CN219496687U - High-precision positioning system based on PPK technology - Google Patents
High-precision positioning system based on PPK technology Download PDFInfo
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- CN219496687U CN219496687U CN202223317926.2U CN202223317926U CN219496687U CN 219496687 U CN219496687 U CN 219496687U CN 202223317926 U CN202223317926 U CN 202223317926U CN 219496687 U CN219496687 U CN 219496687U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The application provides a high accuracy positioning system based on PPK technique, include: reference station device, mobile station device. On one hand, the positioning system is additionally provided with a first MCU, a storage unit and a first USB interface at a base station host of the reference station device, and the first MCU can write the received observed quantity data into the storage unit and generate a data file in a corresponding format. After the mobile storage medium is connected to the first USB interface, the first MCU writes the reference station measurement data into the mobile storage medium from the storage unit. On the other hand, the positioning system is additionally provided with a second MCU and a second USB interface at the display control terminal of the mobile station device, and the mobile storage medium stored with the reference station measurement data is connected to the second USB interface, so that the reference station measurement data is imported into the second MCU of the display control terminal. And the second MCU performs differential processing on the measurement data to calculate the positioning information of the mobile carrier. The method and the device do not need to be provided with a computer for storing measurement data and carrying out post-differential processing, and save cost.
Description
Technical Field
The application relates to the technical field of satellite positioning, in particular to a high-precision positioning system based on a PPK technology.
Background
With the continuous development of the application industry chain of satellite navigation positioning technology, the requirements on positioning precision are continuously improved, and high-precision positioning technologies such as real-time dynamic carrier phase difference technology (RTK), dynamic carrier phase post-differential technology (PPK) and the like are widely applied.
PPK technology requires real-time recording of observed data received by a reference station and a mobile station for synchronous observation. After the measurement is completed, the measurement data is required to be imported into a computer with post-split data processing software, and the PPK position calculation is performed by the software. In engineering practice, an additional computer is often required, which brings great inconvenience.
Disclosure of Invention
The application provides a high accuracy positioning system based on PPK technique, include: reference station device, mobile station device. On one hand, the positioning system is additionally provided with the first MCU, the storage unit and the first USB interface on the base station host of the reference station device, the first MCU can write the received observed data into the storage unit and generate a data file with a corresponding format, and after the mobile storage medium is connected to the first USB interface, the first MCU writes the reference station measurement data into the mobile storage medium from the storage unit, so that the measurement data is copied from the base station host to the mobile storage medium. On the other hand, the positioning system is additionally provided with a second MCU and a second USB interface at the display control terminal of the mobile station device, and the mobile storage medium stored with the reference station measurement data is connected to the second USB interface, so that the reference station measurement data is imported into the storage unit of the display control terminal, and the reference station measurement data is imported into the display control terminal. Then, the second MCU can conduct differential processing on the measurement data to calculate the positioning information of the mobile carrier, and therefore the purpose that the differential processing is conducted on the measurement data and the positioning information is analyzed under the condition that a computer is not provided is achieved.
The application provides a high accuracy positioning system based on PPK technique, include: a reference station apparatus, a mobile station apparatus; wherein, mobile station device is used for installing on the removal carrier, reference station device position is fixed, its characterized in that:
the reference station apparatus includes: base station antenna, base station host; the mobile station apparatus includes: a mobile station antenna, a mobile station host and a display control terminal; the mobile station host and the base station host respectively comprise a radio frequency unit and a baseband processing module, and the radio frequency unit is connected with the baseband processing module; the mobile station host also comprises a radio frequency port used for being connected with the mobile station antenna and a second communication interface used for being connected with the display control terminal;
the base station host also comprises a radio frequency port, a first USB interface, a first micro control unit MCU and a storage unit, wherein the radio frequency port, the first USB interface, the first micro control unit MCU and the storage unit are used for being connected with the base station antenna; the first MCU is respectively connected with the baseband processing module and the storage unit; the first MCU is used for controlling the reference station measurement data received from the baseband processing module to be written into the storage unit, and writing the reference station measurement data into the mobile storage medium connected with the first USB interface from the storage unit;
the display control terminal comprises a display screen, a second communication interface, a second USB interface and a second micro control unit MCU; the second communication interface is used for receiving mobile station measurement data sent by the mobile station host; the second USB interface is used for connecting a mobile storage medium storing the reference station measurement data; and the second MCU is used for carrying out differential processing on the reference station measurement data and the mobile station measurement data to calculate the positioning information of the mobile carrier.
