CN106814380B - A kind of cellular network cooperation RTK localization method and system - Google Patents
A kind of cellular network cooperation RTK localization method and system Download PDFInfo
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- CN106814380B CN106814380B CN201710037566.5A CN201710037566A CN106814380B CN 106814380 B CN106814380 B CN 106814380B CN 201710037566 A CN201710037566 A CN 201710037566A CN 106814380 B CN106814380 B CN 106814380B
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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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The invention discloses a kind of cellular network cooperation RTK localization methods, including choose fixed reference station, and standard coordinate is arranged, and obtain observation Data Concurrent and send centralized-control center；Distribute reference station control centre belonging to fixed reference station；Fixed reference station calculates pseudorange residuals and carrier phase residual error and sends reference station control centre；Rover station coarse positioning simultaneously transmits centralized-control center；Distribute reference station control centre belonging to rover station；It matches the candidate reference station group that rover station is matched and sends rover station；Rover station receives data and selected reference reference station；Rover station carries out self poisoning.The invention also discloses the systems of application localization method positioning, including a centralized-control center, several reference station control centre, fixed reference station, rover station and communication links.Locating speed of the present invention is fast, and precision is high, and data processing pressure is small when at low cost, large-scale application.
Description
Technical field
Present invention relates particularly to a kind of cellular network cooperation RTK localization method and systems.
Background technique
In recent years, the application of high-precision satellite positioning and navigation system has extended to Driving Test from traditional survey field, intelligence
Control, unmanned, unmanned plane, the fields such as remote sensing, so as to cause high-precision satellite navigation terminal (rover station) quantity not
It is disconnected to increase.Ever-increasing high-precision satellite positioning navigation applies the need for making high-precision technology of network RTK with positioning terminal
It asks and is more and more obvious.
RTK (Real Time Kinematic) technology is a kind of real time kinematic survey system based on carrier phase difference part,
It is built upon on the basis of two survey station carrier phase observed quantities of processing in real time, provides 3 dimension positioning knots in specified coordinate system
Fruit, Real-Time Positioning can achieve Centimeter Level, and have many advantages, such as that real-time is good, speed is fast.The basic principle of RTK is to join
It examines station and rover station receives satellite-signal simultaneously, reference station will observe data (predominantly carrier phase, pseudorange) and reference station mark
Quasi coordinates position is transferred to rover station by data-link (modem, radio station or communication network), and rover station is logical using software
Difference Calculation is crossed, the observation error of rover station is reduced, the relative coordinate between rover station and reference station is calculated, according to reference station
Standard coordinate, realize precision positioning, positioning accuracy is up to Centimeter Level.RTK technology is widely used in outdoor high accuracy positioning and leads
It navigates relevant industry, for example, mapping, Driving Test, intelligent control is unmanned, unmanned plane, remote sensing etc..
The core of RTK technology is in view of observed data value has identical mainly three between reference station and rover station
Kind of error: atmosphere propagated error, satellite ephemeris error, star clock error and other forms common error, utilize the side of difference
Formula eliminates common error, and the integer ambiguity with real-time phase for calculating carrier phase between reference station and rover station are poor, in turn
Realize high accuracy positioning.However, RTK technology has the distance between reference station and rover station certain limitation.Typically,
The distance between reference station and rover station are no more than 20km, referred to as short baseline RTK.If between reference station and rover station
More than 20km, then the correlation that reference station and rover station receive ionospheric error existing for data will be greatly reduced distance, thus
It is unable to get effective RTK positioning result, so that Real-Time Positioning is greatly lowered.For between reference station and rover station
RTK technology of the distance more than 20km or more is referred to as Long baselines RTK.The key technology of Long baselines RTK precision positioning is solved at present
For technology of network RTK.The principle of technology of network RTK is as shown in Figure 1, specific as follows: firstly, there are in a network RTK data
The heart generates virtual reference station (VRS-Virtual under different location using the observation data of multiple reference stations
Reference Station) and the dummy observation of virtual reference station is calculated, and then establish a virtual reference station and void
The list of quasi-observation, and the data by collecting all RTK reference stations, the virtual reference of real-time update virtual reference station
Value.Secondly, rover station obtains the positioning result of precision within 10 meters by coarse positioning (pseudorange One-Point Location), its result is given
Network RTK data center, RTK data center calculate position and the observation of corresponding virtual reference station according to its positioning result
Value, and send the dummy observation of corresponding virtual reference station to rover station.Finally, rover station utilizes the void of virtual reference station
Quasi-observation and our station observation data do difference, and conventional fast ambiguity computation is recycled to obtain rover station and virtual ginseng
Integer ambiguity and the real-time phase for examining station are poor, further obtain the positioning result of Centimeter Level.
