WO2018121623A1 - 实时动态定位系统虚拟参考站切换方法和设备 - Google Patents

实时动态定位系统虚拟参考站切换方法和设备 Download PDF

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Publication number
WO2018121623A1
WO2018121623A1 PCT/CN2017/119105 CN2017119105W WO2018121623A1 WO 2018121623 A1 WO2018121623 A1 WO 2018121623A1 CN 2017119105 W CN2017119105 W CN 2017119105W WO 2018121623 A1 WO2018121623 A1 WO 2018121623A1
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Prior art keywords
reference station
station
combination
virtual reference
virtual
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PCT/CN2017/119105
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English (en)
French (fr)
Inventor
林扬波
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华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP17887899.7A priority Critical patent/EP3561547B1/en
Priority to KR1020197022088A priority patent/KR102273476B1/ko
Priority to JP2019536083A priority patent/JP6845331B2/ja
Publication of WO2018121623A1 publication Critical patent/WO2018121623A1/zh
Priority to US16/458,745 priority patent/US11300686B2/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/073—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections involving a network of fixed stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/0803—Configuration setting
    • H04L41/0813—Configuration setting characterised by the conditions triggering a change of settings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/14—Network analysis or design
    • H04L41/147—Network analysis or design for predicting network behaviour
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data

Definitions

  • the invention relates to the field of high-precision positioning, in particular to a virtual reference station switching method and device for a real-time dynamic positioning system.
  • RTK Real Time Kinematic
  • GNSS Global Navigation Satellite Systems
  • GLONASS Global Navigation Satellite Systems
  • Galileo Galileo
  • BeiDou BeiDou
  • GNSS Global Navigation Satellite Systems
  • RTK uses the carrier phase measurement of the signal and provides real-time correction based on the measurement of the single reference station to the measured value of the mobile station to achieve centimeter-level accuracy.
  • NRTK Network Real Time Kinematic
  • VRS Virtual Reference Station
  • CORS Continuously Operating Reference Station
  • the NRTK/CORS system usually consists of a base station, a mobile station, a central station, and a communication network.
  • the base station the fixed reference station, provides GNSS measurement data to the central station in real time.
  • the base station forms the base station/reference station network and requires at least three fixed reference stations to calculate the virtual reference station.
  • the mobile station obtains the GNSS measurement data of the virtual reference station from the central station. It is also possible to provide the central station with its own rough location information so that the central station can provide services in a targeted manner, such as calculating a virtual reference station that is closer to the mobile station.
  • the central station calculates the virtual reference station and its GNSS measurement data based on the base station and its GNSS measurement data, and provides the mobile station with the GNSS measurement data of the virtual reference station. It is possible to provide services in a targeted manner based on the coarse location information provided by the mobile station, such as selecting a base station that is most suitable for the location of the mobile station, and calculating a virtual reference station that is closer to the mobile station.
  • Communication network connecting the base station, mobile station and central station.
  • the base station and the central station are connected by a wired method (for example, an optical fiber or the like), and the central station and the mobile station are connected by a wireless method (for example, GSM/LTE).
  • a wired method for example, an optical fiber or the like
  • a wireless method for example, GSM/LTE
  • the reliability and accuracy of the NRTK/CORS system depends on the density and performance of its base/reference station network.
  • the existing NRTK/CORS system is mainly used in land surveying, environmental monitoring and other industries. There are fewer base stations to be deployed, and it is possible to increase the investment environment with better investment. However, changes to a single base station (such as faults, etc.) may cause the entire base station/reference station network to be affected by the network reconfiguration. Adding reliability mechanisms (such as backups, etc.) to a single base station will result in higher construction and maintenance costs.
  • the base stations that need to be deployed are increasing in order of magnitude. If it is combined with the infrastructure of a communication network (such as a base station, etc.) to reduce costs, it may face a more complicated and harsh environment. In this way, the change of a single base station may only cause the network reconstruction of the local base station/reference station network, but the probability of such dynamic change will be high.
  • the embodiment of the invention provides a method and a device for switching a virtual reference station of a real-time dynamic positioning system, which can effectively reduce the influence of the network reconstruction of the reference station of the real-time dynamic positioning system on the positioning service provided by the real-time dynamic positioning system, and meet the uninterrupted high-precision positioning. Demand.
  • any three base stations/reference stations A, B, C may constitute a triangular area.
  • the central station O derives the GNSS measurement data of a virtual reference station V based on the GNSS measurement data of the three base stations/reference stations.
  • the GNSS measurement data of the virtual reference station V can be used to correct the GNSS measurement data of the mobile station M in the triangular region to achieve high precision positioning of the mobile station M.
  • the central station can select the best three base stations/reference stations for the mobile station to obtain the virtual reference station, for example according to the mobile station being in a certain advance
  • the three base stations/reference stations that make up the triangle area are selected within the divided base station/reference station triangle area, or the shortest three base stations are selected according to the distance from the mobile station to each base station/reference station.
  • the central station predicts, according to the location information of the mobile station, a possible impact of the network reconfiguration of the base station/reference station network on providing the positioning service for the mobile station, that is, estimating the reference according to the virtual reference station. Whether the station has switched. If the central station predicts that the base station on which the mobile station estimates the virtual reference station is to be switched due to the network reconfiguration, the virtual reference station and its GNSS measurement data before and after the handover are estimated according to the base station before and after the handover, respectively.
  • the central station provides the GNSS measurement data of the virtual reference station before and after the handover to the mobile station before and after the network reconstruction, or simultaneously provides the GNSS measurement data of the virtual reference station before and after the handover for selecting and using according to its own location.
  • the central station can select the best three base stations/reference stations for the mobile station to obtain the virtual reference station, for example according to the mobile station at the base station/ Selecting the three base stations/reference stations that make up the triangle area within a divided base station/reference station triangle area in the reference station network, or according to the mobile station to each base station/reference station in the base station/reference station network The shortest selection of three base stations/reference stations.
  • a virtual reference station switching method for a real-time dynamic positioning system is provided.
  • the method is generally performed by a central station in a system, the method comprising: acquiring reference station network networking change information; and according to the reference station network group
  • the network change information acquires prediction information, the prediction information including: switching a virtual reference station that calculates the mobile station according to the first reference station combination to a virtual reference station that calculates the mobile station according to the second reference station combination; according to the first reference Calculating, by the station combination, a first virtual reference station, calculating a second virtual reference station according to the second reference station combination, obtaining first virtual reference station information and second virtual reference station information; providing the mobile station with the At least one of the first virtual reference station information and the second virtual reference station information is used by the mobile station to perform positioning correction.
  • the method can give a change of the reference station combination of the network networking, and determine a new virtual reference station, which can effectively reduce the impact of the reference network network reconfiguration of the real-time dynamic positioning system on the positioning service provided by the real
  • one implementation may be to cause the reference station network to change by exiting or joining the reference station network by predicting at least one reference station.
  • an implementation may obtain location information of the mobile station; and determine, based on the location information of the mobile station, a reference station combination for which the virtual reference station is based.
  • an implementation manner of determining, according to location information of the mobile station, a procedure for calculating, by the mobile station, a reference station combination according to the virtual reference station may include: acquiring a reference station triangle in the reference station network The area division information; determining, according to the location information of the mobile station and the reference station triangle area division information, the reference station triangle area in which the mobile station is located; and selecting three reference stations constituting the reference station triangle area as the reference station combination.
  • Determining, according to the location information of the mobile station, another implementation manner of calculating, by the mobile station, the reference station combining procedure according to the virtual reference station may include: acquiring each reference station distribution information in the reference station network; according to the moving The location information of the station and the reference station distribution information determine the distance between the mobile station and each of the reference stations in the reference station network; the three reference stations with the shortest distance are selected as the reference station combination.
  • the foregoing provides at least one of the first virtual reference station information and the second virtual reference station information to the mobile station, a possible implementation manner, including: calculating the Before the virtual reference station switches from combining according to the first reference station to combining according to the second reference station, the virtual reference station information includes measurement data of the first virtual reference station; and calculating the virtual reference station from the mobile station After the first reference station combination is switched according to the second reference station combination, the virtual reference station information includes measurement data of the second virtual reference station.
  • one implementation includes measurement data of the first virtual reference station and measurement data of the second virtual reference station.
  • a virtual reference station switching method for a real-time dynamic positioning system is provided, which is generally implemented by a mobile station.
  • the method includes: acquiring virtual reference station information, where the virtual reference station information is calculated by the central station according to a reference station combination.