In a possible implementation manner, the first MCU is configured to periodically write the received reference station measurement data into the storage unit, generate data files, and each data file records the reference station measurement data of a first preset time; and the data file stored by the storage unit within a second preset time from the current time is written into the mobile storage medium when the first MCU detects that the first USB interface is connected with the mobile storage medium.
In one possible implementation, the base station host further includes: a first communication interface for transmitting the reference station measurement data to a computer; the first MCU is connected with a computer through the first communication interface;
the first communication interface is any one of a serial port and a network port, and the second communication interface is a serial port.
In one possible implementation manner, the mobile station apparatus may be further configured to perform positioning, speed measurement, orientation, and time service according to satellite signals received by the mobile station antenna.
In one possible implementation, the reference station apparatus and the mobile station apparatus each include a power source; the base station host and the display control terminal respectively comprise a power interface and a power module;
the power supply of the reference station device is connected with the power interface of the base station host, and the power supply of the mobile station device is used for being connected with the power interface of the display control terminal;
the power supply module of the base station host is respectively connected with the first MCU, the baseband processing module and the radio frequency unit;
and the power supply module of the display control terminal is respectively connected with the display screen of the display control terminal and the second MCU.
In one possible implementation, the base station host further includes: an indicator light module;
the indicator light module comprises a power supply indicator light, a satellite state indicator light and a network connection indicator light; the first MCU module is connected with the indicator lamp module and used for controlling the output of the indicator lamp.
In one possible implementation, the base station antenna and the mobile station both employ Beidou measurement antennas.
In one possible implementation, the second MCU is also integrated with satellite navigation software usable for positioning, navigation, map display.
The technical effect of the high-precision positioning system based on the PPK technology is as follows:
according to the method and the device, the display control terminal of the base station host and the mobile station is improved, the first MCU, the storage unit and the first USB interface are additionally arranged on the base station host, the first MCU can write the received observed quantity data into the storage unit and generate the data file in the corresponding format, after the mobile storage medium is connected to the first USB interface, the first MCU writes the reference station measurement data into the mobile storage medium from the storage unit, and the fact that the measurement data are copied from the base station host to the mobile storage medium is achieved. And a second MCU and a second USB interface are additionally arranged on the display control terminal, and a mobile storage medium storing the reference station measurement data is connected to the second USB interface, so that the reference station measurement data is imported into the second MCU of the display control terminal, and the reference station measurement data is imported into the display control terminal. Then, the second MCU can conduct differential processing on the measurement data to calculate the positioning information of the mobile carrier, and therefore the purpose that the differential processing is conducted on the measurement data and the positioning information is analyzed under the condition that a computer is not provided is achieved. According to the method and the device, the functions of the device are optimized, a computer for storing measurement data and performing post-differential processing is not required to be provided, the problem that recorded and stored observed data are required to be copied into the computer in engineering practice and position coordinate calculation is performed by means of post-differential data processing software is solved, and resource cost is saved.
According to the method and the device, the reference station measurement data is written into the storage unit periodically, and the data file within the second preset time from the current time is written into the mobile storage medium, so that the automatic writing into the storage unit is realized, personnel are not required to watch for a long time when the reference station works, and the labor cost is saved.
In a third aspect, the base station host of the present application further includes a first communication interface, and when the base station host fails or the first USB interface fails, the measurement data may still be exported to the computer through the first communication interface, so that the present application may support copying the recorded and stored observed data to the computer through the communication interface, and performing position coordinate calculation by using post differential data processing software in the computer.
