模块的流程图; 图3为本实用新型定位信息解码流程图; 图4为本实用新型事后处理模块的流程图。 FIG practical structural diagram of the present novel l; FIG. 4 flowchart present novel post-processing functional module; FIG. 2 is a flowchart of real-time display module disclosure; FIG. 3 is a flowchart of decoding location information disclosure.

具体实施方式 detailed description

下面结合附图和具体实施方式对本实用新型作进一步详细描述: The following description of the present invention in further detail for specific embodiments and the accompanying drawings:

本实用新型包含基准站装置和移动站装置两个部分,本实用新型的源为GPS卫星播发的星历历书、卫星时钟误差、电离层误差等信息,基准站装置和移动站装置的传输通过无线传输模块实现无线传输。 The present invention comprises information transmission base station apparatus and the mobile station apparatus in two parts, the present invention is the source of the GPS satellites broadcast a satellite distinctly book, satellite clock error, ionospheric errors, base station apparatus and the mobile station apparatus by radio transmission module for wireless transmission.

系统的原理框图见图l所示。 The principle of the system block diagram shown in Figure l. 本实用新型的连接和数据的流向过程可分四大块,移动站装置、基准站装置、实时显示模块和事后处理模块。 The present invention is connected and data flow process can be divided into four blocks, the mobile station apparatus, base station apparatus, the real-time post-processing module and a display module. 移动站装置和基准站装置同时包含 The mobile station apparatus and base station apparatus contains

了GPS模块、信息处理模块(CPU)、数据传输模块、数据存储模块以及电源模块。 GPS module, the information processing module (CPU), data transmission module, data storage module and power modules. 两个GPS模块分别连接一GPS天线,用于采集GPS卫星数字信息,移动站装置的信息处理单元根据GPS模块采集到的GPS卫星数字信息解算出移动载体的当前位置和测试时间等信息, 同时,通过数据传输模块将上述解算信息发送到基准站的数据传输模块,基准站装置的信息处理单元根据GPS模块采集到的卫星数字信息和移动站装置的解算信息,完成RTK差分, 并通过基准站装置的数据传输模块将RTK差分信息发送到移动站的数据传输模块,移动站装置的信息处理单元根据其GPS卫星数字信息和上述RTK差分信息,解算出移动载体当前的位置信息,并通过数据传输模块将解算后的信息发送到基准站的数据传输模块。 Test current position and time information are respectively connected to a two GPS module GPS antenna, the GPS satellites for acquiring the digital information, the information processing unit of the mobile station apparatus according to the GPS module to acquisition of the GPS satellite digital information be calculated by the moving carrier, and at the same time, via a data transmission module to said resolver sends the information to a data transmission module base stations, the solution information processing unit base station apparatus acquired according to the GPS module satellite digital information, and the mobile station apparatus count information, complete RTK differential, and by reference data transfer module station apparatus transmits RTK difference information to the data transmission module of the mobile station, the information processing unit of the mobile station apparatus according to its GPS satellite digital information and the RTK difference information be calculated by the current position information of the mobile carrier, via the data the transmission module transmits the information to the resolver data transfer module of the base station. 数据存储模块的功能是进行数据采集存储,供后处理使用;电源模块包括电源转换模块和电池模块,为整个系统提供所需要的电源。 Function data storage module that stores data collection, for post processing; power module comprises a power conversion module and a battery module, provides power required for the entire system. 基准站装置设有一实时显示模块,该实时显示模块用于显示移动站装置和基准站装置的状态信息、位置信息和数据采集信息,同时提供移动载体的运动轨迹图。 Base station apparatus is provided with a real time display module, the display module for displaying real-time status information of the mobile station apparatus and base station apparatus, the location information and data collection information, while providing a trajectory of the moving carrier of FIG. 基准站装置的数据存储模块和移动站装置的数据存储模块连接一事后数据处理模块,该事后数据处理模块针对上述两个装置采集的数据进行数据转换、数据处理、 数据打包、数据分析和数据回放。 Data storage module and data storage module of the base station apparatus the mobile station apparatus is connected to a data post processing module, the data post-processing module of the two data conversion means for data acquisition, data processing, data packing, data analysis and data playback . 实时显示模块流程图见图2所示。 Time display module flow chart shown in Figure 2.

