CN106153021B - A kind of north finding method and equipment based on network RTK - Google Patents
A kind of north finding method and equipment based on network RTK Download PDFInfo
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- CN106153021B CN106153021B CN201610505676.5A CN201610505676A CN106153021B CN 106153021 B CN106153021 B CN 106153021B CN 201610505676 A CN201610505676 A CN 201610505676A CN 106153021 B CN106153021 B CN 106153021B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/04—Magnetic compasses with north-seeking magnetic elements, e.g. needles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/04—Magnetic compasses with north-seeking magnetic elements, e.g. needles
- G01C17/10—Comparing observed direction with north indication
- G01C17/14—Comparing observed direction with north indication by reference marks, e.g. for ships' compasses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/04—Magnetic compasses with north-seeking magnetic elements, e.g. needles
- G01C17/20—Observing the compass card or needle
- G01C17/22—Observing the compass card or needle by projection
-
- 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]
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention is a kind of north finding method and equipment based on network RTK, it is related to satellite orientation technical field, access interface is serviced by communication system linked network RTK using GNSS receiver, persistently obtains differential corrections, to obtain high accuracy positioning result and Real-time Feedback to control system；Reconvert is adjusted to ENU local coordinate system, and by servo-system, and final measurement chooses E to deviateing the position close to 0 ° as real north.The beneficial effects of the invention are as follows, its positioning accuracy is improved using network RTK mode to the real north of quick precise measurement tested point using high precision GNSS receiver, to solve the disadvantages of low precision in existing scheme, time of measuring are long, equipment is expensive, the limitation of climate condition.
Description
Technical field
The present invention is a kind of north finding method and equipment based on network RTK, is related to satellite orientation technical field.
Background technique
With flourishing for satellite orientation technology, types of applications scene proposes higher and higher want to its orientation accuracy
It asks, and the test benchmark that the acquisition of more highly directional precision is necessarily required to higher precision provides support for it；Real north is used as and defends
One of important benchmark of star directional technology, the acquisition and calibration of itself lack unified standard and operation readiness method, thus shadow
Ring the further development of satellite orientation technology.Therefore, it is necessary to find a kind of convenient reliable and higher north finding method of precision
To determine real north.
North finding method is broadly divided into four major class at present:
The first kind is that magnetic seeks northern method, and the northern benchmark of seeking that magnetic seeks northern method is magnetic north, is by magnetic orientation equipment (including guide
Needle, magnetic compass, electronic compass etc.) instruction magnetic north direction, real north is converted to by a series of further according to magnetic north direction.It is main
It wants especially to be difficult under complex electromagnetic environment the disadvantage is that orientation accuracy is easily affected by environment；And magnetic north direction and mesh
Realize that accurate transformation is also relatively complicated to not consistent in the preceding coordinate north；Furthermore orientation accuracy and latitude also have relationship, latitude
More highly directional precision is poorer.
Second class is that astronomy seeks northern method, and astronomy seeks northern method by observing the elevation angle or hour angle of Polaris to determine observation point
Real north.Due to the position of Polaris be stablize relatively it is constant, and since astronomical orientation method observation time is longer, instrument
Precision is higher, and theoretically this method can reach very high-precision, the disadvantages of the method are as follows the restriction of climate condition, it is difficult to guarantee complete
Weather high-acruracy survey；And can only obtain the two-dimensional position information of astronomical longitude and latitude, the astronomical sight for lacking elevation information, and using
Survey instrument price is generally higher, and maintenance is relatively difficult.
Third class is that gyrotheodolite seeks northern method, and gyrotheodolite is made of gyroscope and theodolite.Gyroscope has fixed
Tropism and precession, during earth rotation, under the influence of turning active constituent to gyroscope, main shaft is always to meridian plane side
To precession, and it is positively retained at the oval simple harmonic quantity swing done near meridian plane continuously, unattenuated, using this characteristic by thick
Slightly orientation, precise orientation, finally obtain accurate real north.The disadvantages of the method are as follows gyrotheodolite price is valuable, use
Restricted lifetime；It needs to calibrate after long-time use, maintenance cost is high；It is affected by extraneous ground magnetic environment, is not had positioning function
Energy is equal.
4th class is that satellite seeks northern method, and satellite, which seeks north and refers mainly to GNSS (Global Navigation Satellite System), seeks north, is based on satellite
Carrier phase signal difference measurement principle, determine space two o'clock direction at geometric vector under given coordinate system, to push away
Geographical north orientation is calculated, positioning result can be obtained simultaneously；Such method north finding precision is influenced vulnerable to stand-alone position error, while right
Baseline length between two receivers is more demanding (generally more than 100m), is unfavorable for setting up in more narrow environment.
