CN210923968U - Positioning device based on Beidou RTK technology and GPRS communication - Google Patents
Positioning device based on Beidou RTK technology and GPRS communication Download PDFInfo
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Abstract
The utility model discloses a positioning device based on Beidou RTK technology and GPRS communication.A reference station control module and a mobile station control module are used for driving each module to communicate, and data acquisition and interaction are completed; the first GPRS module and the second GPRS module are used for transmitting and receiving differential correction numbers and instructions; the first Beidou positioning module and the second Beidou positioning module are used for acquiring vehicle positioning coordinates and analyzing differential correction numbers so as to calculate accurate positioning coordinates; the Bluetooth module is used for transmitting the accurate positioning coordinates of the vehicle to the vehicle-mounted terminal. The utility model discloses the utilization is given first place to with the big dipper, and other multiple GNSS signals are the method of assisting, increase the signal source, realize quick location.
Description
Technical Field
The utility model belongs to the positioning technology specifically is a positioner based on big dipper RTK technique and GPRS communication.
Background
In recent years, high-precision vehicle-mounted positioning devices are widely applied to roadbed continuous compaction systems, such as TC63 earthwork intelligent compaction systems, ICS500 roadbed intelligent compaction systems, ENH roadbed continuous compaction monitoring systems and ICS-300 road roller continuous compaction control systems. The positioning device in these systems mostly realizes wireless transmission of data through a hardware module, i.e. a data transmission radio station, which has numerous defects. This hardware module has high requirements for the power supply of the terminal system, because its instantaneous communication power can reach tens of watts or even tens of watts, thus making the hardware part very complex. In terms of workload, in order to reduce the influence of external factors such as buildings and trees on wireless signals, antennas with a height of several meters or even several tens of meters need to be installed on a terminal of a data transmission radio station, and thus the workload for installing the antennas is large. The transmission distance of the data transmission radio station is also easily affected by the environment, and a relay station needs to be erected for a relatively far terminal, so that the cost is high. In addition, the data transmission radio station only supports a point-to-point communication mode, and when the number of terminals is too many, the acquisition period is longer. In summary, the hardware module of the data transmission station consumes much energy, the real-time performance of wireless data transmission is also poor, and a large amount of manpower and material resources are consumed.
In addition, most of the existing domestic positioning devices adopt an active positioning mode, namely after a satellite transmits a signal to a positioning terminal, the positioning terminal needs to generate a return signal to the satellite, and the satellite solves the actual position of the terminal; but simultaneously, the method has the defects that the real-time positioning is difficult to realize by adopting an active positioning mode with certain delay, and in the war, the return signal generated by the active positioning mode positioning terminal is often exposed if discovered by an enemy, besides, for the active positioning mode, the positioning precision is influenced by a small number of satellites, so the concealment performance of the active positioning is poor, the precision is low, and the method is far from sufficient for a high-precision vehicle-mounted positioning device.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a positioner based on big dipper RTK technique and GPRS communication.
Realize the utility model discloses the technical scheme of purpose does: the utility model provides a device of high accuracy on-vehicle location based on big dipper RTK technique and GPRS communication, includes reference station and mobile station, the reference station includes reference station control module, first power module, first GPRS module, first big dipper orientation module, first serial ports communication module, and the mobile station includes mobile station control module, second power module, second GPRS module, second big dipper orientation module, bluetooth module and second serial ports communication module, wherein:
the reference station control module is respectively in wired connection with the first power module, the first GPRS module, the first Beidou positioning module and the first serial port communication module through 4 paths of UART ports; the mobile station control module is in wired connection with the second power module, the second GPRS module, the second Beidou positioning module, the Bluetooth module and the second serial port communication module through 4 paths of UART ports respectively, and wireless connection is achieved between the reference station and the mobile station through the first GPRS module and the second GPRS module.
