WO2022161126A1 - Système et procédé de positionnement en temps réel - Google Patents

Système et procédé de positionnement en temps réel Download PDF

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Publication number
WO2022161126A1
WO2022161126A1 PCT/CN2022/070337 CN2022070337W WO2022161126A1 WO 2022161126 A1 WO2022161126 A1 WO 2022161126A1 CN 2022070337 W CN2022070337 W CN 2022070337W WO 2022161126 A1 WO2022161126 A1 WO 2022161126A1
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Prior art keywords
positioning
real
receiver
time
coordinates
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PCT/CN2022/070337
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English (en)
Chinese (zh)
Inventor
李渊博
申研
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深圳市博盛尚科技有限公司
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Publication of WO2022161126A1 publication Critical patent/WO2022161126A1/fr

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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
    • G01S19/38—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

Definitions

  • the invention belongs to the technical field of navigation and positioning, and in particular relates to a real-time positioning system and method.
  • Satellite positioning and navigation systems mainly include GPS, Beidou, GLONASS, Galileo, etc.
  • GPS Beidou
  • GLONASS GLONASS
  • Galileo Galileo
  • Satellite positioning receiver technology has been very mature. It can be known from the well-known principle that satellite positioning is realized by using observations such as pseudoranges, ephemeris, and satellite launch times of a group of satellites and user clock differences. To obtain the three-dimensional coordinates of the ground, at least 4 satellites must be measured. In this positioning process, there are various errors, such as errors caused by satellite clock errors, ephemeris errors, ionospheric errors, tropospheric errors, and propagation delays. Due to the existence of these errors, the positioning accuracy of ordinary satellite positioning receivers is difficult to reach less than 10 meters, so it is difficult to meet the high-precision positioning requirements.
  • the present invention provides the following solutions.
  • a real-time positioning system comprising: at least one reference positioning group and a second real-time positioning receiver arranged on at least one object to be positioned;
  • the reference positioning group includes: a preset reference point, a a first real-time positioning receiver around the preset reference point and having a preset positional relationship with the preset reference point, a processor electrically connected to the first real-time positioning receiver, the processor being communicatively connected to at least one of the second real-time positioning receivers; wherein, the first real-time positioning receivers are used to obtain their own first observed positioning coordinates in real time and send them to the processor; the processor is used to A first deviation vector is extracted from the reference coordinates of the preset reference point, the first observation positioning coordinates, and the preset position relationship, and the first deviation vector is used to indicate that the first real-time positioning receiver is relative to the The observation deviation of the preset reference point; the second real-time positioning receiver is used to obtain its own second observation positioning coordinates in real time, obtain the first deviation vector
  • the preset reference point is a fixed positioning base station
  • the processor is electrically connected to the positioning base station; wherein, the positioning base station is used to obtain its own base station coordinates in real time as the The reference coordinates are sent to the processor; the processor is configured to extract a first deviation vector based on the reference coordinates obtained in real time, the first observation positioning coordinates and the preset position relationship, and the The first deviation vector is used to indicate the observation deviation of the first real-time positioning receiver relative to the positioning base station.
  • the reference coordinates of the preset reference point are predetermined according to RTK satellite positioning technology.
  • the positioning base station is an RTK satellite positioning base station.
  • the system includes a plurality of sets of the reference positioning groups distributed in different geographical areas, wherein the second real-time positioning receiver selects at least one set of the reference positioning groups according to the second positioning observation coordinates A reference positioning group, and the first deviation vector is obtained from the processor in at least one of the selected reference positioning groups.
  • the first real-time positioning receiver is fixedly arranged around the preset reference point, or the first real-time positioning receiver is movably arranged around the preset reference point, Or the first real-time positioning receiver is rotatably arranged along an annular track arranged around the preset reference point.
  • the processor is configured to further: determine the first real-time positioning according to the preset positional relationship between the preset reference point and the first real-time positioning receiver and the reference coordinates Positioning the first positioning coordinates of the receiver, and determining the first deviation vector according to the first positioning coordinates and the first positioning observation coordinates; repeating the above steps to obtain a plurality of the first deviations with different time characteristics vector to construct the first deviation vector library; the second real-time positioning receiver is configured to: obtain the first deviation vector library, and obtain the first deviation vector library from the first deviation vector library according to the time characteristic At least one of the first deviation vectors is selected, and at least one of the first deviation vectors is used to perform deviation correction on the second positioning observation coordinates.
  • the processor is configured to: acquire the first deviation vector with the movement feature in real time, and store it in the first deviation vector library; the second real-time positioning The receiver is configured to be further configured to: determine a current movement characteristic of the object to be located; determine at least one of the first deviations of the feature matching from the first deviation vector library based on the current movement characteristic of the object to be located vector, and use at least one of the first deviation vectors to perform deviation correction on the second positioning observation coordinates.
  • the movement characteristics include movement direction characteristics and/or movement speed characteristics.
