CN109884677B - Optimization method for post-processing RTK positioning solution - Google Patents
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Abstract
The invention relates to the field of aerial survey, and provides an optimization method for post-processing RTK positioning solution, aiming at the problem of low success rate of the existing post-processing RTK solution, which comprises the following steps: eliminating data which do not meet the quality standard in the observation data of the reference station and the observation data of the mobile station, and sequencing the observation data of the reference station and the observation data of the mobile station according to time; finding out the optimal initialization moment of the observation data of the rover station; and taking the optimal initialization time as a calculation initial position of the observation data of the rover station, performing RTK initialization by combining the observation data of the base station, and performing RTK positioning calculation forward and backward on the observation data of the rover station according to the observation data of the base station to obtain a corresponding positioning calculation result. The method is suitable for post-processing RTK calculation in the unmanned aerial vehicle navigation time.
Description
Technical Field
The invention relates to the field of aerial survey, in particular to an optimization method for post-processing RTK positioning calculation.
Background
A Real Time Kinematic (RTK) measurement system is a combined system formed by combining a GPS Time measurement technology and a data transmission technology, and is a new breakthrough in the development of the GPS measurement technology, and the RTK technology is a Real Time differential GPS (RTK GPS) measurement technology based on carrier phase observations. The GPS measurement work modes are various, such as static, rapid static, quasi-dynamic and dynamic relative positioning, and the RTK adopts two places to collect data as the input of position calculation, so that if no data transmission module exists, the positioning result is obtained through post-measurement processing of observation data.
Post-processing RTK positioning solution is a basic technology in the field of unmanned aerial vehicle aerial survey, and the existing technical scheme is as follows: a reference station is erected at a known point on the ground, the reference station generally comprises a satellite navigation antenna, a satellite navigation receiver and a tripod, and the satellite navigation antenna receives satellite signals, decodes the satellite signals through the receiver and converts the satellite signals into corresponding observation data serving as observation data of the reference station. Unmanned aerial vehicle erects the rover, and the rover generally comprises airborne satellite antenna and airborne receiver, and airborne satellite antenna receives the satellite signal, converts into corresponding observation data through the receiver decoding as the observation data of rover. After the unmanned aerial vehicle finishes the operation, acquiring datum station data, position information of a datum station and rover station data as input of post-processing RTK positioning calculation, initializing from the beginning, calculating second by second, calculating the position information through a time sequence, and having a certain requirement on an initialization environment. If a breakpoint exists in the time, multiple times of initialization are needed, and in the initialization process, due to the fact that the satellite environment of the general initial stage is severe during aerial survey of the unmanned aerial vehicle, a correct result is difficult to obtain, and the success rate of the existing post-processing RTK positioning calculation is reduced.
In the field of unmanned aerial vehicle aerial photography, the RTK positioning result depends on the data quality in the flight process, and if no data transmission module exists, the data quality acquired in the flight process cannot be known in the flight process. If the data quality is poor in the flying process and the traditional RTK positioning resolving method cannot obtain a correct result, the set data is completely invalid and needs to fly again, so that the manpower and material resource cost is increased invisibly, and the operation efficiency is reduced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the problem that the success rate of the existing post-processing RTK positioning calculation is low is solved, and an optimization method of the post-processing RTK positioning calculation is provided.
The invention solves the technical problems and adopts the technical scheme that:
the optimization method for post-processing RTK positioning solution comprises the following steps:
A. recording observation data of a reference station as a first observation data group, recording observation data of a mobile station as a second observation data group, judging whether the data in the first observation data group and the second observation data group meet a quality standard, if not, rejecting the data, and respectively sequencing the first observation data group and the second observation data group according to a time sequence;
B. selecting the best moment of the satellite signals in the second observation data group as the best initialization moment;
C. and taking the optimal initialization time as a resolving initial position of the second observation data group, carrying out RTK initialization by combining the first observation data group, and carrying out RTK positioning resolution on the second observation data group from the resolving initial position of the second observation data group to the front and back by combining the first observation data group to obtain a positioning resolution result.
