CN107479066A - A kind of step-by-step movement moves ground Enhancement Method - Google Patents
A kind of step-by-step movement moves ground Enhancement Method Download PDFInfo
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- CN107479066A CN107479066A CN201710828672.5A CN201710828672A CN107479066A CN 107479066 A CN107479066 A CN 107479066A CN 201710828672 A CN201710828672 A CN 201710828672A CN 107479066 A CN107479066 A CN 107479066A
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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
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Abstract
The invention provides a kind of step-by-step movement to move ground Enhancement Method, including：Initial the erection point and stepping point of moving base station are chosen, calculates the carrier phase difference correction between the initial high-precision coordinate and high-precision coordinate and satellite navigation data for setting up point, calculates the high-precision coordinate of stepping point successively；The carrier phase difference correction and the stepping point satellite navigation data obtained with the initial high-precision coordinate for setting up the nearest stepping point of point by initial erection point obtains；The high-precision coordinate of later stepping point is obtained by the carrier phase difference correction between previous stepping point high-precision coordinate and the high boat data of satellite and the satellite navigation data of the stepping point.This method can provide high precision position service so as to establish a kind of interim moving base station system for each combat unit, while using step-type method ensure that coverage is completely covered.
Description
Technical field
The present invention relates to a kind of Technique of Satellite Navigation and Positioning, particularly a kind of step-by-step movement movement ground Enhancement Method.
Background technology
At present, satellite navigation positioning can only provide the horizontal positioning accuracy of 3 meters or so of highest, by differential position,
Positioning precision can be increased substantially, but needs the base station of known accurate location as auxiliary.Difference is provided by base station
Data, it is main using construction ground both at home and abroad although the technology that terminal receives differential data progress high accuracy positioning is ripe
The mode at the fixed reference stations such as base strengthening system, CORS system (CORS), long time integration data are calculated
To obtain the accurate coordinate of base station, so as to provide differential data service.In terms of free-standing base station, at present both at home and abroad still
In conceptual phase, the product for not having maturation is released.The acquisition of free-standing base station own coordinate, need to typically there is long-term observation
By the way of the accumulation of data is calculated or directly set up using the control point of existing coordinate.
Send out name content
The present invention provides a kind of step-by-step movement movement ground Enhancement Method, and this method can provide high accuracy for each combat unit
Location-based service is ensured to the complete of coverage so as to establish a kind of interim moving base station system using step-type method
All standing.
The technical scheme for realizing the purpose of the present invention is：A kind of step-by-step movement moves ground Enhancement Method, including
Initial the erection point and stepping point of moving base station are chosen, calculates the initial high-precision coordinate and high accuracy for setting up point
Carrier phase difference correction between coordinate and satellite navigation data, the high-precision coordinate of stepping point is calculated successively；
The carrier phase difference obtained with the initial high-precision coordinate for setting up the nearest stepping point of point by initial erection point changes
Positive number and the stepping point satellite navigation data obtain；
The high-precision coordinate of later stepping point is by the carrier wave phase between previous stepping point high-precision coordinate and the high boat data of satellite
The satellite navigation data of position differential corrections and the stepping point obtains.
The above method is used, if fixed reference station be present in the range of the certain distance of stepping point, with the fixed datum
The carrier phase difference correction being calculated obtain the high-precision coordinate of the stepping point.
The above method is used, if a stepping point non-shift position within a certain period of time, being calculated using Static Precise Point Positioning should
The high-precision coordinate of stepping point.
The present invention without control point, can temporary erection in the region of any suitable observation satellite navigation signal, meet interim
Desired zone high accuracy positioning demand；According to high accuracy positioning range of needs, by the deployment of step-by-step movement moving base station, significantly
Improve the scope of satellite navigation system high accuracy positioning service；Itself high accuracy positioning is completed in a short time and switches to base
Quasi- station mode of operation, it can more meet the rapid response to customer's need of all kinds of local high accuracy positioning applications；Without antenna anchor block, need not
The periodic maintenance at traditional benchmark station, greatlys save manpower and fund cost.
The present invention is described further with reference to Figure of description.
Brief description of the drawings
Fig. 1 is the principle schematic that a kind of step-by-step movement of the present invention moves ground strengthening system and method.
Fig. 2 is a kind of part of the present invention and correlation schematic diagram.
Fig. 3 is that step-by-step movement of the present invention moves the data flow that ground enhancing is stood between base station, rover station and user terminal
And workflow schematic diagram.