  • the first real-time positioning receiver and the second real-time positioning receiver are RAC positioning receivers;
  • the RAC positioning receiver is a polygonal satellite positioning receiver composed of multiple satellite positioning receivers
  • Each of the satellite positioning receivers includes an MCU and a receiver connected to the MCU, and each MCU is connected in parallel and is connected to a processor module; wherein, the RAC positioning receiver is based on each The coordinate observation value of the satellite positioning receiver and the physical geometric parameters of the polygonal satellite receiver array are used to determine its own positioning observation coordinates.
  • the RAC positioning receiver determines its own positioning observation coordinates according to the following steps (a)-(c): Step (a), each of the satellite positioning receivers converts the respective ID and coordinate observation values Send to the processor module; step (b), the processor module calculates the following according to the ID of each of the satellite positioning receivers, the coordinate observation value and the physical geometric parameters of the polygon receiver array Two geometric figures: a physical geometric figure formed by the antenna phase centers of each of the satellite positioning receivers, and an observed value geometric figure formed by the coordinate observation values of each satellite positioning receiver; step (c), The processor module compares the observed value geometry with the physical geometry, calculates a vector of relative positions between the coordinate observations of each of the satellite positioning receivers, and compares it with each of the satellite positioning receivers.
  • Step (d) locate the antenna phase center of the receiver by the satellite
  • the second deviation vector is subtracted from the coordinate observation value of , so as to obtain the corrected positioning observation coordinate.
  • the RAC positioning receiver performs the steps (a) to (d) iteratively to gradually reduce the second deviation vector to obtain the positioning observation coordinates with high precision.
  • comparing the physical geometry with the observed value geometry includes: a comparison of the lengths of the sides corresponding to the physical geometry and the observed value geometry and a side-to-side length comparison. Angle for comparison.
  • the first real-time positioning receiver and the second real-time positioning receiver are the same positioning receiver.
  • the object to be located includes any one or more of the following: a vehicle, an aircraft, a wearable device, a stationary terminal, and a mobile terminal.
  • a real-time positioning method is provided, which is applied to the real-time positioning system according to the first aspect.
  • the method includes: a first real-time positioning receiver acquires its own first observed positioning coordinates in real time and sends them to a processor; the processor A first deviation vector is extracted based on the reference coordinates of the preset reference point, the first observed positioning coordinates, and the preset positional relationship, and the first deviation vector is used to indicate that the first real-time positioning receiver is relative to the first real-time positioning receiver.
  • the observation deviation of the preset reference point; the second real-time positioning receiver obtains its own second observation positioning coordinates in real time, obtains the first deviation vector from the processor, and uses the first deviation vector to determine the first deviation vector. 2. Perform deviation correction by observing the positioning coordinates to determine the positioning coordinates of the object to be positioned.
  • the preset reference point is a fixed positioning base station
  • the processor is electrically connected to the positioning base station
  • the method further includes: the positioning base station acquires its own base station coordinates in real time as The reference coordinates are sent to the processor; the processor extracts a first deviation vector based on the reference coordinates obtained in real time, the first observation positioning coordinates and the preset position relationship, and the first The deviation vector is used to indicate the observed deviation of the first real-time positioning receiver relative to the positioning base station.
  • the reference coordinates of the preset reference point are predetermined according to RTK satellite positioning technology.
  • the positioning base station is an RTK satellite positioning base station.
  • the method includes a plurality of sets of the reference positioning groups distributed in different geographical areas, wherein the second real-time positioning receiver selects at least one set of the reference positioning groups according to the second positioning observation coordinates A reference positioning group, and the first deviation vector is obtained from the processor in at least one of the selected reference positioning groups.
  • the first real-time positioning receiver is fixedly arranged around the preset reference point, or the first real-time positioning receiver is movably arranged around the preset reference point, Or the first real-time positioning receiver is rotatably arranged along an annular track arranged around the preset reference point.
  • the method further includes: the processor determining the reference coordinate according to the preset positional relationship between the preset reference point and the first real-time positioning receiver and the reference coordinates.
  • the first positioning coordinates of the first real-time positioning receiver, and the first deviation vector is determined according to the first positioning coordinates and the first positioning observation coordinates; the first deviation vector to construct the first deviation vector library; the second real-time positioning receiver obtains the first deviation vector library, and selects at least one deviation vector library from the first deviation vector library according to the time characteristic
  • the first deviation vector is used, and at least one of the first deviation vectors is used to perform deviation correction on the second positioning observation coordinates.
  • the method further includes: acquiring, by the processor in real time, the first deviation vector with the movement feature, and storing it in the first deviation vector library; receiving the second real-time positioning
  • the computer determines the current movement feature of the object to be positioned, determines at least one first deviation vector with matching features from the first deviation vector library based on the current movement feature of the object to be positioned, and uses at least one of the first deviation vectors.
  • the first deviation vector performs deviation correction on the second positioning observation coordinates.
  • the movement characteristics include movement direction characteristics and/or movement speed characteristics.
  • the first real-time positioning receiver and the second real-time positioning receiver are RAC positioning receivers;
  • the RAC positioning receiver is a polygonal satellite positioning receiver composed of multiple satellite positioning receivers
  • Each of the satellite positioning receivers includes an MCU and a receiver connected to the MCU, and each MCU is connected in parallel and is connected to a processor module; wherein, the RAC positioning receiver is based on each The coordinate observation value of the satellite positioning receiver and the physical geometric parameters of the polygonal satellite receiver array are used to determine its own positioning observation coordinates.