Preferably, the first microprocessor, the first SWD download circuit, the first crystal oscillator circuit and the first RESET circuit are included, the first SWD download circuit is connected to the SWDCLK and SWDIO pins of the first microprocessor, the first crystal oscillator circuit is connected to the XTAL1 and XTAL2 pins of the first microprocessor, wherein XTAL1 is an input terminal, XTAL2 is an output terminal, and the first RESET circuit is connected to the RESET pin of the first microprocessor.
Preferably, the mobile station control module comprises a second microprocessor, a second SWD download circuit, a second oscillator circuit, and a second RESET circuit, the second SWD download circuit is connected to the SWDCLK and SWDIO pins of the second microprocessor, the second oscillator circuit is connected to the XTAL1 and XTAL2 pins of the second microprocessor, the second RESET circuit is connected to the RESET pin of the second microprocessor,
preferably, the first Beidou positioning module comprises a first BDS module and a first antenna connected with the first BDS module, the second Beidou positioning module comprises a second BDS module and a second antenna connected with the second BDS module, and the second antenna is arranged on the roof.
Compared with the prior art, the utility model, it is showing the advantage and is: (1) the hardware is simple, and the cost is lower: the utility model adopts the GPRS communication mode, which can effectively solve the problem of high cost of the vehicle-mounted positioning terminal in the communication process, so that the data transmission of the vehicle-mounted positioning terminal has more real-time and reliability, and the humanized management can be further realized by collecting the vehicle state information by using the sensor; (2) the device has strong practicability and feasibility: the utility model adopts the method of taking the big Dipper as the main part and taking other various GNSS signals as the auxiliary part, increases the signal sources and realizes the rapid positioning; (3) the utility model discloses intelligent vehicle mounted terminal based on BDS system can embody its value in vehicle dynamic real time monitoring, traffic road information collection and vehicle safety precaution's service process simultaneously.
Drawings
FIG. 1 is a block diagram of a reference station module of a vehicle-mounted positioning device.
FIG. 2 is a block diagram of a mobile station module of the vehicle mounted positioning device.
Fig. 3 is a block diagram of the overall design structure of the vehicle-mounted positioning device.
Fig. 4 is a flow chart of the operation of the vehicle-mounted positioning device.
Fig. 5 is an operation diagram of the on-vehicle positioning device.
Fig. 6 is a flow chart of the operation of the reference station of the vehicle-mounted positioning device.
FIG. 7 is a flow chart of the operation of a mobile station of the in-vehicle locator device.
Fig. 8 is a flowchart illustrating the operation of the on-board positioning device server.
FIG. 9 shows a circuit for converting the input voltage of the power module to 5V.
Fig. 10 is a circuit for converting 5V to 4V of the power module.
Fig. 11 is a circuit for converting 5V to 3.3V of the power module.
FIG. 12 is a hardware circuit diagram of a Beidou positioning module.
Fig. 13 is a hardware circuit diagram of a GPRS module.
Fig. 14 is a hardware circuit diagram of the bluetooth module.
Fig. 15 is a control module hardware circuit diagram.
Detailed Description
A high-precision vehicle-mounted positioning device based on a Beidou RTK technology and GPRS communication is shown in figures 1 and 2 and comprises a reference station and a mobile station, wherein the reference station comprises a reference station control module (1), a first power module 3-1, a first GPRS module 4-1, a first Beidou positioning module 5-1 and a first serial port communication module 7-1. The mobile station comprises a mobile station control module (2), a second power module 3-2, a second GPRS module 4-2, a second Beidou positioning module 5-2, a Bluetooth module 6 and a second serial port communication module 7-2.
The reference station control module 1 is provided with 4 UART ports in total, and the 4 UART ports are respectively in wired connection with the first power module 3-1, the first GPRS module 4-1, the first Beidou positioning module 5-1 and the first serial port communication module; the mobile station control module 2 is provided with 4 UART ports in total, the 4 UART ports are respectively in wired connection with the second power module 3-2, the second GPRS module 4-2, the second Beidou positioning module 5-2, the Bluetooth module 6 and the second serial port communication module 7-2, and the reference station is in wireless connection with the mobile station through the first GPRS module 4-1 and the second GPRS module 4-2.