However, network RTK has some limitations.(1) firstly, it is necessary to establish a RTK data center, data center
It needs to consider with the position of all RTK reference stations.It can ensure between RTK data center and reference station and rover station logical in real time
Letter, and have certain requirement to traffic rate.And in some remote districts, temporarily without mobile communications network or when communication
When RTK observation data transmission rates demands are not achieved in rate, technology of network RTK cannot be used.(2) secondly as network RTK
There are the solutions that problem proposes mainly for Long baselines RTK for technology, and therefore, technology of network RTK can not pass through short distance electricity
The mode of platform realizes, can only be by way of cable network, wireless cellular network or WLAN by the observation of reference station
Information is aggregated into network RTK data center by internet, and there are certain transmission delays and processing to prolong for observation data
Late, there is certain limitation for the high accuracy positioning under dynamic environment.(3) then, technology of network RTK needs to build a large amount of
Reference station (station also referred to as CORS), the station CORS construction cost is high, and the station CORS needs to pay a large amount of maintenance cost every year.
(4) finally, RTK data center needs to maintain huge virtual reference station data to update and rover station data interaction.Also, network
The complexity and virtual reference observation of RTK technique algorithm are to increase with the increase of the quantity of rover station, and then give data
Central server processing and communication network transmission bring greatly burden and pressure.
Summary of the invention
That one of the objects of the present invention is to provide a kind of locating speeds is fast, positioning accuracy is high, low in cost, large-scale application
When the small cellular network of data processing pressure cooperate RTK localization method.
The second object of the present invention, which is to provide, a kind of to be positioned using cellular network cooperation RTK localization method
System.
This cellular network cooperation RTK localization method provided by the invention, includes the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；
S3. the standard coordinate position of itself is sent to centralized-control center by fixed reference station；
S4. centralized-control center distributes fixed reference according to the standard coordinate position of the step S3 fixed reference station obtained
Reference station control centre belonging to standing；
S5. fixed reference station according to step S2 obtain observation data calculate itself pseudorange residuals and carrier phase it is residual
Difference；
S6. the standard of fixed reference station obtains step S5 pseudorange residuals, carrier phase residual error and step S1 setting
Coordinate position is sent to affiliated reference station control centre；
S7. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；
S8. rover station sends the coarse positioning result that step S7 is obtained to centralized-control center；
S9. centralized-control center reference according to belonging to the coarse positioning result of the step S8 rover station obtained distribution rover station
It stands control centre；
S10. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, with
And the coarse positioning position result of rover station matches the candidate reference station group that rover station is matched；
S11. the unique identification for the candidate reference station group that rover station is matched in reference station control centre is (in a communication network
For unique IP address or MAC Address) it is sent to rover station；
S12. rover station receives corresponding ginseng according to the unique identification of the candidate reference station group matched from communication network
Examine observation data and the standard coordinate position at station；
S13. rover station according to step S12 receive data and last moment candidate reference station clustering conjunction be calculated it is optimal
Reference station as reference station；
S14. rover station receives the observation data at reference station, and combines the observation data of itself, completes rover station
High accuracy positioning.
Reference station corresponding to rover station described in step S10 includes fixed reference station and instant reference station.
The localization method based on RTK and reference station further includes following steps:
S15. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can become instant reference station: if judging successfully, rover station is converted to instant reference station；
S16. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain time
Residual error, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this reference immediately
Station converts back rover station.
Rover station described in step S15 judges whether itself can become instant reference station, specially using following rule
Judged:
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters,
And carrier phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station.