  • the RAC positioning receiver determines its own positioning observation coordinates according to the following steps (a)-(c): Step (a), each of the satellite positioning receivers converts the respective ID and coordinates The observation value is sent to the processor module; in step (b), the processor module calculates according to the ID of each of the satellite positioning receivers, the coordinate observation value and the physical geometric parameters of the polygon receiver array The following two geometric figures are obtained: a physical geometric figure surrounded by the antenna phase centers of each of the satellite positioning receivers, and an observation value geometric figure surrounded by the coordinate observations of each satellite positioning receiver; Step (c ), the processor module compares the observed value geometry with the physical geometry, calculates the vector of the relative position between the coordinate observations of each of the satellite positioning receivers, and compares it with each of the satellites The vector comparison of the relative positions between the antenna phase centers of the positioning receiver, the second deviation vector caused by the error is extracted, and the second deviation vector function library is formed; The coordinate observation value of the phase center is subtracted from the second deviation vector, so as to obtain the corrected
  • the RAC positioning receiver performs the steps (a) to (d) iteratively to gradually reduce the second deviation vector to obtain the positioning observation coordinates with high precision.
  • comparing the physical geometry with the observed value geometry includes: a comparison of the lengths of the sides corresponding to the physical geometry and the observed value geometry and a side-to-side length comparison. Angle for comparison.
  • the first real-time positioning receiver and the second real-time positioning receiver are the same positioning receiver.
  • the object to be located includes any one or more of the following: a vehicle, an aircraft, a wearable device, a stationary terminal, and a mobile terminal.
  • the above at least one technical solution adopted in the embodiment of the present application can achieve the following beneficial effects: in this embodiment, by comparing the observed values of the first real-time positioning receiver and the preset reference point, the deviation vector between the two can be extracted, Using the extracted deviation vector to correct the deviation of the second real-time positioning receiver, the positioning accuracy of the positioning receiver can be further improved.
  • the present invention has the advantages of reasonable design, high precision, low cost, convenient use, etc., and is convenient for large-scale application and promotion in the common civilian field.
  • 1a is a system schematic diagram of a real-time positioning system according to an embodiment of the present invention.
  • 1b is a system schematic diagram of a real-time positioning system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a first deviation vector according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the principle of high-precision real-time positioning according to another embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the principle of high-precision real-time positioning according to yet another embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a RAC positioning receiver according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a RAC positioning receiver according to another embodiment of the present invention.
  • FIG. 7 is a schematic diagram of the working principle of a RAC positioning receiver according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a RAC positioning receiver according to yet another embodiment of the present invention.
  • FIG. 9 is a schematic flowchart of a real-time positioning method according to an embodiment of the present invention.
  • A/B can mean A or B; "and/or” in this text is only an association relationship to describe related objects, indicating that there can be three kinds of relationships, For example, A and/or B can mean that A exists alone, A and B exist at the same time, and B exists alone.
  • first”, “second”, etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first”, “second”, etc., may expressly or implicitly include one or more of that feature. In the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.
  • An embodiment of the present invention provides a real-time positioning system.
  • the inventive concept of the method is introduced by taking the real-time positioning system shown in FIG. 1a as an example.
  • a real-time positioning system includes: at least one reference positioning group 1 and a second real-time positioning receiver arranged on at least one object 2 to be positioned; wherein, the reference positioning group 1 includes a preset reference point 10, a first real-time positioning receiver 11 arranged around the preset reference point 10 and having a preset positional relationship with the preset reference point 10, a processor 12 electrically connected to the first real-time positioning receiver 11, The processor 12 is communicatively connected to at least one second real-time positioning receiver 21 .
  • the processor 12 receives the first observation positioning coordinate c obtained in real time, and obtains the reference coordinate a of the preset reference point 10 and the preset position between the first real-time positioning receiver 11 and the preset reference point 10 positional relationship (for example, a vector represents the preset position relationship).
  • the first observation and positioning coordinates c are based on the real-time coordinates obtained by the first real-time positioning receiver 11, so the processor 12 can be based on the reference coordinates a, the first observation and positioning coordinates c, and the above-mentioned preset position relationship Extract the first deviation vector the first deviation vector It is used to indicate the deviation of the observation value of the first real-time positioning receiver 11 relative to the preset reference point 10 .
  • the processor 12 may construct a first deviation vector library based on a plurality of first deviation vectors calculated within a period of time.
  • the second real-time positioning receiver 21 is disposed on the object to be located 2, and the object to be located 2 may be a vehicle, an aircraft, a wearable device, etc. that are moving in real time.
  • the second real-time positioning receiver 20 can obtain its own second observation positioning coordinate d in real time, and obtain the first deviation vector from the processor 12 through the wireless transmission channel (dotted line in FIG. 1 a ) Utilize the first deviation vector
  • the deviation correction is performed on the second observation and positioning coordinate d, and specifically, the second observation and positioning coordinate d is subtracted from the first deviation vector ( It can be seen that in Figure 2 and On the contrary, the positioning coordinate e of the object to be positioned can be determined.