In a fourth aspect, the mobile device of the present application may directly use B3 and B1 frequency points of the BD-2 satellite RNSS and L1 frequency point of the GPS to realize navigation, positioning, speed measurement, orientation, and time service functions without using a reference station device.
In the fifth aspect, the practical working environment is considered in the design process, and the practicability, reliability, standardization, modularization and low cost of the system are highlighted in the design process on the premise of meeting various performance indexes of the system; the design is carried out according to the national standard in the design process, the completeness of system performance realization is emphasized, and the system can work normally in the maximum range; the whole machine design reasonably inherits the experience of the existing product, reduces the development risk, ensures the project development period and ensures the reliability of the system; the design is modularized, so that the independence and inheritance of design development are ensured, and the future use, maintenance and upgrading are facilitated; attention is paid to humanized design and testability design, and convenience in use and maintenance is realized.
Drawings
Fig. 1 is a schematic diagram of a base station host in a reference station device of the present application;
fig. 2 is a schematic structural diagram of a display control terminal in the mobile station device of the present application;
fig. 3 is a schematic diagram of a base station host in the reference station device according to the second embodiment of the present application;
FIG. 4 is a schematic diagram of a reference station apparatus of the present application;
FIG. 5 is a schematic diagram of a mobile station apparatus of the present application;
fig. 6 is a graph of various performance parameter indicators of the beidou measurement antenna.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the present application will be clearly and completely described below with reference to fig. 1 to 6 in the present application, and it is apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
An embodiment of the present application provides a high-precision positioning system based on PPK technology, as shown in fig. 1-6, including: a reference station apparatus, a mobile station apparatus; wherein, mobile station device is used for installing on the removal carrier, reference station device position is fixed, its characterized in that:
the reference station apparatus includes: base station antenna, base station host; the mobile station apparatus includes: a mobile station antenna, a mobile station host and a display control terminal; the mobile station host and the base station host respectively comprise a radio frequency unit and a baseband processing module, and the radio frequency unit is connected with the baseband processing module; the mobile station host also comprises a radio frequency port used for being connected with the mobile station antenna and a second communication interface used for being connected with the display control terminal;
the base station host also comprises a radio frequency port, a first USB interface, a first micro control unit MCU and a storage unit, wherein the radio frequency port, the first USB interface, the first micro control unit MCU and the storage unit are used for being connected with the base station antenna; the first MCU is respectively connected with the baseband processing module and the storage unit; the first MCU is used for controlling the reference station measurement data received from the baseband processing module to be written into the storage unit, and writing the reference station measurement data into the mobile storage medium connected with the first USB interface from the storage unit;
the display control terminal comprises a display screen, a second communication interface, a second USB interface and a second micro control unit MCU; the second communication interface is used for receiving mobile station measurement data sent by the mobile station host; the second USB interface is used for connecting a mobile storage medium storing the reference station measurement data; and the second MCU is used for carrying out differential processing on the reference station measurement data and the mobile station measurement data to calculate the positioning information of the mobile carrier.
In the embodiment of the application, the base station antenna receives satellite signals and converts the received radio signals into currents which can be absorbed by the electronic device for application; and the signals are amplified, filtered and the like and then transmitted to a base station host through a transmission cable.
In the embodiment of the application, a radio frequency unit in a base station host receives satellite signals from a base station antenna, performs power division, amplification, filtering and down-conversion processing according to different frequencies, and converts down-converted intermediate frequency signals into digital signals and sends the digital signals to a baseband processing module. The baseband processing module is used for completing signal capturing, tracking, pseudo-range measurement and observed quantity extraction, and sending the processed measurement data to the first MCU according to a fixed protocol. And the first MCU writes the data into a storage unit after receiving the reference station measurement data, generates a data file in an RTCM format, and writes the reference station measurement data into a mobile storage medium connected with the first USB interface from the storage unit. Further, a mobile storage medium written with the reference station measurement data is connected with a second USB interface, and the reference station measurement data is imported into a second MCU of the display control terminal. In an example, the structure of the base station host may be as shown with reference to fig. 1.