Judge whether instant reference station can continue to become instant reference station described in step S16, if specially reference immediately
Station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful, then instant reference station is converted to rover station.
The cellular network cooperation RTK localization method further includes following steps:
S17. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position and the ginseng belonging to it
Relationship between the management region of the control centre Kao Zhan, and update rover station set belonging to reference station control centre；
S18. reference station control centre updates the unpaired message of reference station and rover station.
Described in step S17 update reference station control centre belonging to rover station set, specially using following steps into
Row updates:
A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；
B. centralized-control center according to rover station position and its belonging to reference station control centre management region it
Between relationship, using rover station set belonging to following Policy Updates reference station control centre:
If rover station has got over area and has been switched to the management region of other reference station control centres, update belonging to rover station
Reference station control centre information, and by more new information be sent to rover station and update front and back reference station control centre；
C. the reference station control centre before updating is concentrated from the rover station of subordinate deletes rover station information, and updated ginseng
Rover station information is added to the rover station collection of itself subordinate by the control centre Kao Zhan.
Reference station control centre described in step S18 updates the unpaired message of reference station and rover station, specially using such as
One of lower two ways is updated:
The request of mode A- rover station updates: when rover station is unable to get admittedly under the current reference station environment matched
Determine calculation result, then rover station request reference station control centre carries out reference station update；
The mode B- set time updates: in the fixed time period being previously set, the fixed time period timing is reached
The unpaired message of reference station and rover station is then updated immediately；The fixed time period is to be set according to the dynamic of environment
It sets, or is configured according to user behavior analysis.
Specially fixed reference is arranged in the place of known exact position in the selection of fixed reference station described in step S1
It stands, or fixed reference station is set at an arbitrary position, and obtain the exact position of fixed reference station by location algorithm.
The exact position that fixed reference station is obtained by location algorithm, specifically by PPP Static Precise Point Positioning
Algorithm obtains the exact position of fixed reference station for a long time.
Calculating pseudorange residuals and carrier phase residual error described in step S5 are specially calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error, the pseudorange on every t frequency point of i-th satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data be respectively
WithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)。
Centralized-control center described in step S9 distributes reference station control centre belonging to rover station, specially using nearest
The ginseng that distribution principle, i.e. centralized-control center select that reference station control centre nearest apart from rover station to belong to for rover station
The control centre Kao Zhan.
The group of candidate reference station corresponding to rover station matches in reference station control centre described in step S10, specially uses
Following rule is matched:
The reference station h that rover station is matchedjForMin in formulaG() expression takes maximum HGIt is a
Index list where being worth, γ={ h=1 ..., H, Δ Dj,h< SD }；The value of SD is related with the precision of short baseline RTK,
The more big then RTK positioning accuracy of SD value is smaller；
Optimal reference station is calculated described in step S13 as reference station, is specially carried out using following rule
It calculates:
A. judge the reference station of last moment whether in the candidate reference station clustering conjunction at this moment:
During if candidate reference station clustering of the reference station of last moment at this moment closes, the reference at this moment
Station is set as the reference station of last moment；
If the reference station of last moment is selected not in the candidate reference station clustering at this moment closes according to following strategy
Determine reference station of the reference station as this moment:
Wherein argminG() indicates the index where being maximized, and ρ={ h=1 ..., HG}；
B. using the reference station for calculating selection in step A as reference station, the observation number at the reference station is received
According to, and Carrier Phase Ambiguity Resolution is carried out with rover station:
If can obtain it is fixed resolve as a result, if high accuracy positioning success；
If be unable to get it is fixed resolve as a result, if reject the index of current base reference station, re-execute above-mentioned steps, directly
It is empty set to set ρ.
Rover station described in step S14 receives the observation data at reference station and carries out the high accuracy positioning of itself, tool
Body includes the following steps:
A. rover station receives the observation data at reference station, and carries out calculus of differences with the observation data of itself, goes forward side by side
Row Carrier Phase Ambiguity Resolution and high accuracy positioning；
If b. rover station cannot proceed normally Carrier Phase Ambiguity Resolution, current reference station is rejected, and is repeated
Step 13: if the reference station of all candidate reference station groups all cannot correctly resolve integer ambiguity later traversal one time,
Then assert that rover station current time not can be carried out high accuracy positioning；Rover station carries out high accuracy positioning next time and resolves process.
