KR102480741B1 - Multimode GNSS Reference Station System - Google Patents

Abstract

According to an embodiment of the present invention, a multi-mode GNSS reference station system installed in the field monitors its own position change in real time and notifies a manager of danger when the position change exceeds a preset threshold. When the position of the reference station changes, the coordinates calculated by the observation station have an error as much as displacement, so in the embodiment of the present invention, when the displacement generated in the GNSS reference station is greater than the allowable value, a self-diagnosis function for the reference station is provided so that an appropriate response can be made.

Description

Multimode GNSS Reference Station System {Multimode GNSS Reference Station System}

The present disclosure relates to a multi-mode GNSS reference station system, and specifically, a GNSS reference station installed in the field monitors its own position change in real time, and when the displacement generated in the GNSS reference station exceeds a set tolerance, an appropriate response to the displacement occurs. It relates to a multi-mode GNSS reference station system that enables correspondence.

Unless otherwise indicated herein, material described in this section is not prior art to the claims in this application, and inclusion in this section is not an admission that it is prior art.

GNSS (Global Navigation Satellite System) is a global positioning information service system that uses radio waves transmitted from satellites to provide precise positioning information to anyone, anytime, anywhere. The basic positioning concept of GNSS is to place dozens of satellite groups in a certain shape on the orbit so that it can cover the entire earth at all times, providing location, navigation, and visual information to users on the earth anytime, anywhere. To this end, GNSS maintains the deployed satellites in a constant shape, and transmits accurate orbit information of the satellites in real time through a communication link synchronized with the mounted atomic clock. By measuring the arrival time difference of the satellite orbit information and the received signal, the user's 3D position can be determined in real time by triangulation.

When GNSS is used in industrial applications such as cadastral survey, facility safety monitoring, autonomous driving of heavy equipment and vehicles, and disaster prevention using drones, high-precision position calculation results of several centimeters to several millimeters are required. In order to satisfy these requirements, various errors included in GNSS signals, such as satellite orbital errors, satellite clock errors, ionospheric errors, and tropospheric errors, must be removed. In this case, a GNSS reference station is essentially used to calculate a GNSS error correction value. The reference station refers to a place where RS (Reference Station) that generates position correction information based on a known location, IM (Integrity Monitor) that receives position correction information and conducts an integrity check, and a correction transmitter station are installed. , it is divided into a marine reference station and an inland reference station.

The GNSS reference station must know the absolute coordinates with high accuracy of several millimeters, and its location must not change after installation in the field. At this time, the role of the GNSS reference station is to generate error correction information for the GNSS signal using the known absolute coordinates and transmit it to the user through wired/wireless communication. However, problems that usually occur in industrial sites related to GNSS reference stations include difficulty in location selection and high communication cost burden.

In addition, in a field environment under poor conditions, the location of the GNSS reference station may change over time as the ground on which the reference station is installed subsides or the structure is deformed. In fact, in most construction sites and mountainous areas, it is difficult to establish a stable GNSS reference point. Most of the GNSS reference station equipment currently used in the industry lacks a self-diagnosis function for the situation in which its position is changing. As a result, there is a problem in that uncertainty about the long-term stability of the GNSS system in operation in the field increases.

Compared to measurement equipment that includes the majority of sensors currently used in industrial applications, GNSS requires a relatively large amount of data to be transmitted and processed through communication. In the structure of the most basic communication network applied to GNSS, data from a single reference station is transmitted to multiple rovers through real-time communication, and by using this, the calculated results from each observation station are transferred to the central situation control room server through real-time communication. it will be transmitted Unlike general measuring equipment, GNSS requires a reference station, real-time communication between the reference station and the observation station, and real-time communication between the observation station and the situation control room server. There is a problem with termination.