实时显示模块图包括主程序框图和线程程序框图。 FIG real time display module including the main thread and a block diagram of the block diagram. 主程序进行接口设置、启动GPS解码线程和串行数据接收线程、GPS数据接收保存及解码显示等功能。 The main program interface is provided, and the thread start GPS decoder serial data receiving thread, GPS data reception and decoding stored display. 线程程序又有GPS解码线程和串行数据接收两个线程, Threaded programs have GPS reception serial data decoding thread and two threads,

定位信息解算流程图见图3所示。 Location information resolver flowchart shown in Figure 3.

定位信息解算过程具体为,首先接收GPS的卫星播发星历历书、卫星时钟误差、电离层误差等信息,通过查找信息帧头,判定接收的信息中是否包含解算需要的信息,并通过信息长度确定完整的信息内容,最后通过校验和的计算判定已经找到的信息是否为需要的信息内容,如果是则保留、存储、并解算显示于界面上,如果信息错误则舍弃并重新査找。 Location information for the particular process solver, first satellite broadcast receiving GPS satellite information distinctly books, satellite clock error, ionospheric errors, etc., by searching the header information, it is determined whether the received information contains the information needed solving, through information and determine the full length of the information content, and finally determine whether the information content of the information that has been found is required by the checksum calculation, if it is retained, stored, and displayed on the screen solver, if the wrong information is discarded and re-locate.

事后处理模块框图如图4所示。 Post-processing block diagram shown in Fig.

用户开启事后处理模块后,程序将自动开启相关的动态连接,并将其中的参数写入计算机注册表并创建各种线程中断等信号。 After the user opens the post-processing module, the program will automatically open the associated dynamic connection, a computer and writes a registry where the parameters and create various threads interruption signal. 用户将移动站和基准站的所釆集的数据文件添加到事后处理模块的转换单元,转换单元将按照数据格式不同启动不同的转换线程,将移动站和基准站的数据转换成*. gpb的文件格式。 The user of the mobile station and data files preclude the set reference station is added to the conversion unit post-processing module, conversion unit different promoters Different conversion thread according to the data format, converts the data of the mobile station and the reference station to *. Gpb of file format. 转换完成后进行数据处理,将基准站和移动站的已经转换的数据添加到后处理解算单元,该解算模块将为用户解算出更高精度的位置信息,并为用户提供移动站移动轨迹。 Data processing after the conversion, adding the base station and the mobile station has been converted into the data of the calculating unit appreciated, the solver module will be calculated by the user more accurate location information, and provide users with a mobile station movement track . 该单元最终可以为用户提供各种数据格式,包括*. txt, *exl, *. xml, *. csv等数据格式,用户可根据实际应用选择不同的数据格式。 The unit may ultimately provide users with a variety of data formats, including *. Txt, * exl, *. Xml, *. Csv other data format, the user can select different data formats depending on the application.

以上通过详细实施例描述了本实用新型所提供的高精度GPS差分系统,本领域的技术人员应当理解,在不脱离本实用新型创造实质的范围内,可以对本实用新型做一定的变形或修改。 Implementation of the above detailed embodiments described in the present invention with high accuracy differential GPS system of New provided, those skilled in the art will appreciate, without departing from the present invention to create a substantial range, of the present invention to make certain variations and modifications.

6 6

Claims (7)