  • the reference station combination comprises a first reference station combination and a second reference station combination, the reference station combination being determined by the central station to switch from the first reference station combination according to the reference station network networking change information And combining for the second reference station; performing positioning correction according to the virtual reference station information.
  • a specific implementation manner of taking virtual reference station information includes: before the reference station combination is switched from the first reference station combination to the second reference station combination, the virtual reference station information includes the first Measurement data of the virtual reference station, the first virtual reference station is calculated by the central station according to the first reference station combination; after the reference station combination is switched from the first reference station combination to the second reference station combination, the virtual reference station information The measurement data of the second virtual reference station is included, and the second virtual reference station is calculated by the central station according to the second reference station combination.
  • another specific implementation manner of the virtual reference station information includes: the virtual reference station information includes measurement data of the first virtual reference station and measurement data of the second virtual reference station, the first The virtual reference station is calculated by the central station according to the first reference station combination, and the second virtual reference station is calculated by the central station according to the second reference station combination.
  • an implementation manner of performing positioning correction according to the virtual reference station information includes: acquiring location information of the mobile station; and selecting measurement data of the first virtual reference station according to location information of the mobile station or The measurement data of the second virtual reference station performs positioning correction.
  • selecting the measurement data of the first virtual reference station or the measurement data of the second virtual reference station to perform positioning correction according to the location information of the mobile station includes: acquiring, in the network of the reference station Determining the station triangle area division information; determining the reference station triangle area where the mobile station is located according to the location information of the mobile station and the reference station triangle area division information; selecting three reference stations constituting the reference station triangle area as the reference station combination calculation The measured data of the obtained virtual reference station.
  • selecting the measurement data of the first virtual reference station or the measurement data of the second virtual reference station to perform positioning correction according to the location information of the mobile station includes: acquiring, in the network of the reference station Each reference station distribution information; determining a distance between the mobile station and each reference station in the reference station network according to the location information of the mobile station and the reference station distribution information; selecting the three reference stations having the shortest distance as the reference station combination calculation The measured data of the obtained virtual reference station.
  • a real-time dynamic positioning system virtual reference station switching device which is generally a central station in a system or a functional entity integrated in a central station.
  • the device includes a processor with computing and processing capabilities, a memory that stores data or programs in conjunction with the processor, and communication circuitry that communicates with other devices.
  • a processor configured to acquire reference station network networking change information, and obtain prediction information according to the reference station network networking change information, where the prediction information includes: switching a virtual reference station that is calculated by the first reference station combination to the mobile reference station Calculating, by the second reference station, the virtual reference station of the mobile station; calculating, according to the first reference station combination, the first virtual reference station, and calculating, according to the second reference station combination, the second virtual reference station, obtaining the A virtual reference station information and second virtual reference station information.
  • a communication circuit configured to send, to the mobile station, at least one of the first virtual reference station information and the second virtual reference station information, where the mobile station performs positioning correction.
  • the real-time dynamic positioning system virtual reference station switching device can implement the real-time dynamic positioning system virtual reference station switching method of the first aspect, that is, specific implementations.
  • the location information of the mobile station is detected.
  • the processor has computing and processing capabilities to perform and perform the steps or functions required by the real-time dynamic positioning system virtual reference station switching method of the first aspect.
  • a fourth aspect provides a real-time dynamic positioning system mobile station device, which includes a processor having processing capability, a receiver that receives information transmitted by other devices, a transmitter that transmits information, and acquires or locates a location of its own location. Sensors, etc.
  • the receiver is configured to receive virtual reference station information provided by a central station, where the virtual reference station is calculated by the central station according to a reference station combination, where the reference station combination includes a first reference station combination or The second reference station combination is determined by the central station to switch from the first reference station combination to the second reference station combination according to the reference station network networking prediction information; and the processor is configured to perform positioning correction according to the virtual reference station information.
  • the receiver receiving the virtual reference station information provided by the central station, may be that the reference station combination is switched from the first reference station combination to the first Before the two reference station combinations, the virtual reference station information includes measurement data of the first virtual reference station, the first virtual reference station is calculated by the central station according to the first reference station combination; and the reference station combination is from the After the first reference station combination is switched to the second reference station combination, the virtual reference station information includes measurement data of the second virtual reference station, and the second virtual reference station is calculated by the central station according to the second reference station combination. .
  • the virtual reference station information acquired by the receiver, the virtual reference station is calculated by the central station according to the reference station combination, and the reference station combination is determined by the central station according to the reference station network networking prediction information.
  • the first reference station combination is switched to a second reference station combination.
  • the virtual reference station information includes measurement data of a first virtual reference station and measurement data of a second virtual reference station, the first virtual reference station being calculated by the central station according to a first reference station combination, the second virtual reference station being centered The station is calculated based on the second reference station combination.
  • the location sensor acquires location information of the mobile station; the processor may select measurement data of the first virtual reference station or measurement data of the second virtual reference station to perform positioning correction according to the location information of the mobile station.
  • the processor of the mobile station device has computing and processing capabilities to perform and perform the steps or functions required by the real-time dynamic positioning system virtual reference station switching method of the first aspect.
  • FIG. 1 is a schematic diagram of a composition of a real-time dynamic positioning system according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a virtual reference station handover method for a base station to exit a network according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a method for switching a virtual reference station of a base station entering a network according to an embodiment of the present invention
  • 4(a) and 4(b) are schematic diagrams showing the flow of a central station side of a virtual reference station switching method for a real-time dynamic positioning system according to an embodiment of the present invention
  • FIG. 5 is a schematic flowchart of a vehicle side of a virtual reference station switching method of a real-time dynamic positioning system according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a module on a central station side of a virtual reference station switching device of a real-time dynamic positioning system according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a vehicle side module of a virtual reference station switching device of a real-time dynamic positioning system according to an embodiment of the present invention.
  • the embodiments of the present invention can be applied to any mobile station in a real-time dynamic positioning system, and the mobile station can be placed on the vehicle or as a functional entity on the vehicle, and the vehicle only has the characteristics of fast moving speed in the mobile station.
  • the present invention is convenient for description.
  • the mobile station can also be placed in other devices or as part of other mobile device entities.
  • the mobile station in the embodiment of the present invention can be used in various occasions, product devices or entities that need to be located.
  • the embodiments of the present invention can be applied to any reference station in a real-time dynamic positioning system.
  • the reference station is only one of the typical continuous running features in the reference stations.
  • the present invention is convenient for description, and the base station is taken as an example for description. It does not constitute a limitation on the applicable reference station.
  • FIG. 1 is a schematic diagram of the composition of a real-time dynamic positioning system according to an embodiment of the present invention.
  • any three base stations/reference stations can form a triangular area.
  • the central station calculates real-time GNSS measurement data of a virtual reference station based on the real-time GNSS measurement data of the three reference stations/reference stations.
  • the real-time GNSS measurement data of the virtual reference station can be used to correct real-time GNSS measurement data of mobile stations (e.g., vehicles) in the triangular region to achieve real-time high-precision positioning of the mobile station.
  • the central station can select the best three base stations/reference stations for the mobile station to obtain the virtual reference station, for example according to the mobile station at the base station/reference Selecting the three base stations/reference stations that make up the triangle area within a divided base station/reference station triangle area in the station network, or according to the distance from the mobile station to each base station/reference station in the base station/reference station network Select the shortest three base stations/reference stations.
  • FIG. 2 is a schematic diagram of a method for switching a virtual reference station of a base station exiting a network according to an embodiment of the present invention.
  • the vehicle M as a mobile station is currently using the central station O to perform positioning correction based on the virtual reference station V abc calculated by the base stations A, B, and C. If one of the base stations A, B, C is exited from the base station/reference station network (eg, deactivated or failed), the network of the base station/reference station network will be reconstructed.
  • the central station O can predict whether the network reconstruction has an impact on the positioning service provided by the NRTK/CORS system for the vehicle M.
  • the central station O prediction reference will exit station A switching center O to provide positioning station corrects the vehicle M is a virtual reference station according to the calculated V xbc base station X, B, C, then the central station in the base station A occurs O Before exiting, the virtual reference station V abc can be calculated from the base stations A, B, C and the virtual reference station V xbc can be calculated from the base stations X, B, C. The central station O can make this prediction for any reference station before it actually exits the network.
  • the central station O Before the base station A exits, if there is no change in the networking, the central station O provides the vehicle M with the GNSS measurement data of V abc for its positioning correction. After the base station A exits, if the network is reconfigured, the central station O switches to provide the vehicle M with V xbc GNSS measurement data for positioning correction. Since V abc and V xbc are prepared at the same time, the network reconfiguration does not cause the positioning service to be interrupted. If the GNSS measurement data of the previous V abc has been sent to the vehicle M or the vehicle M has already learned the GNSS measurement data of V abc , the current central station O may only provide the vehicle M when the current base station A exits causing the network change. GNSS measurement data for V xbc .