Further, between step a and step B, there is further included:
finding out interval time periods which accord with a preset interval standard in a second observation data group, recording the number of the interval time periods as N, wherein N is more than or equal to 1, segmenting the second observation data group into N +1 segments of data according to the time period of the interval time periods in a time sequence;
the step B further comprises the following steps: searching the optimal initialization time of each section of data in the second observation data group;
the step C further comprises the following steps: taking the optimal initialization moment corresponding to each segment of data as a resolving initial position of the segment of data, performing RTK initialization by combining the optimal initialization moment with a first observation data group, and performing RTK positioning resolution on each segment of data from the resolving initial position of the segment of data to the front and the back by combining the segment of data with the first observation data group to obtain a positioning resolution result of the segment of data;
the step C is followed by: and splicing the positioning calculation result of each section of data according to the time sequence to serve as a final positioning calculation result.
Preferably, the interval time interval is a time interval in which the time interval of the observation data at the two moments before and after exceeds a first preset time, the interval is an interval time interval, and the number of the interval time intervals is N;
if N =1, the interval period is Int 1 The segmenting the second observation data group according to the time interval of the interval time interval in the time sequence comprises: bringing the initial time of the second observation data set to Int 1 The observation data in between is taken as the observation data of the 1 st section, and Int is taken as the observation data 1 The observation data between the end time of the second observation data group is used as the N +1 th section of observation data;
if N is greater than or equal to 2, the interval period is Int 1 ～Int N The segmenting the second observation data group according to the time interval of the interval time interval in the time sequence comprises: bringing the initial time of the second observation data set to Int 1 Taking the observed data in between as the observed data of the 1 st segment, and calculating Int of the second observed data group m-1 ～Int m The observation data of time is used as the m-th section of observation data, m is more than or equal to 2 and less than or equal to N, int is added N The observation data up to the end time of the second observation data group are regarded as the N +1 th piece of observation data.
Further preferably, the first predetermined time is 5 seconds.
Preferably, the determining whether the data in the first observed data group and the second observed data group meet the quality standard includes:
the observation data comprises the number of satellites, observation values corresponding to the satellites and carrier-to-noise ratios corresponding to the satellites, if the number of the satellites with the satellite carrier-to-noise ratios of the observation data at a certain moment being larger than a first preset noise ratio is smaller than the first preset number, the observation data at the moment do not accord with the quality requirement, and if not, the observation data accord with the quality requirement.
Preferably, the first predetermined noise ratio is at least 32db.
Preferably, the predetermined number is at least 5.
Preferably, the optimal initialization time is: and when the satellite number with the satellite carrier-to-noise ratio larger than a second preset noise ratio is the largest, and the difference between the satellite number at each moment and the satellite number at the largest moment in a time period which is different from the moment with the satellite number at the largest number by a second preset time is not more than a second preset number, the moment with the largest satellite number is regarded as the optimal initialization moment.
Preferably, the second predetermined time is 3 seconds;
and/or said second predetermined noise ratio is at least 32db.
The second predetermined number is 2.
The beneficial effects of the invention are:
the method comprises the steps of firstly removing observation data with poor quality, then finding out the optimal resolving time, using the optimal resolving time as an RTK initialization position, providing an optimal environment for RTK initialization to ensure the accuracy of RTK initialization, and initializing at a position with a better environment, so that the validity of each satellite data can be effectively checked, and the determination of each satellite observation data weight in the RTK positioning resolving process is facilitated; and then, the calculation is carried out forward and backward from the optimal time to cover the whole time, so that the positioning calculation result in the time is ensured to be correct and reliable, and the RTK positioning calculation success rate is improved.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and the following embodiments.
As shown in fig. 1, the optimization method of post-processing RTK positioning solution includes:
A. recording observation data of a reference station as a first observation data group, recording observation data of a mobile station as a second observation data group, judging whether the data in the first observation data group and the second observation data group meet a quality standard, if not, rejecting the data, and respectively sequencing the first observation data group and the second observation data group according to a time sequence;
B. selecting the best moment of the satellite signals in the second observation data group as the best initialization moment;
C. and taking the optimal initialization time as a resolving initial position of the second observation data group, carrying out RTK initialization by combining the first observation data group, and carrying out RTK positioning resolution on the second observation data group from the resolving initial position of the second observation data group to the front and back by combining the first observation data group to obtain a positioning resolution result.