The present invention also provides a kind of systems positioned using cellular network cooperation RTK localization method, including
One centralized-control center, several cellular cells RTK and centralized-control center and the cellular cell RTK carry out data interaction
Communication link；One cellular cell RTK includes a reference station control centre, several fixed reference stations and several streams
The communication link of data exchange is carried out between dynamic station and reference station control centre, fixed reference station and rover station；The concentration
Control centre is used to receive the location information of fixed reference station, the positional relationship for judging rover station and reference station control centre, divides
Data information with reference station control centre belonging to rover station and update rover station and reference station control centre；Reference station tune
Degree center is used to match the information of the group of candidate reference station corresponding to rover station, and the match information is sent out by communication link
Send rover station；Rover station is to need to carry out pinpoint rover station, chooses benchmark from the group of candidate reference station by calculating
Reference station, and be subject to reference station and carry out itself positioning；Fixed reference station is for obtaining the accurate of itself position
Position calculates the pseudorange residuals of itself and carrier phase residual error and sends reference station control centre, is also used to and rover station carries out
The position of matching and positioning rover station；Reference station corresponding to the rover station includes fixed reference station and instant reference station, institute
Instant reference station is stated to be converted by the rover station after high accuracy positioning.
This cellular network cooperation RTK localization method provided by the invention and system, can dynamic based on rover station/reference station
The mode of switching, position and observation data using large-scale rover station/reference station, and specific reference station scheduling are calculated
Method provides multiple specific reference stations for each rover station and is matched, to realize the high accuracy positioning of rover station；The present invention
A centralized-control center and multiple reference station control centres are needed, centralized-control center is for distributing reference belonging to rover station
It stands control centre, and the effect of reference station control centre is to be referred to according to the coarse positioning result of rover station to rover station matching candidate
It stands grouping, the distribution of candidate reference station group is realized to rover station, the candidate reference station group of distribution is in the scheduling of this reference station
Belonging to the heart, each candidate reference station group belongs to a reference station control centre, when certain change occurs for the position of reference station
When, it will lead to affiliated reference station control centre and also change；It completes to the candidate reference station flock mating of rover station to rear, stream
Reference station is chosen from the group of candidate reference station in dynamic station, and is subject to the reference station and realizes the high-precision fixed of rover station
Position.One rover station is only matched with a reference station.Secondly, rover station receive candidate reference station group unique identification with
Afterwards, it is cooperated using the data of candidate reference station group, chooses optimal reference station, execute positioning calculation algorithm, finally
Realize the precision positioning of rover station；Finally, each rover station is after completing high accuracy positioning, it is quasi- by certain judgement
Then, candidate reference station can be become so that other rover stations make reference；The present invention does not need to carry out large-scale centralization
CORS station network construction, does not need powerful and complicated RTK data center yet, can use existing wireless cellular network frame
Structure, each mobile communication base station is as reference station control centre, it is only necessary to increase a control centre, form cellular network
The basic framework of RTK；At the same time, more using high accuracy positioning terminal provided by the invention, the robustness of network is stronger,
Critical issue existing for the technology of network RTK based on virtual reference station can be efficiently solved, is very beneficial for high accuracy positioning and leads
The large-scale application of boat.
Detailed description of the invention
Fig. 1 is the positioning principle schematic diagram of existing technology of network RTK.
Fig. 2 is positioning system operation schematic diagram of the invention.
Fig. 3 is flow chart of the method for the present invention.