Embodiment
Moving base station uses the precision quick location technique (RT-PPP) at initial erection point of the invention.It is 1997, beautiful
Researcher Zumberge of state jet propulsion laboratory (JPL) etc. utilizes IGS precise ephemerises and GIPSY softwares, good authentication
The feasibility of precise single-point positioning technology.Coming years, lot of domestic and foreign scholar is to the observation models of PPP technologies, error point
Analysis and related algorithm are studied.In view of real-time accurate One-Point Location technology is before the application of earthquake, tsunami monitoring with early warning
Scape, domestic and foreign scholars have carried out the research to real-time PPP.U.S. JPL proposes global PPP in real time concept, and using in real time
The high-precision orbital and clock correction information of calculating, GPS PPP positioning is carried out, be expected to realize that 1-2dm's is fixed in real time in the world
Position.For Navcom Hatch et al. by generating correcting information with orbit determination in real time software RTG, the GPS for having obtained 2.4dm is real
When dynamic position.IGS set up working group in 2002, determined to implement within 2007 plan in real time, i.e. RTPP (Real-Time
Pilot Project) plan, the mechanism participation of 36, the whole world, it is each responsible for providing survey station data, services, Analysis Service, net is provided
Network management service, subscriber management service etc..2009, IGS working groups determined the issue form of realtime product, that is, are based on
Internet is broadcast with NTRIP agreements by RTCM-SSR forms, there is provided track and clock error correction number based on broadcast ephemeris, 2013
In April in year, real time service (Real-Time Service) (GPS/GLONASS) is formally provided, a station can normally provide about more than 130
Real time data, 10 analysis centers can provide real-time track and clock correction product, and 3 Integrated Analyses Centers provide final real time comprehensive
Product.Hereafter, some scholars are assessed using sophisticated product afterwards as reference pair realtime product precision, the results showed that, GPS
For real-time track precision in 5cm or so, real-time clock correction precision is about 0.3ns.Since the real-time implementing plans of IGS, user can pass through BNC
Software obtains Precise Orbit in real time and clock correction product carries out the real-time PPP of GPS, can reach sub-meter grade even after real-time PPP convergences
Centimeter-level positioning precision.With the construction of IGMAS and Big Dipper ground strengthening system, each analysis center can real-time resolving Big Dipper rail
Road, clock correction, ionospheric correction, user can realize Big Dipper real-time accurate One-Point Location by receiving real-time accurate ephemeris.
Rover station high-precision location technique (single base station RTK) of the present invention, it is that one kind is based on High-precision carrier phase
The real time dynamic differential location technology of observation, it can also be used to rapid static positioning.When carrying out RTK measurements, base station need to be equipped with
Receiver, rover station receiver, data communications equipment, the carrier phase observation data and station coordinates that base station is obtained oneself lead to
Cross data communication chain real-time broadcasting and give surrounding rover station, the mode that rover station is positioned using dynamic difference determines relative datum station
Position, the absolute position of oneself is then obtained according to the coordinate of base station.Because single base station RTK positioning precisions are with rover station
With benchmark station spacing it is liftoff increase and reduces, have larger limitation on operating area and scale, both at home and abroad offer RTK equipment master
There are Tian Bao company in the U.S., the Lai Ka companies of Switzerland, Chinese magnificent survey, middle Hai Da, southern section's power, compass in ancient China etc., in base length
Degree is less than in the case of 30km, and substantially nominal accuracy is：It is horizontal：±10mm+1ppm RMS；Vertically：±20mm+1ppm RMS.It is full
The sufficient high-precision demand of Centimeter Level.
Positioning terminal pseudo-range differential position (single base station RTD) refers to utilize a certain area in service area of the present invention
The base station of one or more known coordinates in domain, it is independent to calculate differential correctional, and sent by data transmission technology to stream
Dynamic station, so as to realize meter level even sub_meter position precision.RTD Major Systems composition includes three parts：Reference receiver, stream
Dynamic station receiver, data transfer chain, RTD systems are applicable single-frequency, multifrequency satellite receiver, to reduce receiver cost, can used
Single frequency receiving, and only need to calculate code differential corrections, conventional GPS RTD technologies are quite ripe at present, and system accuracy is steady
It is fixed, equipment light and flexible.There is provided Tian Bao company for mainly having the U.S. of RTD device both at home and abroad, the Lai Ka companies of Switzerland, China
Magnificent survey, middle Hai Da, southern section's power, compass in ancient China etc., in the case of baseline length is less than 50km, can realize 1m or so precision.