The reference station control module 1 and the mobile station control module 2 are used for driving each module to communicate, and completing data acquisition and interaction; the first power supply module 3-1 and the second power supply module 3-2 are used for supplying power to each module; the first GPRS module 4-1 and the second GPRS module 4-2 are used for transmitting and receiving differential correction numbers and instructions; the first Beidou positioning module 5-1 and the second Beidou positioning module 5-2 are used for acquiring vehicle positioning coordinates and analyzing differential correction numbers so as to calculate accurate positioning coordinates; the Bluetooth module 6 is used for transmitting the accurate positioning coordinates of the vehicle to the vehicle-mounted terminal.
The reference station control module 1 includes a first microprocessor 10-1, a first SWD download circuit 11-1, a first crystal oscillator circuit 12-1, and a first reset circuit 13-1, as shown in fig. 3 and 15. The first SWD download circuit 11-1 is connected to SWDCLK and SWDIO pins of the first microprocessor 10-1. The first crystal oscillator circuit 12-1 is connected to the XTAL1 and XTAL2 pins of the first microprocessor 10-1, wherein XTAL1 is an input terminal and XTAL2 is an output terminal. The first RESET circuit 13-1 is connected to a RESET pin of the first microprocessor 10-1.
The mobile station control module 2 includes a second microprocessor 10-2, a second SWD downloading circuit 11-2, a second oscillator circuit 12-2, and a second reset circuit 13-2, as shown in fig. 3 and 15. The second SWD download circuit 11-2 is connected to the SWDCLK and SWDIO pins of the second microprocessor 10-2. The second oscillator circuit 12-2 is connected to the XTAL1 and XTAL2 pins of the second microprocessor 10-2, wherein XTAL1 is an input terminal and XTAL2 is an output terminal. The second RESET circuit 13-2 is connected to the RESET pin of the second microprocessor 10-2.
The first power supply module 3-1 and the second power supply module 3-2 are designed to be an input-to-5V circuit, a 5V-to-4V circuit and a 5V-to-3.3V circuit according to the power supply requirements of the used hardware. The input-to-5V circuits of the first power supply module 3-1 and the second power supply module 3-2 are respectively connected with the first Beidou positioning module 5-1 and the second Beidou positioning module 5-2.
The input-to-5V circuit is composed of an LM2596S-5.0 chip, a capacitor C8, a capacitor C6, a capacitor C7 and an inductor L1, as shown in FIG. 9. LM2596S-5.0 is a voltage-reducing switching voltage-stabilizing power supply conversion chip, the range of input direct-current voltage is 7-40V, the output maximum current is 3A, the input end Vin of LM2596S-5.0 is connected with the anode of a capacitor C6, the output end Vout is connected with the anode of a capacitor C8, and C8 and C6 are electrolytic capacitors, so that overheating protection and overcurrent protection can be realized, and noise filtering can be performed. The output terminal Vout of the LM2596S-5.0 is also connected with an inductor L1 and a capacitor C7, and the inductor L1 and the capacitor C7 are used for filtering voltage ripples.
The circuit for converting 5V into 4V is composed of an SPX29302T5 chip, resistors R29 and R30, and capacitors C10, C12 and C19, as shown in FIG. 10. The SPX29302T5 is a voltage stabilizing chip for low voltage, the RSN pin is connected with resistors R29 and R30, the resistance value of R29 is 68k omega, and the resistance value of R30 is 30k omega. The VCC pin is connected with capacitors C10 and C19, and the VO pin is connected with a capacitor C12, wherein C10 and C12 are tantalum capacitors and have good filtering performance.