  • the preset reference point 10 may be a reference point with a known coordinate position, and the reference coordinates of the reference point may be known in advance according to any known high-precision positioning technology.
  • the reference coordinates of the preset reference point are predetermined according to RTK satellite positioning technology. It should be understood that the RTK satellite positioning technology can provide a three-dimensional positioning result of the preset reference point in a specified coordinate system, and achieve centimeter-level accuracy.
  • the above-mentioned preset reference point 10 may also be a fixed positioning base station, as shown in FIG. A real-time positioning receiver 21 .
  • the reference positioning group 1 includes: a fixed positioning base station 13, a first real-time positioning receiver 11 arranged around the positioning base station 13 and having a preset positional relationship with the positioning base station 13, a first real-time positioning receiver 11 electrically connected to the positioning base station 13 and a first real-time positioning receiver 11.
  • the processor 12 of the positioning receiver 11 is communicatively connected to the second real-time positioning receiver 21 .
  • the positioning base station 13 is a positioning base station 13 capable of high-precision positioning, and its positioning accuracy can be higher than that of the first real-time positioning receiver 11 and the second real-time positioning receiver 21, which can be used to obtain its own base station coordinates in real time as a reference coordinate a, and send the reference coordinate a to the processor 12 .
  • the first real-time positioning receiver 11 is configured to acquire its own first observed positioning coordinate c in real time and send it to the processor 12 .
  • the first real-time positioning receiver 11 is arranged around the positioning base station 13 and has a preset positional relationship with the positioning base station 13, and the first real-time positioning receiver 11 and the positioning base station 13 are electrically connected through a processor.
  • the processor 12 receives the reference coordinates a and the first observation positioning coordinates c obtained in real time, and pre-stores the above-mentioned preset positional relationship between the first real-time positioning receiver 11 and the positioning base station 13 (for example, you can use vector represents the preset position relationship).
  • the reference coordinate a is based on the real-time coordinates obtained by the positioning base station 13 with the high-precision positioning function
  • the first observed positioning coordinate c is based on the real-time coordinates obtained by the first real-time positioning receiver 11.
  • the processor 12 can Based on the real-time acquisition of the reference coordinate a and the first observation positioning coordinate c and the above-mentioned preset positional relationship Extract the first deviation vector the first deviation vector It is used to indicate the deviation of the observed value of the first real-time positioning receiver 11 relative to the positioning base station 13 . Also, the processor 12 may construct a first deviation vector library based on a plurality of first deviation vectors calculated within a period of time.
  • the second real-time positioning receiver 21 is disposed on the object to be located 2, and the object to be located 2 may be a vehicle, an aircraft, a wearable device, etc. that are moving in real time.
  • the second real-time positioning receiver 20 can obtain its own second observation positioning coordinate d in real time, and obtain the first deviation vector from the processor 12 through a wireless transmission channel Utilize the first deviation vector
  • the deviation correction is performed on the second observation and positioning coordinate d, and specifically, the second observation and positioning coordinate d is subtracted from the first deviation vector ( It can be seen that in Figure 2 and On the contrary, the positioning coordinate e of the object to be positioned can be determined.
  • the processor 12 may send the first deviation vector or the first deviation vector library to the second real-time positioning receiver 21 in a broadcast manner.
  • the processor 12 can also establish two-way communication with the second real-time positioning receiver 21, and based on the established two-way communication, the processor 12 can send the first deviation vector or the first deviation vector to the second real-time positioning receiver 21.
  • a bias vector library may be used to establish two-way communication with the second real-time positioning receiver 21, and based on the established two-way communication, the processor 12 can send the first deviation vector or the first deviation vector to the second real-time positioning receiver 21.
  • multiple sets of reference positioning groups 1 may be set, for example, multiple sets of reference positioning groups may be set in different geographical areas, and there may be several undetermined groups carrying the second real-time positioning receiver 21.
  • Bit object 2 this embodiment takes a set of reference positioning group 1, a to-be-located object 2 and a second real-time positioning receiver 21 as examples for description, but does not limit the number of each element included in the system.
  • the real-time positioning system provided by the present application may include multiple sets of reference positioning groups 1 distributed in different geographical areas, wherein the second real-time positioning receiver 21 may select at least one group according to the second positioning observation coordinate d reference positioning group 1, and obtain the first deviation vector from the processor 12 in at least one selected reference positioning group 1.
  • the responsible geographic area corresponding to each reference positioning group 1 may be preset, and the processor 13 of each reference positioning group 1 broadcasts the first deviation for realizing deviation correction to the second real-time positioning receiver 21 in the responsible geographic area vector or first deviation vector library.
  • deviation correction may also be performed on the second observation positioning coordinates according to the fusion vector of the second positioning observation coordinates by two or more first deviation vectors from two or more reference positioning groups 1 .