Summary of the invention
It is an object of the invention to using technology of network RTK design a type seek northern equipment, it is intended to improve its positioning accuracy from
And the quick real north of precise measurement tested point, thus solve low precision in existing scheme, time of measuring are long, equipment is expensive,
The disadvantages of climate and site condition limit.
The principle of the invention lies in be the direction that certain point is directed toward the arctic according to the definition of real north, specifically in the present invention
Application in, i.e., need to by one section pass through test site warp (i.e. meridian) projective rendering to test site, thus as generation
The reference line of table real north.The northern equipment of seeking of technology of network RTK design is combined mainly to pass through reception network RTK clothes in the present invention
The differential correcting signal that business mechanism is broadcast comes the central point of accurate sensing equipment measurement arm and the exact position for seeking north point, passes through
The relative positional relationship of two o'clock is calculated in real time to control servo-system adjust automatically measurement arm and be directed toward, to finally determine true north
To, and projected over the ground by the laser alignment module of measurement arm bottom end, in order to which measurement mark is arranged.
The working principle of network RTK is to have used for reference GPS wide area differential GPS GNSS and the GPS local area differential GNSS with multiple base stations
Basic principle and method.GPS wide area differential GPS GNSS sampling error isolation technics, by GNSS position in main error source be subject to respectively
Pseudorange error is separated into satellite ephemeris error, satellite clock correction and ionospheric error, and generates corresponding correction by " modelling "
Number.User corrects GNSS pseudorange error using GPS wide area differential GPS correction, to improve the precision of navigator fix.Positioning system of GPS local area differential
System then provides a user comprehensive DGPS correcting information --- observation correction, without being to provide single error source correction.With
Unlike Wide-area differential GPS and local area differential GPS, GPS network network RTK technology acquires correction by interpolation method or LINEAR COMBINATION METHOD
Number, corrects carrier phase, rather than corrects pseudorange or position.Since in the Differential positioning of these three types, benefit
The Differential positioning precision highest carried out with carrier phase.
Double frequency all-wave length GNSS receiver should be equipped on network RTK base station, which preferably provides accurate simultaneously
Double frequency Pseudo-range Observations.The station coordinates of base station is answered accurately known, and long-time GNSS static relative positioning can be used in coordinate
The methods of determine.In addition, these base stations should also be equipped with data communications equipment and meteorologic instrument etc..The master of network RTK work
Want technical method as follows:
1. base station should carry out continuous observation by defined sample rate, and in real time be passed observational data by data communication chain
Give data processing centre；
2. the approximate coordinate (can acquire according to pseudorange method One-Point Location) that data processing centre sends according to rover station is judged
The erect-position is in the triangle as composed by which three base station.Then flowing is found out according to the observational data of these three base stations
It stands the systematic error that place is subject to；
It is modified 3. broadcasting the systematic error found out to mobile users to obtain accurate result.
It is necessary to when can be primary by above process iteration.Light can be used in base station and the data communication of Data processing in the heart
The methods of fine private network or wireless communication carry out.Bidirectional data communication between rover station and data processing centre then passes through mobile data
Network carries out.The progress of the methods of interpolation method, LINEAR COMBINATION METHOD and phantom station substantially can be used in network RTK at present.
The technical scheme is that access interface is serviced by communication system linked network RTK using GNSS receiver,
Differential corrections are persistently obtained, to obtain high accuracy positioning result and Real-time Feedback to control system；Reconvert is local to ENU
Coordinate, and being adjusted by servo-system, final measurement choose E to deviateing the position close to 0 ° as real north.
Advantageous effect of the invention is that its positioning accuracy is improved using network RTK mode using high precision GNSS receiver
To the real north of quick precise measurement tested point, so that it is high to solve low precision in existing scheme, time of measuring length, equipment
The disadvantages of expensive, climate condition limits.
Detailed description of the invention
Fig. 1 is structure and working principle schematic diagram.
Fig. 2 is ENU local coordinate schematic diagram.
Specific embodiment
It is described further referring to 1 to 2 pair of the embodiment of the present invention of attached drawing, the present invention is a kind of to seek north based on network RTK
Method and apparatus, it is characterized in that including following methods:
Access interface is serviced by communication system linked network RTK using GNSS receiver 1, persistently obtains differential correcting
Number, to obtain high accuracy positioning result and Real-time Feedback to control system；Reconvert passes through servo to ENU local coordinate system
System 4 adjusts, and final measurement chooses E to deviateing the position close to 0 ° as real north.