The method comprises the steps of firstly removing observation data with poor quality, then finding out the optimal resolving time, using the optimal resolving time as an RTK initialization position, providing an optimal environment for RTK initialization to ensure the accuracy of RTK initialization, and initializing at a position with a better environment, so that the validity of each satellite data can be effectively checked, and the determination of each satellite observation data weight in the RTK positioning resolving process is facilitated; and then, calculating forward and backward from the optimal time to cover the whole time, so that the positioning calculation result in the time is ensured to be correct and reliable, and the RTK positioning calculation success rate is improved.
Further, in order to adapt to the situation that when the data which does not meet the quality requirement is removed too much or the observed data quality of the rover station per se is poor, deviation occurs when only one optimal resolving moment is adopted for resolving, and in order to solve the problem, the method can further comprise the following steps:
finding out interval time periods which accord with a preset interval standard in a second observation data group, recording the number of the interval time periods as N, wherein N is more than or equal to 1, segmenting the second observation data group into N +1 segments of data according to the time period of the interval time periods in a time sequence;
step B may further comprise: searching the optimal initialization time of each section of data in the second observation data group;
step C may further include: taking the optimal initialization moment corresponding to each segment of data as a resolving initial position of the segment of data, performing RTK initialization by combining the optimal initialization moment with a first observation data group, and performing RTK positioning resolution on each segment of data from the resolving initial position of the segment of data to the front and the back by combining the segment of data with the first observation data group to obtain a positioning resolution result of the segment of data;
step C may be followed by: and splicing the positioning calculation result of each section of data according to the time sequence to serve as a final positioning calculation result.
Therefore, the observation data of the rover station is segmented, the optimal resolving time of each segment of data is searched, the optimal resolving time is used as an RTK initialization position, an optimal environment is provided for RTK initialization so that the accuracy of RTK initialization is guaranteed, initialization is carried out at a position with a good environment, the validity of each satellite data can be effectively checked, and the determination of the weight of each satellite observation data in the RTK positioning resolving process is facilitated; and then, calculating forward and backward from the optimal moment to cover the whole period of time, so that the positioning calculation result in the period of time is ensured to be correct and reliable, the positioning calculation result of each section is spliced according to the time sequence to obtain the final positioning result, and if the situation of poor data quality exists, the correct result can be obtained by using the observation data of poor data quality, so that the flight cost is reduced, and the operation efficiency is improved.
In order to ensure the continuity of the observed data and enhance the correlation of the calculation, the interval time period can be that the time interval of the observed data at the front moment and the rear moment exceeds a first preset time, the interval is the interval time period, and the number of the interval time periods is N;
if N =1, the interval period is Int 1 Segmenting the second observation data group according to the time interval of the interval time interval in the time sequence comprises the following steps: bringing the initial time of the second observation data set to Int 1 The observation data in between is taken as the observation data of the 1 st section, and Int is taken as the observation data 1 The observation data between the end time of the second observation data group is used as the N +1 th section of observation data;
if N is greater than or equal to 2, the interval period is Int 1 ～Int N Segmenting the second observation data group according to the time interval of the interval time interval in the time sequence comprises the following steps: bringing the initial time of the second observation data set to Int 1 Taking the observed data in between as the observed data of the 1 st segment, and calculating Int of the second observed data group m-1 ～Int m Taking the observation data of time as the m-th section of observation data, wherein m is more than or equal to 2 and less than or equal to N, and adding Int N The observation data up to the end time of the second observation data group are regarded as the N +1 th piece of observation data.
If the second observation data group is sorted according to the time sequence, the initial time is the earliest time in the second observation data group, and the end time is the latest time in the second observation data group.
Preferably, the first predetermined time may be 5 seconds, so that the reasonableness of the segmentation can be ensured. Of course, for different acquisition frequencies of the second observation, the first predetermined time may be adjusted accordingly.
To ensure the quality of the observed data, determining whether the data in the first observed data group and the second observed data group meet the quality standard may include:
the observation data comprises the number of satellites, observation values corresponding to the satellites and carrier-to-noise ratios corresponding to the satellites, if the number of the satellites with the satellite carrier-to-noise ratios of the observation data at a certain moment being larger than a first preset noise ratio is less than a preset number, the observation data at the moment do not meet the quality requirement, and if not, the observation data at the moment meet the quality requirement.
Preferably, the first predetermined noise ratio is at least 32db.