In the embodiment of the application, the mobile station antenna synchronously receives satellite signals, converts the received radio signals into electric signals, and outputs the electric signals to the mobile station host after low-noise amplification and combination. The radio frequency unit of the mobile station host receives satellite signals from the antenna of the mobile station, down-converts the satellite signals to intermediate frequency, synthesizes the intermediate frequency to generate required frequency points and sends the required frequency points to the baseband processing module of the mobile station host. And the baseband processing module of the mobile station host receives and processes the intermediate frequency signal to obtain mobile station measurement data, and sends the mobile station measurement data to the second MCU of the display control terminal through the second communication interface. In one example, a mobile station host may be as shown in the host of fig. 5 and a mobile station antenna may be as shown in the antenna of fig. 5.
In an example, after receiving the reference station measurement data and the mobile station measurement data, the second MCU in the display control terminal finds measurement data observed at the same time and parses the data. And the second MCU performs linear combination on the measurement data to form a virtual carrier phase observation value, calculates the centimeter-level relative position between the reference station and the mobile station, and obtains the position coordinate of the mobile station in a geographic coordinate system through coordinate conversion.
The dynamic carrier phase post-differential technology applied by the method is PPK technology for short, and consists of a reference station device and a mobile station device. The working principle of the PPK technology is that a reference station device and at least one mobile station device for synchronous observation are utilized to record the carrier phase observed quantity of a satellite in real time, so that the link of intermediate radio transmission is omitted. After the measurement is completed, the post-processing software is used for linear combination to form a virtual carrier phase measurement value, the centimeter-level relative position between the reference station and the mobile station is calculated, and the position coordinate of the mobile station in the underground coordinate system is obtained through coordinate conversion.
According to the method, the display control terminal of the base station host and the mobile station is improved, on one hand, the first MCU, the storage unit and the first USB interface are additionally arranged on the base station host, the first MCU can write the received observed quantity data into the storage unit and generate the data file in the corresponding format, after the mobile storage medium is connected to the first USB interface, the first MCU writes the reference station measurement data into the mobile storage medium from the storage unit, and the fact that the measurement data are copied from the base station host to the mobile storage medium is achieved. On the other hand, a second MCU and a second USB interface are additionally arranged on the display control terminal, and a mobile storage medium storing reference station measurement data is connected to the second USB interface, so that the reference station measurement data is imported into the second MCU of the display control terminal, and the reference station measurement data is imported into the display control terminal. Then, the second MCU can conduct differential processing on the measurement data to calculate the positioning information of the mobile carrier, and therefore the purpose that the differential processing is conducted on the measurement data and the positioning information is analyzed under the condition that a computer is not provided is achieved. According to the method and the device, the functions of the device are optimized, a computer for storing measurement data and performing post-differential processing is not required, the problem that recorded and stored observed data are required to be copied into the computer in engineering practice and position coordinate calculation is performed by means of post-differential data processing software is solved, and cost is saved.
As an alternative embodiment, the first MCU is configured to periodically write the received reference station measurement data into the storage unit, and generate data files, where each data file records the reference station measurement data for a first preset time; and the data file stored by the storage unit within a second preset time from the current time is written into the mobile storage medium when the first MCU detects that the first USB interface is connected with the mobile storage medium.
For example, the first preset time may be 1h, and the second preset time may be 5h.
According to the method and the device, the reference station measurement data is written into the storage unit periodically, the data file within the second preset time from the current time is written into the mobile storage medium, the automatic writing into the storage unit is realized, the reference station does not need personnel to watch for a long time when working, and the labor cost is saved.
As an alternative embodiment, the base station host further includes: a first communication interface for transmitting the reference station measurement data to a computer; the first MCU is connected with a computer through the first communication interface;
the first communication interface is any one of a serial port and a network port, and the second communication interface is a serial port.
In an example, when the base station host fails or the first USB interface fails, the measurement data cannot be exported to the mobile storage medium, the measurement data may still be exported to the computer through the first communication interface.