  1. 1、一种高精度GPS差分系统,包括基准站装置和移动站装置,移动站装置安装在移动载体上,基准站装置的位置固定,其特征在于,基准站装置和移动站装置分别包括一GPS模块、一数据传输模块和一信息处理模块,其中,两个GPS模块分别连接一GPS天线,用于采集GPS卫星数字信息,移动站装置的信息处理模块,用于接收采集到的卫星数字信息,接收差分信息,一并进行处理,最终解算出移动载体的位置信息,基准站装置的信息处理模块,用于接收采集到的卫星数字信息,接收移动站装置的数据信息,一并进行处理,完成差分运算,两个数据传输模块用于传输移动站装置和基准站装置之间的数据。 1, a high-precision differential GPS system comprising a base station apparatus and the mobile station apparatus, the mobile station apparatus mounted on a mobile support, a fixed location of the base station apparatus, wherein the base station apparatus and the mobile station comprises a GPS device, respectively, module, a data transmission module and an information processing module, wherein two modules are connected to a GPS antenna GPS, GPS satellites for acquiring the digital information, the information processing module of the mobile station apparatus for receiving satellite digital information collected, receives the differential information is processed together, the final solution calculates the position information of the mobile carrier, the information processing apparatus of the base module for receiving the acquired satellite digital information, the data information of the mobile station receiving apparatus, collectively processed, completed differential operation, two data transmission means for transmitting data between a mobile station apparatus and base station apparatus.
  2. 2、 如权利要求1所述的高精度GPS差分系统,其特征在于,所述基准站装置的数据传输模块和移动站的数据传输模块之间设有无线传输模块。 2, high-accuracy differential GPS system as claimed in claim 1, wherein the wireless transmission module is provided between the data transmission module data transmission module and the mobile station the base station apparatus.
  3. 3、 如权利要求1所述的高精度GPS差分系统,其特征在于,所述移动站装置还包括一数据存储模块,该模块用于进行数据采集并存储。 3, high-accuracy differential GPS system as claimed in claim 1, wherein the mobile station apparatus further comprises a data storage module that is used for collecting and storing data.
  4. 4、如权利要求1或3高精度GPS差分系统,其特征在于,所述基准站装置还包括一数据存储模块,该模块用于采集并存储移动站装置和基准站装置的状态信息、位置信息和数据采集信息。 4, as claimed in 1 or 3 position information with high accuracy differential GPS system, characterized in that the base station apparatus further comprises a data storage module, the module for acquiring and storing state information of the mobile station apparatus and base station apparatus, and data collection information.
  5. 5、 如权利要求1所述的高精度GPS差分系统,其特征在于,所述基准站装置和移动站装置还分别包括一电源模块,该模块用于为装置提供所需的电源。 5, high-accuracy differential GPS system as claimed in claim 1, wherein said base station apparatus and the mobile station apparatus respectively further comprises a power supply module, the module for supplying power necessary for the apparatus.
  6. 6、 如权利要求1所述的高精度GPS差分系统,其特征在于,所述基准站装置设有一实时显示模块,该实时显示模块用于显示移动站装置和基准站装置的状态信息、位置信息和数据采集信息,同时提供移动载体的运动轨迹图。 6, high-accuracy differential GPS system as claimed in claim 1, wherein said base station apparatus provided with a real time display module, the real-time display device and the status information of the mobile station of the base station apparatus, the location information module for displaying information and data acquisition, while providing a trajectory of the moving carrier of FIG.
  7. 7、 如权利要求4所述的高精度GPS差分系统,其特征在于,基准站装置的数据存储模块和移动站装置的数据存储模块连接一事后数据处理模块,该事后数据处理模块针对上述两个装置采集的数据进行数据转换、数据处理、数据打包、数据分析和数据回放。 7, high-precision differential GPS system as claimed in claim 4, wherein the data storage module and the base station apparatus the mobile station apparatus data storage module is connected to a data post processing module, the processing module for post-data of the two data conversion means for data acquisition, data processing, data packing, data analysis and data playback.
CN 200820110220 2008-08-26 2008-08-26 High precision GPS difference system CN201266237Y (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN102243314A (en) * 2011-04-14 2011-11-16 山东大学 Real-time difference measuring apparatus for regular moving boat-carrying base station and working method thereof
CN101614808B (en) 2009-07-30 2012-04-25 北京北斗星通导航技术股份有限公司 Track test system
CN101667749B (en) 2009-04-23 2012-08-29 福建和盛高科技产业有限公司 Electric power field work safe and automatic monitoring system
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
CN104386126A (en) * 2014-09-22 2015-03-04 中国北方车辆研究所 Method for determining actual turning radius of tracked vehicle
CN104754729A (en) * 2013-12-27 2015-07-01 上海博泰悦臻网络技术服务有限公司 Navigation positioning method, device and system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101667749B (en) 2009-04-23 2012-08-29 福建和盛高科技产业有限公司 Electric power field work safe and automatic monitoring system
CN101614808B (en) 2009-07-30 2012-04-25 北京北斗星通导航技术股份有限公司 Track test system
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
CN102243314A (en) * 2011-04-14 2011-11-16 山东大学 Real-time difference measuring apparatus for regular moving boat-carrying base station and working method thereof
CN102243314B (en) 2011-04-14 2013-04-17 山东大学 Real-time difference measuring apparatus for regular moving boat-carrying base station and working method thereof
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 test system
CN104754729A (en) * 2013-12-27 2015-07-01 上海博泰悦臻网络技术服务有限公司 Navigation positioning method, device and system
CN104386126A (en) * 2014-09-22 2015-03-04 中国北方车辆研究所 Method for determining actual turning radius of tracked vehicle

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