1. Korean Patent Registration No. 10-1479106 (2014.12.29) 2. Korean Patent Registration No. 10-1178759 (2012.08.27)

In the multi-mode GNSS reference station system according to the embodiment, a GNSS reference station installed in the field monitors its own location change in real time and notifies a manager of danger when the change exceeds a preset threshold. When the position of the reference station changes, the coordinates calculated by the observation station have an error as much as the displacement, so in the embodiment, if the displacement generated in the GNSS reference station is greater than the allowable value, the self-diagnosis function of the reference station enables appropriate response provides

In addition, when the multi-mode GNSS reference station system according to the embodiment is difficult to install a GNSS reference station due to field conditions, the base station service including the National Geographic Information Institute satellite control point service provided by public institutions, the Seoul Metropolitan Government network RTK service, or MBC It provides various reference station services by enabling the use of private reference station services including broadcast and RTK (Real Time Kinematic) services.

In addition, the multi-mode GNSS reference station system according to the embodiment connects the GNSS reference station and the observation station through a local area network (LAN) or a wide area network (WAN) according to field conditions, or in the case of a wired LAN ( Networking Cable) or wireless (Wi-Fi) connection. In the embodiment, when the GNSS reference station is too far away from the observation station or communication is blocked due to obstacles in the middle, it is connected in a detour using a WAN, and the connection between the GNSS observation station and the central situation control room server is usually through a WAN. By doing so, a flexible communication network is constructed.

A multi-mode GNSS reference station system according to an embodiment includes a GNSS observation station for observing GNSS satellite signals; a Virtual Reference Station (VRS) set around a GNSS observation station and providing observed values of GNSS satellites; A GNSS data processing device that performs communication control with the GNSS reference station, GNSS data processing, communication control with the GNSS observation station, and remote management of the overall system; includes

A GNSS data processing apparatus according to an embodiment includes a reference station interface module that establishes a communication connection with a GNSS receiver, a virtual reference station VRS, or a reference station infrastructure Physical Reference Station (PRS) and receives GNSS reference station data in real time; a data quality management module that guarantees integrity of the received GNSS reference station data; and a reference station monitoring module that performs self-diagnosis of absolute coordinate determination, displacement monitoring, and threshold test of the GNSS reference station to ensure stability of the GNSS system in operation in the field. an observation station interface module that establishes a communication connection with a GNSS observation station and transmits received GNSS reference station data in real time; An observation station monitoring module that constantly checks the communication connection between the GNSS observation station and the multi-mode GNSS reference station system; and a multicasting module for transmitting the received GNSS reference station data to GNSS observation stations. It can be configured including.

The multi-mode GNSS reference station system as described above provides significant economic benefits to users by improving positioning accuracy and reducing costs associated with installing and managing the reference station.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a diagram showing a multi-mode GNSS reference station system configuration according to an embodiment;
2 is a diagram showing data processing blocks of a GNSS data processing apparatus 100 according to an embodiment

Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals designate like elements throughout the specification.

In describing the embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described below are terms defined in consideration of functions in the embodiments of the present invention, which may vary according to the intention or custom of a user or operator. Therefore, the definition should be made based on the contents throughout this specification.

1 is a diagram showing a multi-mode GNSS reference station system configuration according to an embodiment.

Referring to FIG. 1, the multi-mode GNSS reference station system according to the embodiment includes a GNSS data processing device 100, an embedded GNSS antenna/receiver 200, a manager terminal 300, a virtual reference station (VRS) 400, It may be configured to include a Physical Reference Station (PRS) 500 and Rover (#1 to #n).

In the embodiment, the GNSS Data Processor 100 is an embedded system that controls communication with the GNSS reference station, processes GNSS data, controls communication with the GNSS observation station, and remotely manages the overall system. carry out In the embodiment, the CPU (Central Processing Unit) of the GNSS data processing unit 100 uses an ARM Cortex-A72 Quad Core 1500 MHz processor, and is based on a Windows 10 OS (Operating System), a multi-mode GNSS reference station according to the embodiment It performs several functions of the system.