Preferably, the predetermined number is at least 5.
Preferably, the optimal initialization time is: and when the satellite number with the satellite carrier-to-noise ratio larger than the second preset noise ratio is the largest and the difference between the satellite number at each moment and the satellite number at the largest moment is not more than the second preset number in a time period with the difference between the satellite number and the moment with the largest satellite number by a second preset time, the moment with the largest satellite number is regarded as the optimal initialization moment. Therefore, the satellite signal quality representing the optimal initialization moment is the best, and the RTK initialization accuracy is guaranteed.
Preferably, the second predetermined time may be 3 seconds; of course, for different acquisition frequencies of the second observation, the second predetermined time may be adjusted accordingly.
Preferably, the second predetermined noise ratio is at least 32db;
preferably, the second predetermined number is 2.
Claims (8)
1. The optimization method for post-processing RTK positioning solution is characterized by comprising the following steps:
A. recording observation data of a reference station as a first observation data group, recording observation data of a mobile station as a second observation data group, judging whether the data in the first observation data group and the second observation data group meet a quality standard, if not, rejecting the data, and respectively sequencing the first observation data group and the second observation data group according to a time sequence; finding out interval time periods which accord with a preset interval standard in a second observation data group, recording the number of the interval time periods as N, wherein N is more than or equal to 1, segmenting the second observation data group into N +1 segments of data according to the time period of the interval time periods in a time sequence;
the interval time interval is the time interval of the observation data at the two moments before and after exceeding a first preset time, the interval is the interval time interval, and the number of the interval time intervals is counted as N;
if N =1, the interval period is Int 1 The segmenting the second observation data group according to the time interval of the interval time interval in the time sequence comprises: bringing the initial time of the second observation data set to Int 1 The observation data in between is taken as the observation data of the 1 st section, and Int is taken as the observation data 1 The observation data between the end time of the second observation data group is used as the N +1 th section of observation data;
if N is greater than or equal to 2, the interval period is Int 1 ～Int N The segmenting the second observation data group according to the time interval of the interval time interval in the time sequence comprises: bringing the initial time of the second observation data set to Int 1 Taking the observed data in between as the observed data of the 1 st section, and calculating Int of the second observed data group m-1 ～Int m The observation data of time is used as the m-th section of observation data, m is more than or equal to 2 and less than or equal to N, int is added N The observation data between the end time of the second observation data group is used as the N +1 th section of observation data;
B. selecting the best moment of satellite signals in the second observation data set as the best initialization moment, and searching the best initialization moment of each segment of data in the second observation data set;
C. taking the optimal initialization moment corresponding to each segment of data as a resolving initial position of the segment of data, performing RTK initialization by combining a first observation data set, and performing RTK positioning resolution forward and backward by combining the resolving initial position of each segment of data with the first observation data set to obtain a positioning resolution result of the segment of data; and splicing the positioning calculation result of each section of data according to the time sequence to serve as a final positioning calculation result.
2. The method of claim 1, wherein the first predetermined time is 5 seconds.
3. The method of claim 1 or 2, wherein the determining whether the data in the first observation set and the second observation set meets the quality criteria comprises:
the observation data comprises the number of satellites, observation values corresponding to the satellites and carrier-to-noise ratios corresponding to the satellites, if the number of the satellites with the satellite carrier-to-noise ratios of the observation data at a certain moment being larger than a first preset noise ratio is smaller than the first preset number, the observation data at the moment do not accord with the quality requirement, and if not, the observation data accord with the quality requirement.
4. The method of claim 3, wherein the first predetermined noise ratio is at least 32db.
5. The method of claim 3, wherein said first predetermined number is at least 5.
6. The method according to claim 1 or 2, characterized in that the optimal initialization moment is: and when the satellite number with the satellite carrier-to-noise ratio larger than the second preset noise ratio is the largest and the difference between the satellite number at each moment and the satellite number at the largest moment is not more than the second preset number in a time period with the difference between the satellite number and the moment with the largest satellite number by a second preset time, the moment with the largest satellite number is regarded as the optimal initialization moment.
7. The method of claim 6, wherein the second predetermined time is 3 seconds;
and/or said second predetermined noise ratio is at least 32db.
8. The method of claim 6, wherein the second predetermined number is 2.
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