  • the processor 12 is further configured to: according to the preset positional relationship between the preset reference point 10 and the first real-time positioning receiver 11 and the reference coordinate a to determine the first positioning coordinate b of the first real-time positioning receiver, and determine the first deviation vector according to the first positioning coordinate b and the first positioning observation coordinate c Repeat the above steps to obtain multiple first deviation vectors with different time characteristics, so as to construct the first deviation vector library
  • the second real-time positioning receiver is configured to further: obtain the first bias vector library Select at least one of the first deviation vectors from the first deviation vector library according to time characteristics and utilize at least one of the first deviation vectors Perform deviation correction on the second positioning observation coordinate d. For example, one or more first deviation vectors that are closest or closer to the current time can be selected from the first deviation vector library
  • the above-mentioned positioning base station 13 is an RTK satellite positioning base station. It should be understood that the RTK positioning technology can provide the three-dimensional positioning result of the positioning base station in the specified coordinate system in real time, and achieve centimeter-level accuracy.
  • the first real-time positioning receiver 11 may be fixedly arranged around the preset reference point 10 .
  • the first real-time positioning receiver 11 is movably arranged around the preset reference point 10 .
  • the first real-time positioning receiver 11 may perform a round-trip motion near the preset reference point 10 , and for example, the first real-time positioning receiver 11 may move toward different directions in sequence near the preset reference point 10 .
  • the moving manner of the real-time positioning receiver 11 is not particularly limited.
  • the first real-time positioning receiver 11 moves around the preset reference point 10 according to the preset movement rules, and the preset positional relationship between the first real-time positioning receiver 11 and the preset reference point 10 can still be uniquely determined. .
  • the first deviation vector caused by the dynamic error can be obtained, and the positioning accuracy is higher.
  • the first real-time positioning receiver 11 is rotatably arranged along an annular track arranged around the preset reference point 10 .
  • a circular orbit can be set around the positioning base station, and the first real-time positioning receiver 11 is controlled to move around the preset reference point 10 according to the preset moving speed.
  • annular tracks of other shapes may also be set around the preset reference point 10 , which is not specifically limited in this application.
  • the processor 12 is further configured to: acquire the first deviation vector with the movement feature in real time, and store it in the first deviation vector library.
  • the preset reference point 10 is the positioning base station 13 as an example for description.
  • the first real-time positioning receiver 11 takes the position shown in FIG. 3 as the starting point and surrounds the positioning base station according to the preset movement rules 13 Turn to move.
  • the moving characteristics such as the current moving direction and the current moving speed of the first real-time positioning receiver 11 at the first time point T1 can be determined, and the positioning base station 13 obtains its own real-time information at the first time point T1
  • the base station coordinates are taken as the reference coordinates a
  • the first real-time positioning receiver 11 obtains its own first observation positioning coordinates c in real time at the first time point T1
  • the processor 12 receives the reference coordinates a obtained in real time at the first time point T1 , the first observation positioning coordinate c, and the preset positional relationship between the first real-time positioning receiver 11 and the positioning base station 13 at the first time point T1 (for example, a vector represents the preset positional relationship), so the processor 12 can be based on the real-time acquired reference coordinates a and the first observed positioning coordinates c and the above-mentioned preset positional relationship Extract the first deviation vector the first deviation vector It is used to indicate the deviation of the observation value of the first real-time positioning
  • the moving characteristics such as the current moving direction and the current moving speed of the first real-time positioning receiver 11 at the second time point T2 can be determined.
  • the reference coordinate a' obtained in real time at the two time points T2, the first observation positioning coordinate c', and the preset position relationship corresponding to the second time point T2 Extract the first deviation vector the first deviation vector It is used to indicate the deviation of the observation value of the first real-time positioning receiver 11 relative to the positioning base station 13 at the second time point T2, and can use the timestamp (the second time point T2), the first deviation vector Together with the movement characteristics of the first real-time positioning receiver 11 at the second time point T2, they are stored in the first deviation vector library.
  • the processor 12 may construct a first deviation vector library based on a plurality of first deviation vectors obtained through multiple calculations.
  • the first deviation vector library may also be updated at intervals (for example, every minute, every ten minutes, every hour, etc.).
  • the second real-time positioning receiver 21 is configured to: determine the current movement feature of the object to be positioned, obtain a feature-matched first deviation vector from the first deviation vector library based on the current movement feature of the object to be positioned, and Offset correction is performed on the second positioning observation coordinates using the first offset vector. For example, assuming that the moving feature includes a moving direction feature, the second real-time positioning receiver 21 can predict that the object to be positioned is currently moving in the first direction according to historical positioning coordinates (such as positioning coordinates within the first ten seconds of the current time), then One or more first deviation vectors whose moving direction characteristics are closest to the first direction may be obtained from the first deviation vector library for realizing the deviation correction. It can be understood that the positioning accuracy of the to-be-located object can be further improved by matching and searching for the moving features.
  • the above-mentioned movement characteristics include movement direction characteristics and/or movement speed characteristics, and of course other possible movement characteristics may also be included.
  • the first real-time positioning receiver and the second real-time positioning receiver are RAC (Realtime Array Calibration, real-time array calibration) positioning receivers.