The embedded GNSS antenna/receiver 200 includes a GNSS antenna 210 and a GNSS receiver 220 and communicates with the GNSS data processing device 100. In the embodiment, the GNSS receiver 220 transmits and receives data with the GNSS data processing device 100 through a LAN. In the embodiment, when the GNSS reference station is directly installed in the field, an embedded GNSS antenna/receiver is used. At this time, the built-in GNSS receiver generates a GNSS raw measurement of the reference station or an error correction value for the GNSS signal, and compresses it into a data format for transmission to the GNSS observation station. Various data formats may be provided according to the user's choice, but in the embodiment, RTCM (Radio Technical Commission for Maritime Services) Version 3 and RTCM MSM (Multiple Signal Message), which are generally used as industry standards, are used. Meanwhile, a GNSS antenna is installed at a location where a reference station is to be located, and is connected to a receiver using a low-loss coaxial cable. A GNSS antenna and a receiver may be connected through radio frequency (RF) communication.

The manager terminal 300 receives and checks real-time monitoring information from the GNSS data processing device 100, and responds to it when receiving a danger alert from the GNSS data processing device 100.

VRS 400, which is a virtual reference station, does not actually exist, but is an abstract concept GNSS reference station capable of providing observed values of GNSS satellites to users like a general GNSS reference station. The principle of creating a virtual reference station is to set a virtual reference station around the GNSS observation station, and use a certain number (eg, 3) or more GNSS constant observation stations to estimate the ionosphere, tropospheric and satellite orbit errors included in the estimated satellite signal. Virtual GNSS observations are created by combining the error components of with the calculated distance between the satellite and the virtual reference station. In the embodiment, the reference station infrastructure PRS 500 means a GNSS permanent observation station actually in operation.

2 is a diagram showing data processing blocks of the GNSS data processing apparatus 100 according to the embodiment.

Referring to FIG. 2, the GNSS data processing apparatus 100 according to the embodiment includes a reference station interface module 110, a data quality management module 120, a reference station monitoring module 130, an observation station interface module 140, It may include an observation station monitoring module 150 and a multicasting module 160. The term 'module' used in this specification should be interpreted as including software, hardware, or a combination thereof, depending on the context in which the term is used. For example, the software may be machine language, firmware, embedded code, and application software. As another example, the hardware may be a circuit, processor, computer, integrated circuit, integrated circuit core, sensor, micro-electro-mechanical system (MEMS), passive device, or combination thereof.

The Reference Station Interface Module (110) is a software module installed in the GNSS data processing device and provides a communication connection with the built-in GNSS receiver 220, the virtual reference station VRS (400) or the reference station infrastructure PRS (500) and receive reference station data in real time. Communication with the built-in GNSS receiver 220 uses a Transmission Control Protocol/Internet Protocol (TCP/IP) protocol in a LAN environment. On the other hand, communication with the VRS 400 is a Wide Area Network (WAN) environment and uses a Networked Transport of RTCM via Internet Protocol (NTRIP) protocol. In the case of the PRS 500, TCP/IP or NTRIP protocols are used in a WAN environment according to service conditions.

The data quality control module 120 is a software module installed in the GNSS data processing device and performs several steps of verification to ensure the integrity of the received GNSS reference station data. In an embodiment, the verification work performed by the data quality management module 120 may include a parity check and data decoding process.

Parity check according to the embodiment performs a parity check by applying a Qualcomm 24-bit Cyclical Redundancy Check (CRC-24Q) algorithm in the case of RTCM Version 3 or RTCM MSM data format.

In the embodiment, the data quality control module 120 decodes the GNSS reference station data compressed in a predetermined format through a data decoding process in detail to check for errors. In the embodiment, data determined to be erroneous in the process of parity check and data decoding is deleted and not transmitted to the GNSS observation station.

The Reference Station Monitoring Module (130) is a software module installed in the GNSS data processing unit, which determines the absolute coordinates of the GNSS reference station, monitors displacement, and tests thresholds to ensure long-term stability of the GNSS system in operation in the field. performs self-diagnosis function. In the embodiment, the reference station monitoring module 130 is applied when a GNSS reference station is directly installed in the field. In the embodiment, when the virtual reference station VRS 400 or the reference station infrastructure PRS 500 is used as a reference station, in the case of VRS and PRS, public institutions or private operators are responsible for the operation and management of facilities, The reference station monitoring module 130 is not applied.