The 5V to 3.3V circuit is similar to the 5V to 4V circuit, and is composed of an SPX29302T5 chip, resistors R34 and R35, and capacitors C33, C34 and C35, as shown in fig. 11. The resistance of R34 was 49.9k Ω, and the resistance of R35 was 30k Ω. The RSN pin is connected with resistors R34 and R35, the VCC pin is connected with capacitors C33 and C34, and the VO pin is connected with a capacitor C35.
Because the input voltage requirement of the first GPRS module 4-1 and the second GPRS module 4-2 is 3.2-4.4V, the maximum current requirement after starting is 2A, and the optimal value is 4V, a circuit of converting 5V to 4V is adopted. The 5V to 3.3V circuit has two paths, one path is used for providing standard 3.3V voltage for the reference station control module 1 and the mobile station control module 2, and the other path is used for other circuits needing 3.3V voltage, including providing power for the Bluetooth module 6.
The first GPRS module 4-1 comprises a first two-frequency GSM/GPRS module 17-1 and a first GPRS transceiver antenna 18-1, as shown in fig. 3. The output end of the first GPRS receiving and transmitting antenna 18-1 is electrically connected with the first two-frequency GSM/GPRS module 17-1 through a radio frequency line. The first two-frequency GSM/GPRS module 17-1 uses a built-in TCP/IP protocol to implement communication with the data center, and the hardware circuit is shown in fig. 13. The module uses a SIM800A chip, and the designed hardware part is as follows: the RF _ ANT pin is connected with an antenna interface ANT _ SMA. The VBAT pin is connected with the capacitors C21 and C22, and the capacitors C21 and C22 are connected in parallel to store energy and filter, so that the first GPRS module 4-1 is prevented from entering a reset state due to voltage surge. The SIM _ RST pin, the SIM _ DATA pin, and the SIM _ CLK pin are connected to resistors R54, R55, and R56, respectively, each having a resistance of 22 Ω to match the impedance between the module and the SIM card. The RXD pin is connected to a resistor R36, and the resistance of R36 is 100 Ω to match the level between the first GPRS module 4-1 and the reference station control module 1.
The second GPRS module 4-2 comprises a second two-frequency GSM/GPRS module 17-2 and a second GPRS transceiver antenna 18-2, as shown in fig. 3. The output end of the second GPRS receiving and transmitting antenna 18-2 is electrically connected with the second two-frequency GSM/GPRS module 17-2 through a radio frequency line. The second two-frequency GSM/GPRS module 17-2 uses a built-in TCP/IP protocol to implement communication with the data center, and the hardware circuit is shown in fig. 13. The module uses a SIM800A chip, and the designed hardware part is as follows: the RF _ ANT pin is connected with an antenna interface ANT _ SMA. The VBAT pin is connected with the capacitors C21 and C22, and the capacitors C21 and C22 are connected in parallel to store energy and filter, so that the second GPRS module 4-2 is prevented from entering a reset state due to voltage surge. The SIM _ RST pin, the SIM _ DATA pin, and the SIM _ CLK pin are connected to resistors R54, R55, and R56, respectively, each having a resistance of 22 Ω to match the impedance between the module and the SIM card. The RXD pin is connected to a resistor R36, the resistance of R36 is 100 Ω to match the level between the second GPRS module 4-2 and the mobile station control module 2.
The utility model discloses in, first GPRS module 4-1, second GPRS module 4-2 establish UDP through appointed backstage surveillance center's server address and port number and connect, as long as use the SIM card of opening the GPRS function just can make equipment realize networking always, have avoided using the networking of intermittent type nature in the transmission of GSM short message, guarantee data transmission's real-time.
The first Beidou positioning module 5-1 comprises a first BDS module 8-1 and a first antenna 9-1, and as shown in fig. 3, the output end of the first antenna 9-1 is electrically connected with the first BDS module 8-1 through a radio frequency line. The first BDS module 8-1 takes a K505 board as a core, the COM2_ Tx and COM2_ Rx pins on the board are respectively connected to pins P5[3] and P0[22] of the reference station control module 1, and the first BDS module 8-1 is as shown in fig. 12.