  • the central station O can select the base stations X, B, C to calculate the virtual reference station V xbc for the vehicle M in advance based on the position information of the vehicle M. For example, the central station O may select the base station X, B, C according to the vehicle M to be in the re-divided triangular area consisting of the base stations X, B, C after the base station A exits, or according to the vehicle M at the base station After A exits, the shortest three base stations X, B, and C are selected to the other base stations.
  • FIG. 3 is a schematic diagram of a method for switching a virtual reference station of a base station entering a network according to an embodiment of the present invention.
  • the vehicle M as a mobile station is currently using the central station O to perform positioning correction based on the virtual reference station V abc calculated by the reference stations A, B, and C. If a base station Y is added (e.g., enabled or restored) to the base station/reference station network near the base stations A, B, C, the network of the base station/reference station network will be reconstructed.
  • the central station O can predict whether the network reconstruction has an impact on the positioning service provided by the NRTK/CORS system for the vehicle M.
  • the central station O predicts that the joining of the base station Y will cause the central station O to switch to the virtual reference station V ayc calculated from the base stations A, Y, C to provide positioning correction for the vehicle M, then the central station O joins at the base station Y. Thereafter, the virtual reference station Vabc can be calculated from the base stations A, B, and C, and the virtual reference station V aby can be calculated from the base stations A, Y, and C. The central station O can make this prediction for any reference station before it actually joins the network.
  • the central station O Before the introduction of the base station Y, if there is no change in the networking, the central station O provides the vehicle M with the GNSS measurement data of the Vabc for its positioning correction. After the introduction of the base station Y, if the network is reconfigured, the central station O switches to provide the vehicle M with the GNSS measurement data of V ayc for positioning correction. Since V abc and V ayc are prepared at the same time, the network reconfiguration does not cause the positioning service to be interrupted.
  • the central station O can select the base stations A, Y, C to calculate the virtual reference station Vayc for the vehicle M in advance based on the position information of the vehicle M. For example, the central station O may select the base stations A, Y, C according to the triangular area formed by the base stations A, Y, C after the introduction of the base station Y by the base station Y, or according to the vehicle M at the base station Y. After the introduction, the shortest three base stations A, Y, and C are selected to the other base stations.
  • the central station O based on the location information of the vehicle M, predicts that the base station/reference station network network reconfiguration will cause the base station to calculate the virtual reference station for the vehicle M from the A, B, C Switching to A, B, and Z, the virtual reference station V ab c is calculated based on the base stations A, B, and C, and the virtual reference station V abz is calculated based on the base stations A, B, and Z.
  • the central station O can also provide the GNSS measurement data of V abc or the GNSS measurement data of V abz to the vehicle M at the same time, or simultaneously select the GNSS measurement data of V abc and the GNSS measurement data of V abz for its own selection.
  • the positioning correction is performed from the use of Vabc.
  • the GNSS measurement data is switched to GNSS measurement data using Vxbc.
  • the vehicle M can determine, based on its own location information, that the base station for which the virtual reference station is calculated is switched from A, B, and C to A, B, and Z according to the change of the base station/reference station network. For example, the vehicle M can determine that it switches from the triangular area of A, B, and C to the A, B, and Z triangle areas according to the division of different triangular areas before and after the reconstruction of the base station/reference station network, or according to the distance from the vehicle M to each base station. The shortest three base stations are switched from A, B, and C to A, B, and Z.
  • FIG. 4 is a schematic flowchart of a central station side of a virtual reference station switching method for a real-time dynamic positioning system according to an embodiment of the present invention. As shown in FIG. 4, the method includes:
  • the first virtual reference station is calculated according to the first reference station combination
  • the second virtual reference station is calculated according to the second reference station combination
  • the first virtual reference station information and the second virtual reference station information are obtained.
  • S140 Provide at least one of the first virtual reference station information and the second virtual reference station information to the mobile station, where the mobile station performs positioning correction.
  • the mobile station performs positioning correction.
  • both the first virtual reference station information and the second virtual reference station information are provided to the mobile station. In other cases, you only need to provide one of them. For example, the mobile station already has the first virtual reference station information, and only the Dil virtual reference station information needs to be provided when the networking changes.
  • the method may further include:
  • Predicting that at least one reference station exits or joins the reference station network causes the reference station network networking to change to obtain reference station network networking change information.
  • Step S120 of the method S100 further includes:
  • S122 Determine, according to location information of the vehicle, a reference station combination for which the virtual reference station is based.
  • Step S140 of the method S100 further includes:
  • the virtual reference station information includes measurement data of the first virtual reference station, and the reference station combination is from the first After the reference station combination is switched to the second reference station combination, the virtual reference station information includes measurement data of the second virtual reference station;
  • the virtual reference station information includes measurement data of the first virtual reference station and measurement data of the second virtual reference station.
  • FIG. 5 is a schematic flowchart of a vehicle side (or a mobile station) completed by a virtual reference station switching method of a real-time dynamic positioning system according to an embodiment of the present invention.
  • the method S200 includes:
  • S210 Acquire virtual reference station information, where the virtual reference station is calculated by the central station according to the reference station combination, and the reference station combination is determined by the central station to switch from the first reference station combination to the second reference according to the reference station network networking change information. Station combination
  • S220 Perform positioning correction according to the virtual reference station information.
  • Step S210 of the method S200 further includes:
  • the virtual reference station information Before the reference station combination is switched from the first reference station combination to the second reference station combination, the virtual reference station information includes measurement data of the first virtual reference station, and the first virtual reference station is configured by the central station according to the first reference. The station combination is calculated, and after the reference station combination is switched from the first reference station combination to the second reference station combination, the virtual reference station information includes measurement data of the second virtual reference station, and the second virtual reference station is configured by the central station Calculated according to the second reference station combination; or,
  • the virtual reference station information includes measurement data of the first virtual reference station and measurement data of the second virtual reference station, where the first virtual reference station is calculated by the central station according to the first reference station combination, and the second virtual reference station is obtained. Calculated by the central station based on the second reference station combination.
  • step S220 further includes:
  • the central station in combination with the actual situation of different embodiments, if the central station already knows the location information of the mobile station, or the central station has selected the required measurement data for the mobile station, the central station can directly select the first One of the measurement data of a virtual reference station or the measurement data of the second virtual reference station is transmitted to the vehicle (mobile station).
  • the central station can directly select the first One of the measurement data of a virtual reference station or the measurement data of the second virtual reference station is transmitted to the vehicle (mobile station).
  • FIG. 6 is a schematic diagram of a module on a central station side of a virtual reference station switching device of a real-time dynamic positioning system according to an embodiment of the present invention.
  • the device 60 includes a processor 604 having computing and processing capabilities, a memory 606 that stores data or programs in cooperation with the processor, and communication circuitry that communicates with other devices, including a transmitting circuit 602 and a receiving circuit 603, which may The device communicates wirelessly.
  • a display 604 can also be optionally included, which is optional and can be set as needed for displaying related information or human-computer interaction information and the like.
  • Each module is coupled to processor 605 via bus 607 to receive management of processor 705.
  • the processor has computing and processing capabilities to perform and perform the steps or functions required by the real-time dynamic positioning system virtual reference station switching method performed by the aforementioned central station.
  • the device 60 includes:
  • the processor 604 is configured to acquire reference station network networking change information, and obtain prediction information according to the reference station network networking change information, where the prediction information includes: switching, by the virtual reference station that calculates the mobile station according to the first reference station combination, Calculating a virtual reference station of the mobile station according to the second reference station combination; calculating a first virtual reference station according to the first reference station combination, and calculating a second virtual reference station according to the second reference station combination, obtaining the description First virtual reference station information and second virtual reference station information.
  • a communication circuit configured to send at least one of the first virtual reference station information and the second virtual reference station information to the mobile station, where the mobile station performs positioning correction.
  • the communication circuit transmits the virtual reference station information to the vehicle, and the vehicle performs correction of the positioning based on the virtual reference station information.
  • the processor 604 may predict that at least one of the reference stations exits or joins the reference station network causing the reference station network to change.
  • the communication module can also acquire location information transmitted by the vehicle (mobile station); the processor 604 determines, based on the location information of the vehicle, the reference station combination for which the virtual reference station is based. Or the processor can directly obtain the location information sent by the vehicle (mobile station) through the sensor of the central station.