The base station host computer of the application further comprises a first communication interface, when the base station host computer breaks down or the first USB interface breaks down and can not lead the measurement data to the mobile storage medium, the measurement data can still be led out to the computer through the first communication interface, so that the application can support copying the recorded and stored observation data to the computer through the communication interface, and position coordinate calculation is carried out by means of post differential data processing software in the computer.
As an alternative embodiment, the mobile station apparatus may be further configured to perform positioning, speed measurement, orientation, and time service according to satellite signals received by the mobile station antenna.
In one example, the mobile station apparatus is a user terminal that can utilize B3, B1 frequency points of a BD-2 satellite RNSS, L1 frequency points of a GPS to achieve navigation, positioning, speed measurement, orientation, time service.
The mobile station device can directly utilize the B3 and B1 frequency points of the BD-2 satellite RNSS and the L1 frequency point of the GPS to realize the functions of navigation, positioning, speed measurement, orientation and time service under the condition of not using the reference station device.
As an alternative embodiment, the reference station apparatus and the mobile station apparatus each include a power source; the base station host and the display control terminal respectively comprise a power interface and a power module;
the power supply of the reference station device is connected with the power interface of the base station host, and the power supply of the mobile station device is used for being connected with the power interface of the display control terminal;
the power supply module of the base station host is respectively connected with the first MCU, the baseband processing module and the radio frequency unit;
and the power supply module of the display control terminal is respectively connected with the display screen of the display control terminal and the second MCU. In an example, the power supply of the reference station may be an external lithium ion power supply, the output voltage of which is 25.2v±4.2V, and the charge-discharge interface of which is Q14J3AJ.
As an alternative embodiment, the base station host further includes: an indicator light module;
the indicator light module comprises a power supply indicator light, a satellite state indicator light and a network connection indicator light; the first MCU module is connected with the indicator lamp module and used for controlling the output of the indicator lamp.
In an example, the front panel of the base station host is provided with three indicator lights of power, satellite state and network connection, and can be shown with reference to the front panel in fig. 4. In an example, the structure of the base station host to which the indicator light module is connected may be shown with reference to fig. 3.
As an optional embodiment, the second MCU control module further integrates satellite navigation software for positioning, navigation, and map display.
In an example, the second MCU in the display control terminal is integrated with satellite navigation software which can be used for positioning, navigation and map display, so that a user can conveniently operate the display control terminal to realize positioning and navigation.
Based on the above embodiments, the base station antenna and the mobile station antenna may both be Beidou measurement antennas, and each index and performance thereof may be shown in fig. 6. Wherein the mobile station antenna may employ a null phase antenna. The reference station device can receive and process BDS/GPS/GLONASS signals, and frequency points receivable by the GPS comprise L1, L2 and L5; the frequency points receivable by the BDS comprise B1, B2 and B3; the frequency points that GLONASS may receive include G1, G2. A mobile station device capable of receiving and processing BDS/GPS signals; the frequency point receivable by the GPS is L1; the acceptable frequency points of the BDS include B3 and B1. In one example, the reference station apparatus may be as shown in fig. 4 and the mobile station apparatus may be as shown in fig. 5.
Based on all the embodiments, the display screen can be a 7-inch TFT-LCD screen, the screen resolution is up to 800×480, the pixel density is up to 215PPI, the display color is up to 16.7M, and a very excellent display effect can be provided. Meanwhile, the display brightness is 500cd/m2, and the display content can be clearly seen even in the direct sunlight environment. In addition, the screen integrated capacitive touch panel can provide rapid and accurate touch feedback. The display screen can normally work at the temperature as low as-20 ℃ to +70 ℃, and can be more suitable for complex and severe use environments compared with the working temperature range of-20 ℃ to +60 ℃ of a common LCD liquid crystal screen.
Based on all the embodiments, the second MCU can be selected from MCU motherboard with model PK3568 produced by Rockchip, which comprises high-performance low-power-consumption four-core CPU, wherein the CPU is based on Cortex-A55 architecture, has 2GHZ main frequency and built-in NPU. RAM size of the main board is 8GB DDR4, ROM size is 16GB eMMC. Image signal processor ISP is built in the motherboard: resolution 12M, 1080P and 60HZ output support, input rate as high as 375M pixel/S support 2 paths of MIPI-CSI camera interfaces. The main board has an industrial working range of-40 ℃ to +85 ℃, and can adapt to severe use environments.