The second Beidou positioning module 5-2 comprises a second BDS module 8-2 and a second antenna 9-2, as shown in FIG. 3. The output end of the second antenna 9-2 is electrically connected with the second BDS module 8-2 through a radio frequency line. The second BDS module 8-2 takes the K505 board as a core, the COM2_ Tx and COM2_ Rx pins on the board are connected to the pins P5[3] and P0[22] of the mobile station control module 2, respectively, and the second BDS module 8-2 is as shown in fig. 12.
The utility model discloses a first BDS module 8-1, second BDS module 8-2 can export the higher location coordinate of precision, and possess certain memory capacity, the module starts and catches signal output data rapidly to realize the device fast work.
The KEY _ BLUE pin, LINK _ BLUE pin, RESET _ BLUE pin, RXD2_ BLUE pin and TXD2_ BLUE pin in the bluetooth module 6 are connected to pins P3[25], P2[26], P3[24], P0[11], P0[10] of the mobile station control module 2, respectively, as shown in fig. 14.
The first serial port communication module 8-1 and the second serial port communication module 8-2 are in serial communication with the computer by utilizing RS-232.
The utility model discloses a working process does: the reference station is erected on a known positioning point with high precision and reliability, the erection position of the reference station is required to be capable of stably transmitting data within a certain range, tall buildings, transformers and communication launching towers are avoided as far as possible, and the influence of multipath effect and shielding effect is reduced; and erecting the reference station by any reference station technology. The first power supply module 3-1 supplies power to the reference station control module 1; the first Beidou positioning module 5-1 resolves to obtain differential correction data, a reference station receives GPS satellite signals, performs real-time positioning, combines with accurate coordinates set by the reference station, resolves real-time coordinate error data caused by errors of a satellite clock and the like, and is real-time coordinate differential correction data, the differential correction data are determined by specific positions of the reference station and positioning of the GPS to the reference station, and environmental factor errors, ionospheric errors, delay errors and the like are reflected, and the errors are approximately the same near the same reference station, so that the errors can be expressed by the same group of correction data. Then, the data is transmitted to a reference station control module 1 through a serial port channel for information interaction between internal modules of a first serial debugging circuit 12-1 to carry out differential correction data packaging, the differential correction data is transmitted to a server through a UDP (user Datagram protocol) connection mode by using a first GPRS module 4-1, cyclic redundancy check is carried out by the server, whether the received differential correction data is complete and correct is detected, and an error of a certain bit or a certain number of bits of data in the data transmission process is prevented; the mobile station is arranged on a vehicle, the second power supply module 3-2 is used for supplying power to the mobile station control module 2, and the power supply in the vehicle can also be used for supplying power to the mobile station control module, the second serial port communication module 7-2 is used for maintaining and debugging, and the real-time positioning coordinate calculated by the second Beidou positioning module 5-2, the request instruction sent by the second GPRS module 4-2 and the received differential correction data can be derived; the server sends the differential data to the mobile station through the second GPRS module 4-2, the second GPRS module 4-2 of the mobile station receives satellite single-point positioning data and combines the received differential data, the satellite single-point positioning data is transmitted to the mobile station control module 2 through the second serial debugging circuit 12-2, and the error of the real-time positioning coordinate of the mobile station of the final actual position of the mobile station is obtained through calculation and is only centimeter level; the mobile station transmits the final accurate position data package to the vehicle-mounted terminal through the Bluetooth module 6.