  • the RAC positioning receiver is a polygonal satellite positioning receiver array composed of multiple satellite positioning receivers, and each satellite positioning receiver includes an MCU (Micro Control Unit) and a MCU (Micro Control Unit) connected In the receiver, each MCU is connected in parallel and connected to a processor module.
  • the feature of RAC positioning receiver is that it can achieve high positioning accuracy only by using ordinary civilian single-frequency signals (GPS L1 or Beidou B1).
  • the RAC positioning receiver is composed of a plurality of satellite positioning receivers arranged in a certain geometric shape, and the corresponding high-precision positioning algorithm is used to improve the positioning accuracy.
  • the geometric figures formed by the antenna elements of the receiver array are triangles, quadrilaterals, pentagons or hexagons and other arbitrary geometric figures.
  • the antenna phase center of each satellite positioning receiver is located at each vertex and center point of the polygon array (or at each vertex). other locations within the area enclosed by the receiver).
  • the RAC positioning receiver formed by the quadrilateral receiver array includes five satellite positioning receivers to form an overall receiver circuit of a quadrilateral array, wherein the respective antenna geometric phase centers of the four satellite positioning receivers are located at the four vertices A, B, and B of the quadrilateral. C, D, the geometric phase center of the antenna of the other central satellite positioning receiver is located at the center point E.
  • the circuit of the RAC positioning receiver is shown in Figure 6.
  • Each satellite positioning receiver includes an MCU and a receiver connected to the MCU.
  • the MCUs of the five satellite positioning receivers are connected in parallel with each other and are connected together. into a processor module (ARM).
  • Each satellite positioning receiver analyzes the satellite signal strength, satellite elevation and included angle, and the number of available satellites, so that the five receivers can lock to the same available positioning satellites.
  • the raw data of satellite positioning is received with the data of N frames per second and processed separately to calculate the geometric center coordinates of the antenna phase of each receiver.
  • Each receiver corresponds to one MCU to process the received data, and five MCUs generate the IDs of five receivers.
  • the five MCUs are connected in parallel with each other, so that the five receivers keep data synchronization and send the ID data of each receiver to the processor module (eg ARM module).
  • the first function of the processor module is to control the five receivers and the MCU to maintain data synchronization
  • the second function is to parse the data received from the MCU, perform comprehensive processing to complete the calculation, solve and output the final positioning coordinates.
  • the steps of determining the positioning observation coordinates of the RAC positioning receiver will be described, wherein the positioning of the RAC positioning receiver is determined according to the following steps (a)-(c). Observation coordinates:
  • each satellite positioning receiver sends its own ID and coordinate observation value to the processor module.
  • each satellite positioning receiver includes an apex satellite positioning receiver (ABCD) and a center point satellite positioning receiver (E).
  • Step (b) the processor module calculates the following two geometric figures according to the ID of each satellite positioning receiver, the coordinate observation value and the physical geometric parameters of the polygon receiver array: one is surrounded by the antenna phase center of each satellite positioning receiver.
  • the physical geometry ABCDE is formed, and the other is the observed value geometry A'B'C'D'E' surrounded by the coordinate observations of each satellite positioning receiver, as shown in Figure 7.
  • step (c) the processor module compares the observed value geometry ABCDE with the physical geometry A'B'C'D'E', that is: the vector of the relative position between the coordinate observations of the phase centers of the respective receiver antennas Comparing with the known relative position vectors between the antenna phase centers of each receiver, the second deviation vector caused by the aforementioned various errors can be extracted to form a second deviation vector function library.
  • distance A'B' is compared with AB
  • distance A'C' is compared with AC
  • angle A is compared with angle A'
  • distance D'B' is compared with DB
  • distance D'C' is compared with DC
  • angle D is compared Compare with angle D'
  • compare distance A'E' with AE compare distance B'E' with BE
  • compare angle AEB with angle A'E'B', and so on.
  • step (d) the second deviation vector is subtracted from the coordinate observation value of the antenna phase center of each satellite positioning receiver, so as to obtain the corrected positioning observation coordinate.
  • the corrected coordinate observation values obtained in the above steps (a) to (d) can eliminate the deviation, so as to be closer to the real coordinates. Therefore, at this time, the vector of the relative position between the coordinate observations of the phase centers of the respective receiver antennas is closer to the known vector of the relative positions of the phase centers of the respective receiver antennas than before the correction.
  • the above description takes a quadrilateral receiver array as an example, and the processing methods for other polygonal receiver arrays are similar.
  • the RAC positioning receiver may perform steps (a) through (d) iteratively to gradually decrease the second bias vector until the second bias vector approaches zero.
  • the shape and size of ABCDE and A'B'C'D'E' are the same, so as to obtain the high-precision longitude and latitude coordinate information of the observed value of the geometric center point of the antenna array.
  • the RAC positioning receiver described above can eliminate a large number of errors. In order to achieve the best application effect, the following requirements should be met: (1) The respective positioning accuracy of each receiver should be improved as much as possible. (2) The receiver antenna array should be polygonal, such as triangle, rectangle (square), pentagon or hexagon. Each receiver antenna phase center is located at each vertex and other nodes. (3) The clocks of each receiver are kept synchronized, and the independent MCU of the receiver is used for clock synchronization.