Based on the above embodiments, the base station host may also perform mode and parameter setting, which mainly includes positioning frequency points, differential data types, observed data storage time of the host storage unit, reserved network port IP address, serial port baud rate, and the like. The main performance parameters of the base station host are as follows:
outputting differential data: RTCM2.3, RTCM3.0, CMR/cmr+;
cold start: less than or equal to 50s;
and (3) hot start: the time is less than or equal to 15s;
signal recapture: less than 2s;
data update rate: 1Hz, 5Hz, 10Hz, 20Hz;
single point positioning: 1.5m (RMS);
static accuracy:
level of: (+/-) (2.5+1. Times.10-6. Times.D) mm;
and (3) vertical: (+/-) (5+1×10-6×D) mm;
time service precision: 20ns;
data efficiency: more than or equal to 95 percent.
Based on the above embodiments, the technical indexes of the mobile station antenna are as follows:
operating frequency: BD2-B3, BD2-B1, GPS-L1;
polarization mode: right-hand circular polarization;
beam pattern: azimuth angle 0 degree-360 degree (out-of-roundness: + -1.5 dB, elevation angle not less than 10 degree)
Elevation angle is 5-90 degrees;
antenna gain: 5dBi;
phase center stability: less than or equal to 1mm;
circular polarization axial ratio: less than or equal to 6dB (elevation angle is more than or equal to 20 degrees, B1/L1)
Less than or equal to 6dB (elevation angle is more than or equal to 20 degrees, B3);
voltage standing wave ratio: less than or equal to 1.5 (50).
The technical effect of the high-precision positioning system based on the PPK technology is as follows:
according to the method and the device, the display control terminal of the base station host and the mobile station is improved, the first MCU, the storage unit and the first USB interface are additionally arranged on the base station host, the first MCU can write the received observed quantity data into the storage unit and generate the data file in the corresponding format, after the mobile storage medium is connected to the first USB interface, the first MCU writes the reference station measurement data into the mobile storage medium from the storage unit, and the fact that the measurement data are copied from the base station host to the mobile storage medium is achieved. And a second MCU and a second USB interface are additionally arranged on the display control terminal, and a mobile storage medium storing the reference station measurement data is connected to the second USB interface, so that the reference station measurement data is imported into the second MCU of the display control terminal, and the reference station measurement data is imported into the display control terminal. Then, the second MCU can conduct differential processing on the measurement data to calculate the positioning information of the mobile carrier, and therefore the purpose that the differential processing is conducted on the measurement data and the positioning information is analyzed under the condition that a computer is not provided is achieved. According to the method and the device, the functions of the device are optimized, a computer for storing measurement data and performing post-differential processing is not required to be provided, the problem that recorded and stored observed data are required to be copied into the computer in engineering practice and position coordinate calculation is performed by means of post-differential data processing software is solved, and resource cost is saved.
According to the method and the device, the reference station measurement data is written into the storage unit periodically, and the data file within the second preset time from the current time is written into the mobile storage medium, so that the automatic writing into the storage unit is realized, personnel are not required to watch for a long time when the reference station works, and the labor cost is saved.
In a third aspect, the base station host of the present application further includes a first communication interface, and when the base station host fails or the first USB interface fails, the measurement data may still be exported to the computer through the first communication interface, so that the present application may support copying the recorded and stored observed data to the computer through the communication interface, and performing position coordinate calculation by using post differential data processing software in the computer.
In a fourth aspect, the mobile device of the present application may directly use B3 and B1 frequency points of the BD-2 satellite RNSS and L1 frequency point of the GPS to realize navigation, positioning, speed measurement, orientation, and time service functions without using a reference station device.