  • the information includes measurement data of the first virtual reference station and measurement data of the second virtual reference station.
  • the device 70 includes a processor 705 having processing capability, a receiver 703 that receives information transmitted by other devices, a transmitter 702 that transmits information, a receiver 703, and a transmitter 702 can wirelessly communicate with other devices through the antenna 701.
  • a position sensor 704 that locates its own position
  • a memory 706 for storing information, data, programs, etc., and the like. It is also possible to add a display (not shown) as needed.
  • Real-Time Dynamic Positioning System The processor 705 of the mobile station device has computing and processing capabilities that can be completed and executed, or jointly managed by other devices to perform and execute the real-time dynamic positioning system virtual reference station switching method performed by the above-described vehicle (mobile station). Step or function.
  • the receiver 703 is configured to receive virtual reference station information provided by the central station, where the virtual reference station is calculated by the central station according to a reference station combination, where the reference station combination includes a first reference station combination or a second reference station combination, The central station determines to switch from the first reference station combination to the second reference station combination according to the reference station network network change prediction information; and the processor 705 is configured to perform positioning correction according to the virtual reference station information.
  • the virtual reference station information includes measurement data of the first virtual reference station, and the first virtual reference station is configured by the central station according to the first reference The station combination is calculated, and after the reference station combination is switched from the first reference station combination to the second reference station combination, the virtual reference station information includes measurement data of the second virtual reference station, and the second virtual reference station is configured by the central station Calculated according to the second reference station combination; or,
  • the virtual reference station information includes measurement data of a first virtual reference station and measurement data of a second virtual reference station, the first virtual reference station being calculated by the central station according to a first reference station combination, the second virtual reference station being centered The station is calculated based on the second reference station combination.
  • the position sensor 704 is configured to acquire position information of the vehicle.
  • the sensor can position and sense itself, or receive signals such as a GPS system to obtain position information of the vehicle.
  • the processor After obtaining the location information, the processor obtains the location information, and the processor selects the measurement data of the first virtual reference station or the measurement data of the second virtual reference station to perform positioning correction according to the location information of the vehicle.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the storage medium includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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Abstract

一种实时动态定位系统虚拟参考站切换方法和设备，方法包括：获取参考站网络组网变化信息（S110）；根据参考站网络组网变化信息获取预测信息，预测信息包括将由根据第一参考站组合计算移动站的虚拟参考站切换为根据第二参考站组合计算移动站的虚拟参考站（S120）；根据第一参考站组合计算得到第一虚拟参考站，根据第二参考站组合计算得到第二虚拟参考站（S130）；向计算移动站提供第一虚拟参考站信息和第二虚拟参考站信息的至少一个，用于移动站进行定位校正（S140）。实时动态定位系统虚拟参考站切换方法和设备，能够有效降低实时动态定位系统的参考站网络组网重构对其所提供定位服务的影响，满足不间断高精度定位的需求。

Description

实时动态定位系统虚拟参考站切换方法和设备 技术领域
本发明涉及高精定位领域，尤其涉及一种实时动态定位系统虚拟参考站切换方法和设备。
背景技术