  • the RAC positioning receiver formed by a pentagon, hexagonal or other geometric array with more sides is similar to the RAC positioning receiver formed by a quadrilateral array, and the description is not repeated here.
  • Figure 8 shows the schematic diagram of the RAC positioning receiver composed of a triangular array (in the given triangular array, the RAC positioning receiver only includes the vertex satellite positioning receiver, not the center point satellite positioning receiver), which consists of three
  • the physical geometric figure enclosed by the phase center of the satellite positioning receiver at the vertex is a triangle ABC; the other is a geometric figure A'B'C' drawn by the coordinate observations of the satellite positioning receiver at the vertex.
  • the triangle geometry A'B'C' is compared with ABC: the vector of the relative position between the coordinate observations of each satellite positioning receiver, and the relative position between the antenna phase centers of each satellite positioning receiver of known shape Then, the deviation vector caused by the aforementioned various errors can be extracted, and the second deviation vector function library can be formed.
  • distance A'B' is compared with AB
  • distance A'C' is compared with AC
  • angle A is compared with angle A'
  • distance B'C' is compared with BC
  • angle B is compared with angle B'
  • C is compared with the included angle C'.
  • the relative position vector between the coordinate observations of the antenna phase centers of each satellite positioning receiver and the known relative position vector between the antenna phase centers of each satellite positioning receiver will be closer than before correction. This process can be repeated until the deviation vector is close to zero.
  • the triangles ABC and A'B'C' have the same shape and size.
  • the high-precision longitude and latitude coordinate information of the observed value of the geometric center point of the antenna array can be obtained.
  • the high-precision real-time satellite positioning device formed by the above triangular array can be regarded as a receiver in FIG. 6 , and a RAC receiver with higher satellite positioning accuracy can be further obtained.
  • the first real-time positioning receiver and the second real-time positioning receiver are the same positioning receiver. It can be understood that when the first real-time positioning receiver and the second real-time positioning receiver are exactly the same, the error effects they face are also highly similar. Therefore, the first real-time positioning receiver is used to observe the deviation relative to the preset reference point. The real-time positioning receiver performs deviation correction, which can achieve better correction effect.
  • the first real-time positioning receiver and the second real-time positioning receiver may also be different types of RAC positioning receivers, for example, the first real-time positioning receiver is a triangular array, and the second real-time positioning receiver is a quadrilateral array, and so on.
  • the objects to be located include any one or more of the following: vehicles, aircraft, wearable devices, fixed terminals, and mobile terminals, which are not specifically limited in this application.
  • the real-time positioning system includes: at least one set of reference positioning groups and at least one object to be positioned.
  • the reference positioning group includes: a preset reference point, a first real-time positioning receiver arranged around the preset reference point and having a preset positional relationship with the preset reference point, electrically connected to the A processor of the real-time positioning receiver, the processor is communicatively coupled to the at least one second real-time positioning receiver.
  • the method includes:
  • Step 901 the first real-time positioning receiver obtains its own first observation positioning coordinates in real time and sends it to the processor;
  • Step 902 The processor extracts a first deviation vector based on the reference coordinates of the preset reference point, the first observation positioning coordinates and the preset positional relationship, and the first deviation vector is used to indicate the position of the first real-time positioning receiver relative to the preset reference point. observational bias;
  • Step 903 The second real-time positioning receiver obtains its own second observation positioning coordinates in real time, obtains the first deviation vector from the processor, and uses the first deviation vector to perform deviation correction on the second observation positioning coordinates to determine the positioning coordinates of the object to be positioned. .
  • the preset reference point is a fixed positioning base station
  • the processor is electrically connected to the positioning base station
  • the method further includes: the positioning base station acquires its own base station coordinates in real time as The reference coordinates are sent to the processor; the processor extracts a first deviation vector based on the reference coordinates obtained in real time, the first observation positioning coordinates and the preset position relationship, and the first The deviation vector is used to indicate the observed deviation of the first real-time positioning receiver relative to the positioning base station.
  • the reference coordinates of the preset reference point are predetermined according to RTK satellite positioning technology.
  • the positioning base station is an RTK satellite positioning base station.
  • the method includes a plurality of sets of the reference positioning groups distributed in different geographical areas, wherein the second real-time positioning receiver selects at least one set of the reference positioning groups according to the second positioning observation coordinates A reference positioning group, and the first deviation vector is obtained from the processor in at least one of the selected reference positioning groups.
  • the first real-time positioning receiver is fixedly arranged around the preset reference point, or the first real-time positioning receiver is movably arranged around the preset reference point, Or the first real-time positioning receiver is rotatably arranged along an annular track arranged around the preset reference point.
  • the method further includes: the processor determining the reference coordinate according to the preset positional relationship between the preset reference point and the first real-time positioning receiver and the reference coordinates.