The invention mainly comprises GNSS receiver 1, measurement arm 2, compass 3, servo-system 4, laser alignment module 5 and controls
System, communication, power supply system 6, measurement arm 2 is mounted in the servo-system 4 with tripod, and is controlled and rotated by servo-system 4；
GNSS receiver 1 includes being mounted on rotation center 11 and the measurement of the central point receiver of measurement 2 rotation center of arm
North point receiver 12 is sought in 2 one end of arm；Laser alignment module 5 is mounted on the measurement arm 2 for seeking 12 lower section of north point receiver；Measurement
The other end installation control of arm communicates, for 1 electric system 6 of GNSS receiver and compass 3.
The present invention the following steps are included:
Step 1, the magnetic north direction that indicates according to compass 3 of arm 2 will be measured to rotate, and will make to seek north point receiver 12 and is tentatively in
The magnetic north direction of central point receiver 11；
Step 2, GNSS receiver 1 services access interface by communication system linked network RTK, persistently obtains differential correcting
Number, to respectively obtain high accuracy positioning result and by respective positioning result Real-time Feedback to control system；
Step 3, control system by central point receiver 11 and seeks the high accuracy positioning knot that north point receiver 12 respectively obtains
Fruit is converted to ENU local coordinate system, by judging sign symbol of the E to deviation value, carries out adjustment counterclockwise or clockwise；When coarse adjustment
Servo-system 4 uses larger step size precession, and servo-system 4 is switched to minimum step and is finely adjusted when accurate adjustment, eventually by multiple
Measurement chooses E to the position closest to 0 ° is deviateed as real north, and control, communication, power supply system 6 are informed by indicator light and used
North success is sought at family.
Further, in the step 3, laser alignment module 5 can be also opened, over the ground projection setting measurement mark.
Further, in the step 3, the conversion method of ENU local coordinate is as follows:
e2=f (2-f)
Wherein:
A: the major semiaxis of earth reference ellipsoid,
F: the ellipticity of earth reference ellipsoid,
φn: north point receiver latitude is sought,
λn: north point receiver longitude is sought,
H: seeking north point receiver ellipsoid height,
rn=(x, y, z)T: seek north point receiver ECEF coordinate position；
After north point receiver ECEF coordinate position is sought in acquisition, north point ECEF need to will be sought in conjunction with central point receiver longitude and latitude
Coordinate is converted to ENU local coordinate system [e, n, u]:
renu=Er(rn-rc)
Wherein:
For spin matrix,
φc: central point receiver latitude φ,
λc: central point receiver longitude,
rc: central point receiver ECEF coordinate.
The present invention can also be realized by following simple and easy method:
Step 1, tripod and level-off are set up by measurement request in the starting point of preparation meridian, that is, passes through compass
The magnetic north direction of 3 instructions determines meridian, and GNSS receiver 1 is fixed on tripod top measurement starting point coordinate, record
Its longitude is labeled as meridian starting point；
Step 2, then GNSS receiver 1 is installed on easy traverse measurement bar, in preparation meridian terminal
Neighbouring position is measured back and forth, and the point closest with record longitude is selected simply to be marked and drawed；
Step 3, tripod is set up, carries out repetition measurement by the same step of starting point, records the coordinate value of final point measurement, such as
Its longitude of fruit and starting point coordinate longitude difference are to the extent permitted by the error, it is proposed that are 5 ", i.e., it is believed that the point marks
For meridian terminal, and the line direction between its two o'clock is regarded as real north.
Claims (5)
1. a kind of north finding method and equipment based on network RTK, it is characterized in that including following methods:
Access interface is serviced by communication system linked network RTK using GNSS receiver (1), persistently obtains differential corrections,
To obtain high accuracy positioning result and Real-time Feedback to control system；Reconvert passes through servo-system to ENU local coordinate system
(4) it adjusts, final measurement chooses E to deviateing the position close to 0 ° as real north.
2. a kind of north finding method and equipment based on network RTK according to claim 1, characterized in that mainly include
GNSS receiver (1), measurement arm (2), compass (3), servo-system (4), laser alignment module (5) and control, communication, power supply
System (6),
Measurement arm (2) is mounted on the servo-system with tripod (4), and is controlled and rotated by servo-system (4)；
GNSS receiver (1) includes being mounted on the rotation center (11) of the central point receiver of measurement arm (2) rotation center and surveying
North point receiver (12) are sought in amount arm (2) one end；Laser alignment module (5) is mounted on the measurement sought below north point receiver (12)
On arm (2)；It measures the other end installation control of arm, communicate, for GNSS receiver (1) electric system (6) and compass (3).