In an embodiment, the reference station monitoring module 130 may calculate absolute coordinates in an absolute coordinate determination mode. The GNSS reference station must determine the absolute coordinates of the initial position after field installation with high accuracy of several millimeters. In general, coordinates can be determined through professional geodetic surveying, but in this case, since it requires a lot of time and money, it is inefficient, so the reference station monitoring module 130 according to the embodiment enters the absolute coordinate determination mode and calculate coordinates To this end, the reference station monitoring module 130 sets the built-in GNSS receiver 220 as an observation station and sets the virtual reference station VRS 400 or the reference station infrastructure PRS 500 as a reference station to obtain relative positioning ) method to calculate the absolute coordinates of the observing station. In the embodiment, the corresponding process is performed for the first time after field installation of the GNSS reference station or when it is necessary to reinitialize the absolute coordinates of the GNSS reference station.

In addition, in the embodiment, the reference station monitoring module 130 may calculate the displacement occurring in the GNSS reference station in the displacement monitoring mode. After installing the GNSS reference station in the field, its location should not change. However, in reality, as time goes on, the ground where the GNSS reference station is installed may subside or the structure may be deformed, causing the location to change little by little. Accordingly, when the position of the reference station changes, the coordinates calculated by the observation station have an error as much as the displacement accumulated from the initial position. Therefore, the displacement occurring in the GNSS reference station must always be calculated. Like the relative positioning calculation method applied to the absolute coordinate determination mode, the reference station monitoring module 130 according to the embodiment determines the built-in GNSS receiver as an observation station and uses the virtual reference station VRS 400 or the reference station infrastructure PRS 500 Set as a reference station. However, in case of the displacement monitoring mode, the displacement occurring in the reference station is calculated instead of the absolute coordinates of the observation station.

Also, in an embodiment, the reference station monitoring module 130 calculates the displacement in real time in the threshold test mode. For the threshold test according to the embodiment, an administrator sets an allowable threshold for the displacement of the GNSS reference station in advance and registers a contact to receive an emergency alert. In the embodiment, when the threshold test mode is activated, the displacement calculated in real time in the displacement monitoring mode is compared with a set tolerance value. If the displacement of the GNSS reference station is greater than the allowable value, a danger alert is automatically sent to the administrator. At the same time, the GNSS reference station service is temporarily suspended until the manager confirms it. Communication between the threshold test mode and the manager according to the embodiment uses a TCP/IP protocol in a WAN environment.

The Rover Interface Module 140 is a software module installed in the GNSS data processing device 100 and has a function of establishing a communication connection with a GNSS observation station and transmitting received GNSS reference station data in real time. do. Communication with GNSS observation stations can use the TCP/IP protocol in a LAN or WAN environment. In case of communication connection in a WAN environment in the field, it is necessary to subscribe to LTE or 5G service from a private telecommunications company. Therefore, if all GNSS observation stations are connected in a WAN environment, the burden of communication cost according to the operation of the GNSS system is very high. In general, when a GNSS reference station is too far away from an observation station or communication is blocked due to obstacles in the middle, a WAN must be used to make a detour connection. In other cases, the communication cost can be reduced by connecting the GNSS reference station and the observation station through a LAN.

The Rover Monitoring Module (Rover Monitoring Module) 150 is a software module installed in the GNSS data processing device 100 and performs a function of constantly checking the communication connection state between the GNSS observation station and the multi-mode GNSS reference station system. At this time, in the embodiment, the observation station monitoring module 150 creates a list of GNSS observation stations in which the communication connection state is activated without an error.

The multicasting module (Rover Monitoring Module) 160 is a software module installed in the GNSS data processing device 100 and performs a function of transmitting received GNSS reference station data to a GNSS observation station. At this time, in the embodiment, the multicasting module (Rover Monitoring Module) 160 uses the GNSS observation station list provided by the observation station monitoring module 150 to transmit newly received GNSS reference station data to individual observation stations at each predetermined time can do.

In the multi-mode GNSS reference station system according to the embodiment, a GNSS reference station installed in the field monitors its own location change in real time and notifies a manager of danger when the change exceeds a preset threshold. When the position of the reference station changes, the coordinates calculated by the observation station have an error as much as the displacement, so in the embodiment, if the displacement generated in the GNSS reference station is greater than the allowable value, the self-diagnosis function of the reference station enables appropriate response provides

In addition, when the multi-mode GNSS reference station system according to the embodiment is difficult to install a GNSS reference station due to field conditions, the base station service including the National Geographic Information Institute satellite control point service provided by public institutions, the Seoul Metropolitan Government network RTK service, or MBC It provides various reference station services by enabling the use of private reference station services including broadcast and RTK (Real Time Kinematic) services.