With reference to Fig. 1, one is set initially to set up point and some stepping points, initial erection point and stepping point in coverage
It should be ensured that all standing to desired zone.The initial moving base station set up at point has " base station " mode of operation；
Moving reference point at stepping point has " base station " and " rover station " mode of operation." base station " mode of operation is basis
The high-precision coordinate and satellite navigation data of this point, which calculate, obtains carrier phase difference correction；" rover station " mode of operation
Calculated according to carrier phase difference correction and satellite navigation data and obtain high-precision coordinate.A moving reference point at entering can
To switch between " base station " and " rover station " mode of operation.
With reference to Fig. 1, background data center is also set up, stores precise ephemeris product.
With reference to Fig. 2, moving base station includes multifrequency high-precision antenna, high-precision multimode multi-frequency receiver, control computer
And radio broadcasting equipment.Multifrequency high-precision antenna obtains navigation satellite signal；High-precision multimode multi-frequency receiver is by aeronautical satellite
Original observed data is transmitted to control computer；Control computer can obtain the precise ephemeris of background data center, and according to
Almanac data in precise ephemeris amendment original observed data；Or control computer according to carrier phase difference correction and is led
Satellite original observed data of navigating obtains high-precision coordinate；Last control computer is according to high-precision coordinate and the original sight of satellite navigation
Survey data and calculate pseudorange and carrier difference correction；Radio broadcasting equipment broadcasts two kinds of differential corrections.
With reference to Fig. 3, a kind of step-by-step movement moves ground Enhancement Method, comprises the following steps：
Step S101, selection moving base station is initially set up a little and stepping point, website quantity provide high accuracy as needed
The region of Differential positioning service and communication environment determine, it is ensured that all standing to desired zone；
Step S102, obtain the initial high-precision coordinate and satellite navigation data for setting up point；
Step S103, the initial moving base station set up at point calculate carrier wave according to high-precision coordinate and satellite navigation data
Phase difference correction is simultaneously broadcast；
Step S104, moving base station is being set at the nearest stepping point of point from initial set up；
Step S105, receive moving base station is sent at initial erection point carrier phase difference correction and satellite navigation
Data；
Step S106, the high accuracy that the stepping point is obtained according to carrier phase difference correction and satellite navigation data are sat
Mark；
The moving base station at stepping point at step S107, step S106 is according to high-precision coordinate and satellite navigation data
Obtain carrier phase difference correction and broadcast；
Step S108, on the basis of step S107 stepping point, find the stepping point closest with it and perform step
S105-S107；
Step S109, step S108 is repeated, until all stepping point high-precision coordinates are obtained, so as to realize high accuracy
The all standing of differential signal.
Step-by-step movement moves number increase of the strengthening system with stepping, and absolute fix precision can decline therewith, according to auxiliary
Condition is different, mainly has following three kinds of mode precision to maintain mode：
(1) the fixed reference station for having known accurate absolute coordinate within 15km can provide data, using single Differential positioning of standing
Mode computation stepping benchmark station coordinates, and be updated.
(2) non-shift position in certain stepping point two weeks, can obtain afterwards precise ephemeris (12~18 days renewal times) to this
Stepping point calculates its accurate absolute coordinate using Static Precise Point Positioning, and is updated.
(3) under without both the above condition, using step S101-S109 process calculating benchmark station absolute coordinate,
And it is updated.
The rover station of step-by-step movement movement strengthening system receives differential signal and carries out high accuracy positioning, voluntarily judges first fuzzy
Whether degree is fixed, and stores the positioning result for fixing fuzziness, after final high accuracy generated according to application demand statistical result
Coordinate, automatically switch to " base station " mode of operation.There is following statistics strategy to be configured：
Statistical result：1) average value；2) median；3) 95% average value；4) 68% average value.
Timing statisticses：1) 10 seconds；2) 30 seconds；3) 1 minute；4) 5 minutes.