实时动态定位(Real Time Kinematic，RTK)，也称载波相位差分，是一种用于增强全球导航卫星系统(Global Navigation Satellite Systems，GNSS)，例如GPS、GLONASS、Galileo、BeiDou等的位置数据精确性的技术。它使用信号的载波相位测量，并基于单一参考站的测量值为移动站的测量值提供实时校正，以实现达到厘米级的精度。
网络实时动态定位(Network Real Time Kinematic，NRTK)，也称虚拟参考站(Virtual Reference Station，VRS)，是为克服RTK的校正数据有效性受移动站与参考站距离影响的缺陷而提出的。它将RTK的使用扩展到整个参考站网络，基于参考站网络计算得出一个离移动站较近的虚拟参考站，以取代实际参考站来为移动站提供实时校正。
连续运行参考站(Continuously Operating Reference Station，CORS)是利用NRTK技术建立的可以连续性提供定位服务的系统，具有范围广、精度高、随时可用等优点。它通过建设若干永久性连续运行的基准站，并提供国际通用格式的基准站站点坐标和GNSS测量数据，以满足各行各业用户的定位和导航需求，例如土地测量、环境监控等。
NRTK/CORS系统通常由基准站、移动站、中心站和通信网络组成。
基准站，即固定参考站，向中心站实时提供GNSS测量数据。基准站组成基准站/参考站网络，需要至少三个固定参考站来计算虚拟参考站。
移动站，即用户设备，从中心站获得虚拟参考站的GNSS测量数据。也可能向中心站提供自己的粗略位置信息以便中心站可以有针对性地提供服务，例如计算离该移动站较近的虚拟参考站。
中心站，作为系统核心，根据基准站及其GNSS测量数据计算虚拟参考站及其GNSS测量数据，并向移动站提供虚拟参考站的GNSS测量数据。可能根据移动站提供的粗略位置信息有针对性地提供服务，例如选择与该移动站位置最合适的基准站，以及计算离该移动站较近的虚拟参考站。
通信网络，联接基准站、移动站和中心站。通常基准站与中心站之间基于有线方式(例如光纤等)联接，中心站与移动站之间基于无线方式(例如GSM/LTE)等联接。
NRTK/CORS系统的可靠性和准确性取决于其基准站/参考站网络的密度和性能。
现有NRTK/CORS系统主要应用于土地测量、环境监控等行业，需要部署的基准站较少，可以增加投资选择较好的环境进行建设。然而单一基准站的变动(例如故障等)就可能造成整个基准站/参考站网络都需要组网重构的影响。若对单一基准站增加可靠性机制(例如备份等)，则将带来更高的建设和维护成本。
随着NRTK/CORS系统被拓展应用于智能交通、自动控制等行业，需要部署的基准站呈更高量级地增加。若与通信网络的基础设施(例如基站等)合设以减低成本，则可 能面对更为复杂恶劣的环境。这样以来单一基准站的变动可能只造成局部基准站/参考站网络的组网重构，然而这种动态变化发生概率将会很高。
自动驾驶等应用对NRTK/CORS系统提出了不间断高精度定位的需求，然而该系统的基准站/参考站网络组网重构可能造成其所提供定位服务发生中断，因此需要建立一套可以有效降低这种组网重构对服务影响的解决方案。
发明内容
本发明实施例提供了一种实时动态定位系统虚拟参考站切换方法和设备，能够有效降低实时动态定位系统的参考站网络组网重构对其所提供定位服务的影响，满足不间断高精度定位的需求。根据本发明实施例NRTK/CORS系统中，任意三个基准站/参考站A、B、C可以构成一个三角区域。中心站O根据这三个基准站/参考站的GNSS测量数据，推算出一个虚拟参考站V的GNSS测量数据。该虚拟参考站V的GNSS测量数据可用于校正该三角区域中的移动站M的GNSS测量数据，以实现对该移动站M的高精度定位。基于基准站/参考站网络，如果已知移动站的位置信息，那么中心站可以为该移动站选择最佳的三个基准站/参考站来获得虚拟参考站，例如根据移动站处于某个预先划分的基准站/参考站三角区域内而选择组成该三角区域的三个基准站/参考站，或者根据移动站到各基准站/参考站距离选择最短的三个基站。
在本发明实施例中，中心站基于移动站的位置信息，预测基准站/参考站网络发生组网重构对其为移动站提供定位服务可能造成的影响，即推算虚拟参考站所根据的基准站是否发生切换。中心站若预测其为移动站推算虚拟参考站所根据的基准站将因组网重构发生切换，则同时分别根据切换前后的基准站推算切换前后的虚拟参考站及其GNSS测量数据。或者，中心站在组网重构前后向移动站分别提供切换前后的虚拟参考站的GNSS测量数据，或者同时提供切换前后的虚拟参考站的GNSS测量数据供其根据自己位置选择使用。
基于基准站/参考站网络，如果已知移动站的位置信息，那么中心站可以为该移动站选择最佳的三个基准站/参考站来获得虚拟参考站，例如根据移动站处于基准站/参考站网络中某个划分的基准站/参考站三角区域内而选择组成该三角区域的三个基准站/参考站，或者根据移动站到基准站/参考站网络中各个基准站/参考站的距离选择最短的三个基准站/参考站。
第一方面，提供了一种实时动态定位系统虚拟参考站切换方法，该方法一般由系统中的中心站来完成，该方法包括：获取参考站网络组网变化信息；根据所述参考站网络组网变化信息获取预测信息，所述预测信息包括将由根据第一参考站组合计算移动站的虚拟参考站切换为根据第二参考站组合计算所述移动站的虚拟参考站；根据所述第一参考站组合计算得到第一虚拟参考站，根据所述第二参考站组合计算得到第二虚拟参考站，获得述第一虚拟参考站信息和第二虚拟参考站信息；向所述移动站提供所述第一虚拟参考站信息和第二虚拟参考站信息的至少一个，用于所述移动站进行定位校正。本方法能够给予网络组网的变化切换参考站组合，并确定新的虚拟参考站，能够有效降低实时动态定位系统的参考站网络组网重构对其所提供定位服务的影响。
在各种合适的实施中，一种实现方式可以是通过预测至少一个参考站退出或者加入该参考站网络将引起该参考站网络组网变化。
在各种合适的实施中，一种实现方式可以获取该移动站的位置信息；根据该移动站的位置信息确定为该移动站计算该虚拟参考站根据的参考站组合。
在各种合适的实施中，根据该移动站的位置信息确定为该移动站计算该虚拟参考站根据的参考站组合的过程的一种实现方式可包括：获取该参考站网络中的参考站三角区域划分信息；根据该移动站的位置信息和该参考站三角区域划分信息确定该移动站处于的参考站三角区域；选择组成该参考站三角区域的三个参考站作为该参考站组合。
根据该移动站的位置信息确定为该移动站计算该虚拟参考站根据的参考站组合过程的另一种实现方式可包括，包括：获取该参考站网络中的各个参考站分布信息；根据该移动站的位置信息和该参考站分布信息确定该移动站与参考站网络中的各个参考站的距离；选择该距离最短的三个参考站作为该参考站组合。
在各种合适的实施中，上述向所述移动站提供所述第一虚拟参考站信息和第二虚拟参考站信息的至少一个，一种可能的实现方式，包括：在为该移动站计算该虚拟参考站从根据该第一参考站组合切换为根据该第二参考站组合之前，该虚拟参考站信息包含该第一虚拟参考站的测量数据；在为该移动站计算该虚拟参考站从根据该第一参考站组合切换为根据该第二参考站组合之后，该虚拟参考站信息包含该第二虚拟参考站的测量数据。
对于虚拟参考站信息，一种实现方式包含该第一虚拟参考站的测量数据和该第二虚拟参考站的测量数据。
第二方面，提供了一种实时动态定位系统虚拟参考站切换方法，一般由移动站来实现，该方法包括：获取虚拟参考站信息，所述虚拟参考站信息由中心站根据参考站组合计算得到，其中，所述参考站组合包括第一参考站组合和第二参考站组合，所述参考站组合由中心站根据参考站网络组网变化信息确定所述参考站组合将由第一参考站组合切换为第二参考站组合；根据所述虚拟参考站信息进行定位校正。
在各种合适的实施中，取虚拟参考站信息的一种具体实现方式，包括：在该参考站组合从第一参考站组合切换为第二参考站组合之前，该虚拟参考站信息包含第一虚拟参考站的测量数据，该第一虚拟参考站由中心站根据第一参考站组合计算得到；在该参考站组合从第一参考站组合切换为第二参考站组合之后，该虚拟参考站信息包含第二虚拟参考站的测量数据，该第二虚拟参考站由中心站根据第二参考站组合计算得到。
在各种合适的实施中，取虚拟参考站信息的另一种具体实现方式，包括：该虚拟参考站信息包含第一虚拟参考站的测量数据和第二虚拟参考站的测量数据，该第一虚拟参考站由中心站根据第一参考站组合计算得到，该第二虚拟参考站由中心站根据第二参考站组合计算得到。
在各种合适的实施中，根据该虚拟参考站信息进行定位校正的一种实现方式，包括：获取移动站的位置信息；根据该移动站的位置信息选择该第一虚拟参考站的测量数据或该第二虚拟参考站的测量数据进行定位校正。
一种实现方式中，上述第二方面根据该移动站的位置信息选择该第一虚拟参考站的测量数据或该第二虚拟参考站的测量数据进行定位校正，包括：获取该参考站网络中的参考站三角区域划分信息；根据该移动站的位置信息和该参考站三角区域划分信息确定该移动站处于的参考站三角区域；选择组成该参考站三角区域的三个参考站作为参考站组合计算得到的虚拟参考站的测量数据。
一种实现方式中，上述第二方面根据该移动站的位置信息选择该第一虚拟参考站的测量数据或该第二虚拟参考站的测量数据进行定位校正，包括：获取该参考站网络中的各个参考站分布信息；根据该移动站的位置信息和该参考站分布信息确定该移动站与参考站网络中的各个参考站的距离；选择该距离最短的三个参考站作为该参考站组合计算得到的虚拟参考站的测量数据。