  • the first positioning coordinates of the first real-time positioning receiver, and the first deviation vector is determined according to the first positioning coordinates and the first positioning observation coordinates; the first deviation vector to construct the first deviation vector library; the second real-time positioning receiver obtains the first deviation vector library, and selects at least one deviation vector library from the first deviation vector library according to the time characteristic
  • the first deviation vector is used, and at least one of the first deviation vectors is used to perform deviation correction on the second positioning observation coordinates.
  • the method further includes: acquiring, by the processor in real time, the first deviation vector with the movement feature, and storing it in the first deviation vector library; receiving the second real-time positioning
  • the computer determines the current movement feature of the object to be positioned, determines at least one first deviation vector with matching features from the first deviation vector library based on the current movement feature of the object to be positioned, and uses at least one of the first deviation vectors.
  • the first deviation vector performs deviation correction on the second positioning observation coordinates.
  • the movement characteristics include movement direction characteristics and/or movement speed characteristics.
  • the first real-time positioning receiver and the second real-time positioning receiver are RAC positioning receivers;
  • the RAC positioning receiver is a polygonal satellite positioning receiver composed of multiple satellite positioning receivers
  • Each of the satellite positioning receivers includes an MCU and a receiver connected to the MCU, and each MCU is connected in parallel and is connected to a processor module; wherein, the RAC positioning receiver is based on each The coordinate observation value of the satellite positioning receiver and the physical geometric parameters of the polygonal satellite receiver array are used to determine its own positioning observation coordinates.
  • the RAC positioning receiver determines its own positioning observation coordinates according to the following steps (a)-(c): Step (a), each of the satellite positioning receivers converts the respective ID and coordinates The observation value is sent to the processor module; in step (b), the processor module calculates according to the ID of each of the satellite positioning receivers, the coordinate observation value and the physical geometric parameters of the polygon receiver array The following two geometric figures are obtained: a physical geometric figure surrounded by the antenna phase centers of each of the satellite positioning receivers, and an observation value geometric figure surrounded by the coordinate observations of each satellite positioning receiver; Step (c ), the processor module compares the observed value geometry with the physical geometry, calculates the vector of the relative position between the coordinate observations of each of the satellite positioning receivers, and compares it with each of the satellites The vector comparison of the relative positions between the antenna phase centers of the positioning receiver, the second deviation vector caused by the error is extracted, and the second deviation vector function library is formed; The coordinate observation value of the phase center is subtracted from the second deviation vector, so as to obtain the corrected
  • the RAC positioning receiver performs the steps (a) to (d) iteratively to gradually reduce the second deviation vector to obtain the positioning observation coordinates with high precision.
  • comparing the physical geometry with the observed value geometry includes: a comparison of the lengths of the sides corresponding to the physical geometry and the observed value geometry and a side-to-side length comparison. Angle for comparison.
  • the first real-time positioning receiver and the second real-time positioning receiver are the same positioning receiver.
  • the object to be located includes any one or more of the following: a vehicle, an aircraft, a wearable device, a stationary terminal, and a mobile terminal.
  • the above-mentioned at least one technical solution adopted in the embodiment of the present application can achieve the following beneficial effects:
  • the present invention through the connection between the first real-time positioning receiver and the positioning base station, and comparing the observed values of the first real-time positioning receiver and the positioning base station, it is possible to The second deviation vector between the two is extracted, and the deviation correction is performed on the second real-time positioning receiver by using the extracted second deviation vector, which can further improve the positioning accuracy of the positioning receiver.
  • the present invention has the advantages of reasonable design, high precision, low cost, convenient use, etc., and is convenient for large-scale application and promotion in the common civilian field.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Système et procédé de positionnement en temps réel. Le système comprend : un groupe de positionnement de référence (1) ; et un second récepteur de positionnement en temps réel (21), disposé sur un objet à positionner (2). Le groupe de positionnement de référence (1) comprend : un point prédéfini de référence (10) ; un premier récepteur de positionnement en temps réel (11), disposé autour du point prédéfini de référence (10) et présentant une relation prédéfinie de localisation (I) ; et un processeur (12). Le premier récepteur de positionnement en temps réel (11) sert à obtenir en temps réel des premières coordonnées de positionnement d'observation (c) du premier récepteur de positionnement en temps réel lui-même et à les envoyer au processeur (12), tandis que le processeur (12) sert à extraire, d'après des coordonnées de référence (a) du point prédéfini de référence (10), les premières coordonnées de positionnement d'observation (c) et la relation prédéfinie de localisation (I), un premier vecteur de déviation (II) indiquant un écart d'observation du premier récepteur de positionnement en temps réel (11) par rapport au point prédéfini de référence (10). Le premier vecteur de déviation (II) s'obtient à partir du processeur (12) et une correction de déviation est effectuée sur des secondes coordonnées de positionnement d'observation (d) à l'aide du premier vecteur de déviation (II). Ainsi, la précision de positionnement peut être améliorée et la présente invention présente les caractéristiques de haute précision, de faible coût, de facilité d'utilisation, etc.
PCT/CN2022/070337 2021-02-01 2022-01-05 Système et procédé de positionnement en temps réel WO2022161126A1 (fr)

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