3. a kind of north finding method and equipment based on network RTK according to claim 1 or 2, it is characterized in that including following
Step:
Step 1, measurement arm (2) is rotated according to the magnetic north direction that compass (3) indicates, makes to seek north point receiver (12) tentatively place
In the magnetic north direction of central point receiver (11)；
Step 2, GNSS receiver (1) services access interface by communication system linked network RTK, persistently obtains differential correcting
Number, to respectively obtain high accuracy positioning result and by respective positioning result Real-time Feedback to control system；
Step 3, control system by central point receiver (11) and seeks the high accuracy positioning knot that north point receiver (12) respectively obtains
Fruit is converted to ENU local coordinate system, by judging sign symbol of the E to deviation value, carries out adjustment counterclockwise or clockwise；When coarse adjustment
Servo-system (4) uses larger step size precession, and servo-system (4) is switched to minimum step and is finely adjusted when accurate adjustment, eventually by
Repeatedly measurement chooses E to the position closest to 0 ° is deviateed as real north, and control, communication, power supply system (6) pass through indicator light
Inform that user seeks north success.
4. a kind of north finding method and equipment based on network RTK according to claim 3, characterized in that the step 3
In, laser alignment module (5) can be also opened, over the ground projection setting measurement mark.
5. a kind of north finding method and equipment based on network RTK according to claim 3, characterized in that
In the step 3, the conversion method of ENU local coordinate is as follows:
e2=f (2-f)
Wherein:
A: the major semiaxis of earth reference ellipsoid,
F: the ellipticity of earth reference ellipsoid,
φn: north point receiver latitude is sought,
λn: north point receiver longitude is sought,
H: seeking north point receiver ellipsoid height,
rn=(x, y, z)T: seek north point receiver ECEF coordinate position；
After north point receiver ECEF coordinate position is sought in acquisition, north point ECEF coordinate need to will be sought in conjunction with central point receiver longitude and latitude
It converts to ENU local coordinate system [e, n, u]:
renu=Er(rn-rc)
Wherein:
For spin matrix,
φc: central point receiver latitude φ,
λc: central point receiver longitude,
rc: central point receiver ECEF coordinate.
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| CN201610505676.5A CN106153021B (en) | 2016-06-30 | 2016-06-30 | A kind of north finding method and equipment based on network RTK |
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| CN201610505676.5A CN106153021B (en) | 2016-06-30 | 2016-06-30 | A kind of north finding method and equipment based on network RTK |
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| CN106153021A CN106153021A (en) | 2016-11-23 |
| CN106153021B true CN106153021B (en) | 2019-01-25 |
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| CN107063172B (en) * | 2017-05-25 | 2019-08-13 | 中国人民解放军空军预警学院 | A kind of external optical orientation equipment and its direction-finding method |
| CN107340530A (en) * | 2017-09-05 | 2017-11-10 | 北京奥博泰科技有限公司 | A kind of split type GNSS geographical north orienting device based on RTK |
| CN107462264B (en) * | 2017-09-05 | 2023-09-26 | 北京奥博泰科技有限公司 | Dynamic gyro north-seeking calibration device |
| CN108459297A (en) * | 2017-12-29 | 2018-08-28 | 北京日月九天科技有限公司 | A kind of northern instrument of precisely finger that can quickly find direct north |
| CN111443364A (en) * | 2020-03-27 | 2020-07-24 | 惠州市德赛西威智能交通技术研究院有限公司 | Vehicle-mounted positioning receiver precision testing method and system thereof |
| CN113640844B (en) * | 2021-08-30 | 2024-05-28 | 重庆两江卫星移动通信有限公司 | Novel north-seeking device and north-seeking method |
| CN114553982B (en) * | 2022-02-23 | 2024-02-09 | 国汽大有时空科技(安庆)有限公司 | Data coding method and data transmission method for N-RTK differential enhancement service applied to GNSS |
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Effective date of registration: 20211222 Address after: 610000 c129 and C130, floor 1, Zone C, No. 4, Xixin Avenue, high tech Zone, Chengdu, Sichuan Patentee after: Chengdu Zhongsen Communication Technology Co.,Ltd. Address before: 410000 Zhongdian Software Park, No. 39 Jianshan Road, high tech Development Zone, Changsha, Hunan Patentee before: HUNAN ZHONGSEN COMMUNICATION TECHNOLOGY Co.,Ltd. |