In addition, the multi-mode GNSS reference station system according to the embodiment connects the GNSS reference station and the observation station through a local area network (LAN) or a wide area network (WAN) according to field conditions, or in the case of a wired LAN ( Networking Cable) or wireless (Wi-Fi) connection. In the embodiment, when the GNSS reference station is too far away from the observation station or communication is blocked due to obstacles in the middle, it is connected in a detour using a WAN, and the connection between the GNSS observation station and the central situation control room server is usually through a WAN. By doing so, a flexible communication network is constructed.

In addition, the multi-mode GNSS reference station system according to the embodiment can improve positioning accuracy and reduce costs associated with installing and managing the reference station, thereby providing significant economic benefits to users.

The disclosed content is only an example, and can be variously modified and implemented by those skilled in the art without departing from the subject matter of the claim claimed in the claims, so the protection scope of the disclosed content is limited to the specific It is not limited to the examples.

Claims (7)

In the multimode GNSS reference station system,
a GNSS observation station that observes GNSS (Global Navigation Satellite System) satellite signals;
a Virtual Reference Station (VRS) set around the GNSS observation station and providing observed values of GNSS satellites;
a GNSS data processing device that performs communication control with the GNSS reference station, GNSS data processing, communication control with the GNSS observation station, and remote management of the overall system; including,
The GNSS data processing device
A reference station interface module that establishes a communication connection with a GNSS receiver, virtual reference station VRS, or reference station infrastructure Physical Reference Station (PRS) and receives GNSS reference station data in real time;
a data quality management module that guarantees integrity of the received GNSS reference station data; and
A reference station monitoring module that performs self-diagnosis of absolute coordinate determination, displacement monitoring, and threshold test of the GNSS reference station to ensure stability of the GNSS system in operation in the field; contains
the reference station monitoring module; silver
In order to calculate the displacement occurring in the GNSS reference station, the built-in GNSS receiver is set as the observation station, and the virtual reference station VRS or reference station infrastructure PRS is set as the reference station, and then the displacement of the observation station is calculated and calculated A multimode GNSS reference station system, characterized in that for monitoring the displacement.
The method of claim 1, wherein the GNSS data processing device
an observation station interface module that establishes a communication connection with a GNSS observation station and transmits received GNSS reference station data in real time;
An observation station monitoring module that constantly checks the communication connection between the GNSS observation station and the multi-mode GNSS reference station system; and
a multicasting module for transmitting the received GNSS reference station data to GNSS observation stations; A multi-mode GNSS reference station system comprising a.
According to claim 1, The data quality management module; silver
Through parity check and data decoding, GNSS reference station data is decoded to check for errors, and data determined to be erroneous during the parity check and data decoding process is deleted to obtain error-free data. Multi-mode GNSS reference station system, characterized in that for transmitting to the GNSS observation station.
The method of claim 1, further comprising: the reference station monitoring module; silver
In order to calculate the absolute coordinates of the GNSS reference station, the built-in GNSS receiver is set as the observation station, and the virtual reference station VRS or reference station infrastructure PRS is set as the reference station to calculate the absolute coordinates of the observation station using the Relative Positioning method. A multi-mode GNSS reference station system, characterized in that for determining the absolute coordinates of the GNSS reference station.
delete The method of claim 1, further comprising: the reference station monitoring module; silver
Multi-mode GNSS, characterized by performing self-diagnosis through a threshold test that compares the displacement calculated in real time with a preset tolerance and automatically sends a risk alert to the manager when the displacement generated in the GNSS reference station exceeds the tolerance reference station system.
The method of claim 6, wherein the reference station monitoring module; silver
A multi-mode GNSS reference station system characterized in that the danger alert is automatically sent and the GNSS reference station service is temporarily suspended until the manager confirms it.

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