第三方面，提供了一种实时动态定位系统虚拟参考站切换设备，一般是系统中的中心站，或者集成于中心站的功能实体。该设备包括具有计算和处理能力的处理器，存储数据或者程序与处理器配合的存储器，与其他设备进行通信的通信电路。处理器，用于获取参考站网络组网变化信息；根据所述参考站网络组网变化信息获取预测信息，所述预测信息包括将由根据第一参考站组合计算移动站的虚拟参考站切换为根据第二参考站组合计算所述移动站的虚拟参考站；根据所述第一参考站组合计算得到第一虚拟参考站，根据所述第二参考站组合计算得到第二虚拟参考站，获得述第一虚拟参考站信息和第二虚拟参考站信息。通信电路，用于向所述移动站发送所述第一虚拟参考站信息和第二虚拟参考站信息的至少一个，用于所述移动站进行定位校正。
该实时动态定位系统虚拟参考站切换设备，可以实现上述第一方面的实时动态定位系统虚拟参考站切换方法，即具体各种实现。其中，获取所述移动站的位置信息一种可能实现方式所述通信电路来获取，所述移动站的位置信息，例如接收移动站发送的位置信息，或者还可以是处理器通过传感设备等检测到移动站的位置信息。处理器具有计算和处理能力，能够完成和执行第一方面的实时动态定位系统虚拟参考站切换方法所需要的步骤或者功能。
第四方面，提供了一种实时动态定位系统移动站设备，该设备包括了具有处理能力的处理器，接收其他设备发送的信息的接收器，发送信息的发射器，获取或者定位自身位置的位置传感器等。一种典型的整体实现方式，接收器，用于接收中心站提供的虚拟参考站信息，所述虚拟参考站由中心站根据参考站组合计算得到，所述参考站组合包括第一参考站组合或者第二参考站组合，由中心站根据参考站网络组网变化预测信息确定将从第一参考站组合切换为第二参考站组合；处理器，用于根据所述虚拟参考站信息进行定位校正。
作为一种可能的具体方式，在各种合适的实施中，接收器，接收中心站提供的虚拟参考站信息，可以是在所述参考站组合从所述第一参考站组合切换为所述第二参考站组合之前，所述虚拟参考站信息包含第一虚拟参考站的测量数据，所述第一虚拟参考站由中心站根据第一参考站组合计算得到；在所述参考站组合从所述第一参考站组合切换为所述第二参考站组合之后，所述虚拟参考站信息包含第二虚拟参考站的测量数据，所述第二虚拟参考站由中心站根据第二参考站组合计算得到。
一种可能的实现方式，接收器所获取的虚拟参考站信息，该虚拟参考站由中心站根据参考站组合计算得到，该参考站组合由中心站根据参考站网络组网变化预测信息确定将从第一参考站组合切换为第二参考站组合。
该虚拟参考站信息包含第一虚拟参考站的测量数据和第二虚拟参考站的测量数据，该第一虚拟参考站由中心站根据第一参考站组合计算得到，该第二虚拟参考站由中心站根据第二参考站组合计算得到。
一种可能的实现，位置传感器获取移动站的位置信息；处理器可以根据该移动站的 位置信息选择该第一虚拟参考站的测量数据或该第二虚拟参考站的测量数据进行定位校正。
实时动态定位系统移动站设备的处理器具有计算和处理能力，能够完成和执行第一方面的实时动态定位系统虚拟参考站切换方法所需要的步骤或者功能。
本发明的这些方面或其他方面在以下实施例的描述中会更加简明易懂。
附图说明
图1是本发明实施例提供的实时动态定位系统组成的示意图；
图2是本发明实施例提供的基准站退出网络的虚拟参考站切换方法的示意图；
图3是本发明实施例提供的基准站进入网络的虚拟参考站切换方法的示意图；
图4(a)、图4(b)是本发明实施例提供的实时动态定位系统虚拟参考站切换方法的中心站侧的流程示意图；
图5是本发明实施例提供的实时动态定位系统虚拟参考站切换方法的车辆侧的流程示意图；
图6是本发明实施例提供的实时动态定位系统虚拟参考站切换设备的中心站侧的模块示意图。
图7是本发明实施例提供的实时动态定位系统虚拟参考站切换设备的车辆侧的模块示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部实施例。
应理解，本发明实施例可应用于实时动态定位系统中的任意移动站，移动站可以置于车辆上面，或者作为车辆上的一部分功能实体，车辆只是这些移动站里具有移动速度很快特点的典型之一，本发明为描述方便，以车辆为例进行说明时，移动站还可以置于其他设备中或者作为其他具有移动性的设备实体的一部分。本发明实施例中的移动站可以用于需要进行定位的各种场合，产品设备或者实体中。
本发明实施例可应用于实时动态定位系统中的任意参考站，基准站只是这些参考站里具有永久性连续运行特点的典型之一，本发明为描述方便，以基准站为例进行说明时，不构成对可应用参考站的限定。
图1是本发明实施例提供的实时动态定位系统组成的示意图。
如图1所示，NRTK/CORS系统中，任意三个基准站/参考站可以构成一个三角区域。中心站根据这三个基准站/参考站的实时GNSS测量数据，计算出一个虚拟参考站的实时GNSS测量数据。该虚拟参考站的实时GNSS测量数据可用于校正该三角区域中的移动站(例如车辆)的实时GNSS测量数据，以实现对该移动站的实时高精度定位。
基于基准站/参考站网络，如果已知移动站的位置信息，中心站可以为该移动站选择最佳的三个基准站/参考站来获得虚拟参考站，例如根据移动站处于基准站/参考站网络中某个划分的基准站/参考站三角区域内而选择组成该三角区域的三个基准站/参考站，或者根据移动站到基准站/参考站网络中各个基准站/参考站的距离选择最短的三个基准站/参考站。
图2是本发明实施例提供的基准站退出网络的虚拟参考站切换方法的示意图。
如图2所示，假设车辆M作为一个移动站当前正在使用中心站O根据基准站A、B、C计算所得的虚拟参考站V abc进行定位校正。如果基准站A、B、C中的一个从基准站/参考站网络中被退出(例如停用或故障)，基准站/参考站网络的组网将重构。中心站O可以预测该组网重构是否对NRTK/CORS系统为车辆M提供的定位服务所带来的影响。
如果中心站O预测基准站A的退出将使中心站O切换为根据基准站X、B、C计算所得的虚拟参考站V xbc来为车辆M提供定位校正，那么中心站O在基准站A发生退出之前，就可以同时根据基准站A、B、C计算虚拟参考站V abc和根据基准站X、B、C计算虚拟参考站V xbc。中心站O可以对任意基准站在其实际退出网络前进行这种预测。
在基准站A退出之前，若组网没有变化，则中心站O向车辆M提供V abc的GNSS测量数据供其进行定位校正。在基准站A退出之后，若组网发生重构，则中心站O切换为向车辆M提供V xbc的GNSS测量数据供其进行定位校正。因为V abc和V xbc是同时准备的，所以组网重构不会造成定位服务中断。如果之前V abc的GNSS测量数据已经发送给车辆M或者车辆M已经获知V abc的GNSS测量数据，在当前在基准站A退出造成组网变化的时候，当前中心站O可以只为向车辆M提供V xbc的GNSS测量数据。
中心站O可以基于车辆M的位置信息，选择基准站X、B、C提前为车辆M计算虚拟参考站V xbc。例如：中心站O可以根据车辆M在基准站A退出后将处于重新划分的由基准站X、B、C构成的三角区域内而选择基准站X、B、C，或者根据车辆M在基准站A退出后到其它各基准站距离选择最短的三个基站X、B、C。
图3是本发明实施例提供的基准站进入网络的虚拟参考站切换方法的示意图。
如图3所示，假设车辆M作为一个移动站当前正在使用中心站O根据基准站A、B、C计算所得的虚拟参考站V abc进行定位校正。如果基准站A、B、C附近有基准站Y被加入到(例如启用或恢复)基准站/参考站网络，那么基准站/参考站网络的组网将重构。中心站O可以预测该组网重构是否对NRTK/CORS系统为车辆M提供的定位服务所带来的影响。
如果中心站O预测基准站Y的加入将使中心站O切换为根据基准站A、Y、C计算所得的虚拟参考站V ayc来为车辆M提供定位校正，那么中心站O在基准站Y加入之后，就可以同时根据基准站A、B、C计算虚拟参考站Vabc和根据基准站A、Y、C计算虚拟参考站V aby。中心站O可以对任意基准站在其实际加入网络前进行这种预测。
在基准站Y引入之前，若组网没有变化，则中心站O向车辆M提供Vabc的GNSS测量数据供其进行定位校正。在在基准站Y引入之后，若组网发生重构，中心站O切换为向车辆M提供V ayc的GNSS测量数据供其进行定位校正。因为V abc和V ayc是同时准备的，所以组网重构不会造成定位服务中断。
中心站O可以基于车辆M的位置信息，选择基准站A、Y、C提前为车辆M计算虚拟参考站Vayc。例如中心站O可以根据车辆M在基准站Y引入后将处于重新划分的由基准站A、Y、C构成的三角区域内而选择基准站A、Y、C，或者根据车辆M在基准站Y引入后到其它各基准站距离选择最短的三个基站A、Y、C。
基于上述方案的原理，假设中心站O基于车辆M的位置信息，预测基准站/参考站网络发生组网重构将使其为车辆M计算虚拟参考站所根据的基准站从A、B、C切换为A、B、Z，则同时根据基准站A、B、C计算虚拟参考站V abc和根据基准站A、B、Z计 算虚拟参考站V abz。
中心站O也可以将V abc的GNSS测量数据或者V abz的GNSS测量数据同时提供给车辆M，或者将将V abc的GNSS测量数据及V abz的GNSS测量数据同时供其自主选择使用。
车辆M在基准站/参考站网络实际发生组网重构时，根据为其计算虚拟参考站的基准站从A、B、C切换为A、B、Z时，将其定位校正从使用Vabc的GNSS测量数据切换为使用Vxbc的GNSS测量数据。