As shown in fig. 4 and 5, the operation steps of the present invention are as follows:
step S01: the mobile station receives a positioning request sent by a vehicle terminal;
step S02: the mobile station control module 2 drives the second GPRS module 4-2 and sends an instruction for requesting a differential correction number to a server;
step S03: the server sends a configuration instruction to the reference station;
step S04: the first GPRS module 4-1 receives the instruction information transmitted by the mobile station and transmits the instruction information to the reference station control module 1;
step S05: the reference station control module 1 analyzes the information and drives the first Beidou positioning module 5-1;
step S06: the first Beidou positioning module 5-1 collects Beidou satellite signals of the reference station and analyzes real-time positioning coordinates of the reference station;
step S07: the first Beidou positioning module 5-1 analyzes a real-time differential correction number according to the originally set accurate position coordinate of the reference station and transmits the result to the reference station control module 1;
step S08: the reference station control module 1 drives the first GPRS module 4-1 again;
step S09: the first GPRS module 4-1 uploads the differential data to the server;
step S010: the server returns the difference correction number;
step S011: the second GPRS module 4-2 transmits the received differential correction number to the mobile station control module 2;
step S012: the mobile station control module 2 injects the differential correction number into the second Beidou positioning module 5-2;
step S013: the second Beidou positioning module 5-2 carries out differential operation to analyze the accurate position coordinate of the mobile station;
step S014: transmitting to the mobile station control module 2 to drive the Bluetooth module 6;
step S015: the Bluetooth module 6 packs the accurate positioning coordinates of the vehicle;
step S016: and the Bluetooth module 6 transmits the packaged data to a GIS platform of the vehicle-mounted terminal.
The reference station comprises a reference station control module 1, a first power module 3-1, a first GPRS module 4-1 and a first Beidou positioning module 5-1, and referring to FIG. 6, the operation steps of the reference station are as follows:
step S01: setting a reference station on a known accurate coordinate point, and electrifying and starting;
step S02: each module starts initialization;
step S03: the first Beidou positioning module 5-1 receives positioning data of a reference station, and a program starts data analysis;
step S04: calculating differential data according to information such as longitude and latitude, elevation, time, satellite quantity, differential delay, data transmission period, satellite positioning state and the like, if the calculation is completed and the differential data is obtained, performing step S05, otherwise, returning to step S03 if the differential correction number is not obtained;
step S05: the reference station control module 1 transmits the differential data to the first GPRS module 4-1, and the first GPRS module 4-1 packages the differential data;
step S06: the first GPRS module 4-1 uploads the packed differential data to a server;
step S07: if the transmission is completed, go to step S08, otherwise, go back to step S05;
step S08: and (5) ending the work after power failure.
The mobile station comprises a mobile station control module 2, a second GPRS module 4-2, a second Beidou positioning module 5-2 and a Bluetooth module 6, and referring to fig. 7, the operation steps of the mobile station are as follows:
step S01: arranging a mobile station on a vehicle, and powering on and starting;
step S02: each module starts initialization;
step S03: the second Beidou positioning module 5-2 sends a data request and performs satellite data analysis;
step S04: if the difference data returned by the server is obtained, the step S05 is performed, otherwise, the step S03 is performed if the difference correction number is not obtained;
step S05: according to the difference data, the second Beidou positioning module 5-2 calculates accurate positioning coordinates of the vehicle;
step S06: the Bluetooth module 6 packs the vehicle accurate positioning coordinates and sends the vehicle accurate positioning coordinates to the vehicle-mounted platform;
step S07: if the transmission is completed, go to step S09, otherwise, go back to step S03;
step S09: and (5) ending the work after power failure.
Referring to fig. 8, the server operates as follows:
step S01: powering on and starting a server;
step S02: the server detects whether differential data is received, if the differential data is received, the step S03 is carried out, otherwise, the step S02 is repeated;
step S03: verifying the differential data, if the differential data is correct, storing the differential data in the server, and performing step S04, otherwise, returning to step S02;
step S04: the server will judge whether the differential correction data configuration command of the mobile station is received, if the configuration command is received, the step S05 is carried out, otherwise, the step S04 is repeated if the differential correction number is not obtained;
step S05: the server returns the differential data to the mobile station;
step S06: if the transmission is completed, go to step S07, otherwise, go back to step S02;
step S07: and (5) ending the work after power failure.