In step S103, receiver is that at least more than one hour original observed data, data period is locally stored is more long fixed
Position result confidence level is higher.Original observed data refers to the aeronautical satellite observation signal that receiver receives and decoded, comprising
Observation data including satellite almanac data.By original observed data by wire transmission to computing terminal.Computing terminal obtains
The Rapid ephemeris product of data center is taken, corrected received machine original observed data calculates the high-precision coordinate of base station,
And corresponding configuration, input coordinate are carried out to base station.Rapid ephemeris amendment product includes satellite orbit, satellite clock correction amendment
Parameter.High-precision track and clock correction data are can obtain after formula calculates after obtaining corrected parameter, further by high-precision
The track and clock correction data of degree can calculate high precision position coordinate.Wherein, can after formula calculates after acquisition corrected parameter
High-precision track and clock correction data are obtained, the formula exists《IGS realtime product comparison and analysis》(Yin Qianqian, Lou Yidong, Yi Wen
It is graceful, geodesic survey and geodynamics, 2012,32 (6):123-128.)、《IGS RTS precise orbits and
clocks verification and quality degradation over time》(Hadas T, Bosy J, GPS
Solutions,2015,19(1):93-105) it is described in article.It can be calculated by high-precision track and clock correction data
Formula used in high precision position coordinate exists《GPS un-differenced phase precise point positionings are theoretical with realizing》(Ye Shirong, 2002.,
Wuhan University),《GPS single-frequency Precise Point Positioning Software is realized and precision analysis》(Zhang little Hong, Li Xingxing, Guo Fei, Wuhan University
Journal:Information science version, 2008,33 (8):783-787)、《Precise Point Positioning for the
Efficient And Robust Analysis of GPS Data from Large Networks》(Zumberge J F、
Heflin M B, Jefferson D C, Journal of Geophysical Research Atmospheres, 1997,102
(B3):5005-5017) etc. described in file.
Claims (5)
1. a kind of step-by-step movement moves ground Enhancement Method, it is characterised in that including：
Initial the erection point and stepping point of moving base station are chosen, calculates the initial high-precision coordinate and high-precision coordinate for setting up point
Carrier phase difference correction between satellite navigation data, the high-precision coordinate of stepping point is calculated successively；
With the initial high-precision coordinate for setting up the nearest stepping point of point by the initial carrier phase difference correction for setting up point and obtaining
Obtained with the stepping point satellite navigation data；
The high-precision coordinate of later stepping point is by the carrier phase difference between previous stepping point high-precision coordinate and the high boat data of satellite
The satellite navigation data of correction and the stepping point is divided to obtain.
2. according to the method for claim 1, it is characterised in that if fixed reference be present in the range of the certain distance of stepping point
Stand, then the high-precision coordinate of the stepping point is obtained with the carrier phase difference correction being calculated of the fixed datum.
3. according to the method for claim 1, it is characterised in that if a stepping point non-shift position within a certain period of time, is adopted
The high-precision coordinate of the stepping point is calculated with Static Precise Point Positioning.
4. according to the method for claim 1, it is characterised in that initially the acquisition methods of the high-precision coordinate of erection point are：
Moving base station obtains the original observed data of certain time；
Rapid ephemeris product is obtained, and is calculated with Rapid ephemeris product modification original observed data and obtains initial set up
The high-precision coordinate of point.
5. according to the method for claim 1, it is characterised in that the initial moving base station for setting up point is based on single station RTK/
RTD technologies, carrier phase difference correction is calculated by itself high-precision coordinate and satellite navigation data.
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Cited By (6)
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| CN108732601A (en) * | 2018-04-16 | 2018-11-02 | 哈尔滨工业大学 | Vertical return vehicle landing phase air navigation aid based on differential satellite navigation |
| CN109752747A (en) * | 2019-01-16 | 2019-05-14 | 上海华测导航技术股份有限公司 | Differential data determines method, apparatus, server and storage medium |
| CN110456397A (en) * | 2019-07-29 | 2019-11-15 | 桂林电子科技大学 | A kind of multiple antennas ultra-short baseline positioning and monitoring method, device and storage medium |
| CN111373285A (en) * | 2018-11-30 | 2020-07-03 | 深圳市大疆创新科技有限公司 | Coordinate calibration method and device of RTK (real time kinematic) reference station and storage medium |
| CN111736191A (en) * | 2020-05-29 | 2020-10-02 | 广州南方卫星导航仪器有限公司 | Automatic selection method, equipment and medium for optimal mounting point of CORS server |
| CN114302322A (en) * | 2021-12-08 | 2022-04-08 | 北方信息控制研究院集团有限公司 | Novel high-precision positioning navigation system and method based on Beidou +5G |
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| CN114302322A (en) * | 2021-12-08 | 2022-04-08 | 北方信息控制研究院集团有限公司 | Novel high-precision positioning navigation system and method based on Beidou +5G |
| CN114302322B (en) * | 2021-12-08 | 2023-06-02 | 北方信息控制研究院集团有限公司 | Novel high-precision positioning navigation system and method based on Beidou+5G |
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