车辆M可以基于自己的位置信息，根据基准站/参考站网络组网变化情况确定为其计算虚拟参考站的基准站从A、B、C切换为A、B、Z。例如车辆M可以根据基准站/参考站网络组网重构前后的不同三角区域划分确定自己从A、B、C三角区域切换为A、B、Z三角区域，或者根据车辆M到各基准站距离最短的三个基站从A、B、C切换为A、B、Z。
图4是本发明实施例提供的实时动态定位系统虚拟参考站切换方法的中心站侧的流程示意图。如图4所示，该方法包括：
S110，获取参考站网络组网变化信息；
S120，根据所述参考站网络组网变化信息获取预测信息，所述预测信息包括将由根据第一参考站组合计算移动站的虚拟参考站切换为根据第二参考站组合计算所述移动站的虚拟参考站；
S130，根据所述第一参考站组合计算得到第一虚拟参考站，根据所述第二参考站组合计算得到第二虚拟参考站，获得述第一虚拟参考站信息和第二虚拟参考站信息；
S140，向所述移动站提供所述第一虚拟参考站信息和第二虚拟参考站信息的至少一个，用于所述移动站进行定位校正。在各种具体的实施中，一种可能的实现是所述第一虚拟参考站信息和第二虚拟参考站信息都提供给移动站。还有的情况下，只需要提供其中一个也可以。例如移动站早已具有第一虚拟参考站信息，在组网变化的时候只需要提供迪尔虚拟参考站信息也是可以实现该方案。
进一步，作为本方面实施里更为具体的另一个实施方式，该方法还可以选择性包括：
S150，预测至少一个参考站退出或者加入该参考站网络将引起该参考站网络组网变化，以获取参考站网络组网变化信息。
该方法S100的步骤S120进一步包括：
S121，获取该车辆(即移动站)的位置信息；
S122，根据该车辆的位置信息确定为该车辆计算该虚拟参考站根据的参考站组合。
该方法S100的步骤S140进一步包括：
S141，在该参考站组合从该第一参考站组合切换为该第二参考站组合之前，该虚拟参考站信息包含该第一虚拟参考站的测量数据，而在该参考站组合从该第一参考站组合切换为该第二参考站组合之后，该虚拟参考站信息包含该第二虚拟参考站的测量数据；或者，
S142，该虚拟参考站信息包含该第一虚拟参考站的测量数据和该第二虚拟参考站的测量数据。
图5是本发明实施例提供的实时动态定位系统虚拟参考站切换方法的车辆侧(或者说是移动站)所完成的流程示意图。
如图5所示，该方法S200包括：
S210，获取虚拟参考站信息，该虚拟参考站由中心站根据参考站组合计算得到，该参考站组合由中心站根据参考站网络组网变化信息确定将从第一参考站组合切换为第二参考站组合；
S220，根据该虚拟参考站信息进行定位校正。
该方法S200的步骤S210进一步包括：
S211，在该参考站组合从第一参考站组合切换为第二参考站组合之前，该虚拟参考站信息包含第一虚拟参考站的测量数据，该第一虚拟参考站由中心站根据第一参考站组合计算得到，而在该参考站组合从第一参考站组合切换为第二参考站组合之后，该虚拟参考站信息包含第二虚拟参考站的测量数据，该第二虚拟参考站由中心站根据第二参考站组合计算得到；或者，
S212，该虚拟参考站信息包含第一虚拟参考站的测量数据和第二虚拟参考站的测量数据，该第一虚拟参考站由中心站根据第一参考站组合计算得到，该第二虚拟参考站由中心站根据第二参考站组合计算得到。
该方法S200的步骤S212之后，步骤S220进一步包括：
S223，获取车辆的位置信息，即移动站自身的位置信息；
S224，根据该车辆的位置信息选择该第一虚拟参考站的测量数据或该第二虚拟参考站的测量数据进行定位校正。
在具体到实施中，结合各种实施例不同的实际情况，在如果中心站已经知道了移动站的位置信息，或者中心站已经为移动站选择出需要的测量数据，中心站可以直接选择该第一虚拟参考站的测量数据或该第二虚拟参考站的测量数据中的一个发送给车辆(移动站)。此种实现可以和各种实施方式结合或者说应用在各种合适的实施方式中。
图6是本发明实施例提供的实时动态定位系统虚拟参考站切换设备的中心站侧的模块示意图。该设备60包括具有计算和处理能力的处理器604，存储数据或者程序与处理器配合的存储器606，与其他设备进行通信的通信电路，包括发射电路602和接收电路603，可以通过天线601与其他设备进行无线通信。还可以选择性的包括显示器604，该显示器非必需，根据需要可以设置，用于显示相关信息或者人机交互信息等。各个模块通过总线607与处理器605连接，接收处理器705的管理。处理器具有计算和处理能力，能够完成和执行前述中心站所执行的实时动态定位系统虚拟参考站切换方法所需要的步骤或者功能。
如图6所示，该设备60包括：
处理器604，用于获取参考站网络组网变化信息；根据所述参考站网络组网变化信息获取预测信息，所述预测信息包括将由根据第一参考站组合计算移动站的虚拟参考站切换为根据第二参考站组合计算所述移动站的虚拟参考站；根据所述第一参考站组合计算得到第一虚拟参考站，根据所述第二参考站组合计算得到第二虚拟参考站，获得述第一虚拟参考站信息和第二虚拟参考站信息。
通信电路，用于用于向所述移动站发送所述第一虚拟参考站信息和第二虚拟参考站信息的至少一个，用于所述移动站进行定位校正。通信电路将虚拟参考站信息发给车辆，车辆根据虚拟参考站信息进行定位的校正。
由于参考站是实际应用中可能会有变动，处理器604可以预测至少一个参考站退出或者加入该参考站网络将引起该参考站网络组网变化。通信模块还可以获取该车辆(移 动站)发送的位置信息；处理器604根据该车辆的位置信息确定为该车辆计算该虚拟参考站根据的参考站组合。或者处理器可以通过中心站的传感器直接获得该车辆(移动站)发送的位置信息。处理器在为该车辆计算该虚拟参考站从根据该第一参考站组合切换为根据该第二参考站组合之前，决策该虚拟参考站信息包含该第一虚拟参考站的测量数据，而在为该车辆计算该虚拟参考站从根据该第一参考站组合切换为根据该第二参考站组合之后，决策该虚拟参考站信息包含该第二虚拟参考站的测量数据；或者，决策该虚拟参考站信息包含该第一虚拟参考站的测量数据和该第二虚拟参考站的测量数据。
图7是本发明实施例提供的实时动态定位系统虚拟参考站切换设备的车辆侧的模块示意图，一般是实时动态定位系统中的移动站，移动站可以是单独的模块设备，也可以是其他装置中的一个实体，例如车辆，可以具有该功能的实体或者集成了该模块设备的车辆认为是一个移动站。该设备70包括了具有处理能力的处理器705，接收其他设备发送的信息的接收器703，发送信息的发射器702，接收器703及发射器702可以通过天线701与其他设备进行无线通信，获取或者定位自身位置的位置传感器704，用于存储信息、数据或者程序等的存储器706等。还可以根据需要增加显示器(图未示)。实时动态定位系统移动站设备的处理器705具有计算和处理能力，能够完成和执行，或者联合管理其他器件完成和执行上述车辆(移动站)执行的实时动态定位系统虚拟参考站切换方法所需要的步骤或者功能。接收器703，用于接收中心站提供的虚拟参考站信息，所述虚拟参考站由中心站根据参考站组合计算得到，所述参考站组合包括第一参考站组合或者第二参考站组合，由中心站根据参考站网络组网变化预测信息确定将从第一参考站组合切换为第二参考站组合；处理器705，用于根据所述虚拟参考站信息进行定位校正。
进一步，在该参考站组合从第一参考站组合切换为第二参考站组合之前，该虚拟参考站信息包含第一虚拟参考站的测量数据，该第一虚拟参考站由中心站根据第一参考站组合计算得到，而在该参考站组合从第一参考站组合切换为第二参考站组合之后，该虚拟参考站信息包含第二虚拟参考站的测量数据，该第二虚拟参考站由中心站根据第二参考站组合计算得到；或者，
该虚拟参考站信息包含第一虚拟参考站的测量数据和第二虚拟参考站的测量数据，该第一虚拟参考站由中心站根据第一参考站组合计算得到，该第二虚拟参考站由中心站根据第二参考站组合计算得到。
位置传感器704，用于获取车辆的位置信息。该传感器可以自身进行位置定位和感知，或者同接收例如GPS系统的信号来获得车辆的位置信息。
获得位置信息后，处理器得到该位置信息，处理器根据该车辆的位置信息选择该第一虚拟参考站的测量数据或该第二虚拟参考站的测量数据进行定位校正。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，该单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接，也可以是电的，机械的或其它的形式连接。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本发明实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分，或者所述技术方案的全部或部分可以以软件产品的形式体现出来，所述计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。

Claims (26)

  1. 一种实时动态定位系统虚拟参考站切换方法，其特征在于，包括：
    获取参考站网络组网变化信息；
    根据所述参考站网络组网变化信息获取预测信息，所述预测信息包括将由根据第一参考站组合计算移动站的虚拟参考站切换为根据第二参考站组合计算所述移动站的虚拟参考站；
    根据所述第一参考站组合计算得到第一虚拟参考站，根据所述第二参考站组合计算得到第二虚拟参考站，获得述第一虚拟参考站信息和第二虚拟参考站信息；
    向所述移动站提供所述第一虚拟参考站信息和第二虚拟参考站信息的至少一个，用于所述移动站进行定位校正。
  2. 根据权利要求1所述的方法，其特征在于，在所述获取参考站网络组网变化信息之前，还包括：