Claims (4)
1. The utility model provides a positioner based on big dipper RTK technique and GPRS communication, characterized in that, includes reference station and mobile station, the reference station includes reference station control module (1), first power module (3-1), first GPRS module (4-1), first big dipper location module (5-1), first serial ports communication module (7-1), the mobile station includes mobile station control module (2), second power module (3-2), second GPRS module (4-2), second big dipper location module (5-2), bluetooth module (6) and second serial ports communication module (7-2), wherein:
the reference station control module (1) is respectively in wired connection with the first power module (3-1), the first GPRS module (4-1), the first Beidou positioning module (5-1) and the first serial port communication module (7-1) through 4 UART ports; the mobile station control module (2) is in wired connection with the second power module (3-2), the second GPRS module (4-2), the second Beidou positioning module (5-2), the Bluetooth module (6) and the second serial port communication module (7-2) through 4 paths of UART ports respectively, and the reference station is in wireless connection with the mobile station through the first GPRS module (4-1) and the second GPRS module (4-2).
2. The positioning device based on the Beidou RTK technology and GPRS communication of claim 1, comprising a first microprocessor (10-1), a first SWD download circuit (11-1), a first crystal oscillator circuit (12-1), and a first RESET circuit (13-1), wherein the first SWD download circuit (11-1) is connected to SWDCLK and SWDIO pins of the first microprocessor (10-1), the first crystal oscillator circuit (12-1) is connected to XTAL1 and XTAL2 pins of the first microprocessor (10-1), XTAL1 is an input terminal, XTAL2 is an output terminal, and the first RESET circuit (13-1) is connected to RESET pin of the first microprocessor (10-1).
3. The positioning device based on the Beidou RTK technology and GPRS communication of claim 1, wherein the mobile station control module (2) comprises a second microprocessor (10-2), a second SWD download circuit (11-2), a second oscillator circuit (12-2) and a second RESET circuit (13-2), the second SWD download circuit (11-2) is connected with SWDCLK and SWDIO pins of the second microprocessor (10-2), the second oscillator circuit (12-2) is connected with XTAL1 and XTAL2 pins of the second microprocessor (10-2), and the second RESET circuit (13-2) is connected with RESET pin of the second microprocessor (10-2).
4. The positioning device based on the Beidou RTK technology and GPRS communication of claim 1, characterized in that the first Beidou positioning module (5-1) comprises a first BDS module (8-1) and a first antenna (9-1) connected with the first BDS module (8-1), the second Beidou positioning module (5-2) comprises a second BDS module (8-2) and a second antenna (9-2) connected with the second BDS module (8-2), and the second antenna (9-2) is arranged on the roof of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921412413.5U CN210923968U (en) | 2019-08-28 | 2019-08-28 | Positioning device based on Beidou RTK technology and GPRS communication |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921412413.5U CN210923968U (en) | 2019-08-28 | 2019-08-28 | Positioning device based on Beidou RTK technology and GPRS communication |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114397009A (en) * | 2021-12-10 | 2022-04-26 | 广东电网有限责任公司阳江供电局 | Beidou differential positioning-based transmission conductor galloping monitoring system and method |
| CN114615623A (en) * | 2022-03-23 | 2022-06-10 | 南方电网电力科技股份有限公司 | Positioning communication system |
| CN114660626A (en) * | 2022-03-08 | 2022-06-24 | 北京轩宇空间科技有限公司 | Semi-implanted Beidou positioning module and Beidou positioning communication system |
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2019
- 2019-08-28 CN CN201921412413.5U patent/CN210923968U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114397009A (en) * | 2021-12-10 | 2022-04-26 | 广东电网有限责任公司阳江供电局 | Beidou differential positioning-based transmission conductor galloping monitoring system and method |
| CN114660626A (en) * | 2022-03-08 | 2022-06-24 | 北京轩宇空间科技有限公司 | Semi-implanted Beidou positioning module and Beidou positioning communication system |
| CN114615623A (en) * | 2022-03-23 | 2022-06-10 | 南方电网电力科技股份有限公司 | Positioning communication system |
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