In the fifth aspect, the practical working environment is considered in the design process, and the practicability, reliability, standardization, modularization and low cost of the system are highlighted in the design process on the premise of meeting various performance indexes of the system; the design is carried out according to the national standard in the design process, the completeness of system performance realization is emphasized, and the system can work normally in the maximum range; the whole machine design reasonably inherits the experience of the existing product, reduces the development risk, ensures the project development period and ensures the reliability of the system; the design is modularized, so that the independence and inheritance of design development are ensured, and the future use, maintenance and upgrading are facilitated; attention is paid to humanized design and testability design, and convenience in use and maintenance is realized.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting. The present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, but rather should be understood to be limited to practice of the present application. Various changes and modifications may be made by one of ordinary skill in the art to which the present application pertains without departing from the spirit of the utility model, and the scope of the utility model is deemed to lie within the scope of the utility model.
Claims (8)
1. A PPK technology-based high precision positioning system, comprising: a reference station apparatus, a mobile station apparatus; wherein, mobile station device is used for installing on the removal carrier, reference station device position is fixed, its characterized in that:
the reference station apparatus includes: base station antenna, base station host; the mobile station apparatus includes: a mobile station antenna, a mobile station host and a display control terminal; the mobile station host and the base station host respectively comprise a radio frequency unit and a baseband processing module, and the radio frequency unit is connected with the baseband processing module; the mobile station host also comprises a radio frequency port used for being connected with the mobile station antenna and a second communication interface used for being connected with the display control terminal;
the base station host also comprises a radio frequency port, a first USB interface, a first MCU and a storage unit, wherein the radio frequency port, the first USB interface, the first MCU and the storage unit are used for being connected with the base station antenna; the first MCU is respectively connected with the baseband processing module and the storage unit; the first MCU is used for controlling the reference station measurement data received from the baseband processing module to be written into the storage unit, and writing the reference station measurement data into a mobile storage medium connected with the first USB interface from the storage unit;
the display control terminal comprises a display screen, a second communication interface, a second USB interface and a second MCU; the second communication interface is used for receiving mobile station measurement data sent by the mobile station host; the second USB interface is used for connecting a mobile storage medium storing the reference station measurement data; and the second MCU is used for carrying out differential processing on the reference station measurement data and the mobile station measurement data to calculate the positioning information of the mobile carrier.
2. The positioning system of claim 1, wherein the first MCU is configured to periodically write the received reference station measurement data to the storage unit, generate data files, and each of the data files records the reference station measurement data for a first preset time; and the data file stored by the storage unit within a second preset time from the current time is written into the mobile storage medium when the first MCU detects that the first USB interface is connected with the mobile storage medium.
3. The positioning system of claim 1 wherein said base station host further comprises: a first communication interface for transmitting the reference station measurement data to a computer; the first MCU is connected with a computer through the first communication interface;
the first communication interface is any one of a serial port and a network port, and the second communication interface is a serial port.
4. The positioning system of claim 1 wherein said mobile station apparatus is further operable to perform positioning, speed measurement, orientation, time service based on satellite signals received by said mobile station antenna.
5. The positioning system of claim 1 wherein said reference station apparatus and said mobile station apparatus each include a power source; the base station host and the display control terminal respectively comprise a power interface and a power module;
the power supply of the reference station device is connected with the power interface of the base station host, and the power supply of the mobile station device is used for being connected with the power interface of the display control terminal;
the power supply module of the base station host is respectively connected with the first MCU, the baseband processing module and the radio frequency unit;
and the power supply module of the display control terminal is respectively connected with the display screen of the display control terminal and the second MCU.
6. The positioning system of claim 1 wherein said base station host further comprises: an indicator light module;
the indicator light module comprises a power supply indicator light, a satellite state indicator light and a network connection indicator light; the first MCU module is connected with the indicator lamp module and used for controlling the output of the indicator lamp.
7. The positioning system of claim 1 wherein the base station antenna and the mobile station each employ a Beidou measurement antenna.
8. The positioning system of claim 1 wherein the second MCU further incorporates satellite navigation software available for positioning, navigation, map display.
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