    预测至少一个参考站退出或者加入所述参考站网络将引起所述参考站网络组网变化，获得预测结果；
    则获取参考站网络组网变化信息包括：
    根据所述预测结果获取参考站网络组网变化信息。
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：
    获取所述移动站的位置信息，确定所述第一参考站组合和所述第二参考站组合。
  4. 根据权利要求1-3任一权利要求所述的方法，其特征在于，还包括：
    获取所述参考站网络组网中的参考站三角区域划分信息；
    根据所述移动站的位置信息和所述参考站三角区域划分信息确定所述移动站所处于的参考站三角区域；
    选择组成所述参考站三角区域的三个参考站作为所述第二参考站组合。
  5. 根据权利要求1-3任一权利要求所述的方法，其特征在于，还包括：
    获取所述参考站网络组网中的各个参考站分布信息；
    根据所述移动站的位置信息和所述参考站分布信息确定所述移动站与参考站网络中的各个参考站的距离；
    选择所述距离最短的三个参考站作为所述第二参考站组合。
  6. 根据权利要求1-5任一权利要求所述的方法，其特征在于，向所述移动站提供所述第一虚拟参考站信息和第二虚拟参考站信息的至少一个，用于所述移动站进行定位校正，包括：
    在为所述移动站计算所述虚拟参考站从根据所述第一参考站组合切换为根据所述第二参考站组合之前，向所述移动站提供所述第一虚拟参考站信息，所述第一虚拟参考站信息包含所述第一虚拟参考站的测量数据；
    在为所述移动站计算所述虚拟参考站从根据所述第一参考站组合切换为根据所述第二参考站组合之后，向所述移动站提供所述第二虚拟参考站信息，所述第二虚拟参考站信息包含所述第二虚拟参考站的测量数据。
  7. 根据权利要求1所述的方法，其特征在于，
    所述第一虚拟参考站信息包含所述第一虚拟参考站的测量数据，所述第二虚拟参考站信息包括所述第二虚拟参考站的测量数据。
  8. 一种实时动态定位系统虚拟参考站切换方法，其特征在于，包括：
    获取虚拟参考站信息，所述虚拟参考站信息由中心站根据参考站组合计算得到，其中，所述参考站组合包括第一参考站组合和第二参考站组合，所述参考站组合由中心站根据参考站网络组网变化信息确定所述参考站组合将由第一参考站组合切换为第二参考站组合；
    根据所述虚拟参考站信息进行定位校正。
  9. 根据权利要求8所述的方法，其特征在于，所述获取虚拟参考站信息，包括：
    在所述参考站组合从第一参考站组合切换为第二参考站组合之前，所述虚拟参考站信息包含第一虚拟参考站的测量数据，所述第一虚拟参考站由中心站根据第一参考站组合计算获得；
    在所述参考站组合从第一参考站组合切换为第二参考站组合之后，所述虚拟参考站信息包含第二虚拟参考站的测量数据，所述第二虚拟参考站由中心站根据第二参考站组合计算获得。
  10. 根据权利要求8所述的方法，其特征在于，所述获取虚拟参考站信息，包括：
    所述虚拟参考站信息包含第一虚拟参考站的测量数据和第二虚拟参考站的测量数据中的至少一个，所述第一虚拟参考站由中心站根据第一参考站组合计算获得，所述第二虚拟参考站由中心站根据第二参考站组合计算获得。
  11. 根据权利要求9或10所述的方法，其特征在于，所述根据所述虚拟参考站信息进行定位校正，包括：
    获取位置信息；
    根据所述位置信息选择所述第一虚拟参考站的测量数据或所述第二虚拟参考站的测量数据进行定位校正。
  12. 根据权利要求11所述的方法，其特征在于，所述根据所述移动站的位置信息选择所述第一虚拟参考站的测量数据或所述第二虚拟参考站的测量数据进行定位校正，包括：
    获取所述参考站网络组网中的参考站三角区域划分信息；
    根据所述位置信息和所述参考站三角区域划分信息确定所述所处的参考站三角区域；
    选择组成所述参考站三角区域的三个参考站作为参考站组合计算得到的虚拟参考站的测量数据。
  13. 根据权利要求11所述的方法，其特征在于，所述根据所述移动站的位置信息选择所述第一虚拟参考站的测量数据或所述第二虚拟参考站的测量数据进行定位校正，包括：
    获取所述参考站网络中的各个参考站分布信息；
    根据所述移动站的位置信息和所述参考站分布信息确定所述移动站与参考站网络中的各个参考站的距离；
    选择所述距离最短的三个参考站作为所述参考站组合计算得到的虚拟参考站的测量数据。
  14. 一种实时动态定位系统虚拟参考站切换设备，其特征在于，包括：
    处理器，用于获取参考站网络组网变化信息；根据所述参考站网络组网变化信息获取预测信息，所述预测信息包括将由根据第一参考站组合计算移动站的虚拟参考站切换为根据第二参考站组合计算所述移动站的虚拟参考站；根据所述第一参考站组合计算得到第一虚拟参考站，根据所述第二参考站组合计算得到第二虚拟参考站，获得述第一虚拟参考站信息和第二虚拟参考站信息；
    通信电路，用于向所述移动站发送所述第一虚拟参考站信息和第二虚拟参考站信息的至少一个，用于所述移动站进行定位校正。
  15. 根据权利要求14所述的虚拟参考站切换设备，其特征在于，
    所述处理器，还用于预测至少一个参考站退出或者加入所述参考站网络组网将引起所述参考站网络组网的变化以获取参考站网络组网变化信息。
  16. 根据权利要求14或15所述的虚拟参考站切换设备，其特征在于，
    所述通信电路，还用于获取所述移动站的位置信息；
    所述处理器，还用于根据所述移动站的位置信息确定确定所述第一参考站组合和所述第二参考站组合。
  17. 根据权利要求16所述的虚拟参考站切换设备，其特征在于，
    所述处理器，还用于获取所述参考站网络组网中的参考站三角区域划分信息，根据所述移动站的位置信息和所述参考站三角区域划分信息确定所述移动站所处于的参考站三角区域，选择组成所述参考站三角区域的三个参考站作为所述第二参考站组合。
  18. 根据权利要求16所述的虚拟参考站切换设备，其特征在于，还包括：
    所述处理器，还用于获取所述参考站网络中的各个参考站分布信息；根据所述移动站的位置信息和所述参考站分布信息确定所述移动站与参考站网络中的各个参考站的距离，选择所述距离最短的三个参考站作为所述第二参考站组合。
  19. 根据权利要求14-18任一权利要求所述的虚拟参考站切换设备，其特征在于，
    所述处理器，还用于：
    在为所述移动站计算所述虚拟参考站从根据所述第一参考站组合切换为根据所述第二参考站组合之前，确定所述虚拟参考站信息包含所述第一虚拟参考站的测量数据；
    在为所述移动站计算所述虚拟参考站从根据所述第一参考站组合切换为根据所述第二参考站组合之后，确定所述虚拟参考站信息包含所述第二虚拟参考站的测量数据。
  20. 根据权利要求14-19任一权利要求所述的虚拟参考站切换设备，其特征在于，
    所述虚拟参考站信息包含所述第一虚拟参考站的测量数据和所述第二虚拟参考站的测量数据。
  21. 一种实时动态定位系统中的移动站设备，其特征在于，包括：
    接收器，用于接收中心站提供的虚拟参考站信息，所述虚拟参考站由中心站根据参考站组合计算得到，所述参考站组合包括第一参考站组合或者第二参考站组合，由中心站根据参考站网络组网变化预测信息确定将从第一参考站组合切换为第二参考站组合；
    处理器，用于根据所述虚拟参考站信息进行定位校正。
  22. 根据权利要求21所述的设备，其特征在于，：
    接收器，具体用于接收中心站提供的虚拟参考站信息，
    在所述参考站组合从所述第一参考站组合切换为所述第二参考站组合之前，所述虚拟参考站信息包含第一虚拟参考站的测量数据，所述第一虚拟参考站由中心站根据第一参考站组合计算得到；
    在所述参考站组合从所述第一参考站组合切换为所述第二参考站组合之后，所述虚拟参考站信息包含第二虚拟参考站的测量数据，所述第二虚拟参考站由中心站根据第二参考站组合计算得到。
  23. 根据权利要求21所述的设备，其特征在于，还包括：
    接收器，具体用于接收中心站提供的虚拟参考站信息，所述虚拟参考站信息包含第一虚拟参考站的测量数据和第二虚拟参考站的测量数据，所述第一虚拟参考站由中心站根据第一参考站组合计算得到，所述第二虚拟参考站由中心站根据第二参考站组合计算得到。
  24. 根据权利要求22或23所述的设备，其特征在于，还包括：
    位置传感器，用于获取当前的位置信息；
    所述处理器，还用于根据所述位置信息选择所述第一虚拟参考站的测量数据或所述第二虚拟参考站的测量数据进行定位校正。
  25. 根据权利要求24所述的设备，其特征在于，
    所述处理器，还用于获取所述参考站网络组网中的参考站三角区域划分信息；根据所述移动站的位置信息和所述参考站三角区域划分信息确定所述移动站处于的参考站三 角区域，选择组成所述参考站三角区域的三个参考站作为参考站组合计算得到的虚拟参考站的测量数据。
  26. 根据权利要求24所述的方法，其特征在于，还包括：
    所述处理器，还用于获取所述参考站网络中的各个参考站分布信息；根据所述移动站的位置信息和所述参考站分布信息确定所述移动站与参考站网络中的各个参考站的距离，选择所述距离最短的三个参考站作为所述参考站组合计算得到的虚拟参考站的测量数据。
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