Specific embodiment
It is illustrated in figure 2 positioning system operation schematic diagram of the invention: this application Cellular Networks provided by the invention
The positioning system that is positioned of network cooperation RTK localization method, including a centralized-control center, several cellular cells RTK with
And centralized-control center and the cellular cell RTK carry out the communication link of data interaction；One cellular cell RTK includes one
Reference station control centre, several fixed reference stations and several rover stations and reference station control centre, fixed reference station and
The communication link of data exchange is carried out between rover station；The centralized-control center is used to receive the position letter of fixed reference station
Breath, distributes reference station control centre and more belonging to rover station at the positional relationship for judge rover station and reference station control centre
The data information of new rover station and reference station control centre；Reference station control centre is for matching the ginseng of candidate corresponding to rover station
The information of station group is examined, and the match information is sent into rover station by communication link；Rover station is to be accurately positioned
Rover station, choose reference station from the group of candidate reference station by calculating, and be subject to reference station and carry out itself
Positioning；Fixed reference station is used to obtain the exact position of itself position, calculates itself pseudorange residuals and carrier phase
Residual error simultaneously sends reference station control centre, is also used to be matched and positioned with rover station the position of rover station；The rover station
Corresponding reference station includes fixed reference station and instant reference station, and the instant reference station is by the rover station after high accuracy positioning
It converts.
It is illustrated in figure 3 flow chart of the method for the present invention: this cellular network cooperation positioning side RTK provided by the invention
Method includes the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；Fixed reference station exists
When selection, fixed reference station can be set in the place of known exact position, or fixed reference station is set at an arbitrary position, and
Obtain the exact position of fixed reference station for a long time by PPP Static Precise Point Positioning algorithm.
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；
S3. the standard coordinate position of itself is sent to centralized-control center by fixed reference station；
S4. centralized-control center distributes fixed reference according to the standard coordinate position of the step S3 fixed reference station obtained
Reference station control centre belonging to standing；
S5. fixed reference station according to step S2 obtain observation data calculate itself pseudorange residuals and carrier phase it is residual
Difference is specially calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error, the pseudorange on every t frequency point of i-th satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data be respectively
WithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)；
S6. the standard of fixed reference station obtains step S5 pseudorange residuals, carrier phase residual error and step S1 setting
Coordinate position is sent to affiliated reference station control centre；
S7. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；
S8. rover station sends the coarse positioning result that step S7 is obtained to centralized-control center；
S9. centralized-control center reference according to belonging to the coarse positioning result of the step S8 rover station obtained distribution rover station
It stands control centre, specially uses nearest distribution principle, i.e. centralized-control center selection that reference nearest apart from rover station
Stand control centre be rover station ownership reference station control centre；
S10. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, with
And the coarse positioning position result of rover station matches candidate reference station that rover station matched (including fixed reference station and ginseng immediately
Examine station) group, is specially matched using following rule:
The reference station h that rover station is matchedjForMin in formulaG() expression takes maximum HGIt is a
Index list where being worth, γ={ h=1 ..., H, Δ Dj,h< SD }；The value of SD determines the precision of short baseline RTK, SD
Value crosses conference and makes the decline of RTK positioning accuracy or even cannot get calculation result.SD value is too small will lead to may there is no with
The reference station of now thereof station pairing；In the specific implementation, a kind of optional mode are as follows: 5km is set by SD first, if discovery
There is reference station, then match, if not finding the reference station that can be matched, then SD is increased into 5km, until the reference for finding to have pairing
Until standing, wherein SD is at most added to 20km.HGFor the maximum set number of a candidate reference station group, purpose is mainly stream
Dynamic station provides multiple reference stations, so that rover station in moving process, can not be resolved normally under current base reference station environment
When, it can be directly switch under the environment of alternative reference station and resolve, and eliminate the mistake reconnected with reference station control centre
Journey, therefore, HGValue is proper between 3 to 5；
S11. the unique identification for the candidate reference station group that rover station is matched in reference station control centre is (in a communication network
For unique IP address or MAC Address) it is sent to rover station；
S12. rover station receives corresponding ginseng according to the unique identification of the candidate reference station group matched from communication network
Examine observation data and the standard coordinate position at station；
S13. rover station according to step S12 receive data and last moment candidate reference station clustering conjunction be calculated it is optimal
Reference station as reference station, specially calculated using following rule:
A. judge the reference station of last moment whether in the candidate reference station clustering conjunction at this moment:
During if candidate reference station clustering of the reference station of last moment at this moment closes, the reference at this moment
Station is set as the reference station of last moment；
If the reference station of last moment is selected not in the candidate reference station clustering at this moment closes according to following strategy
Determine reference station of the reference station as this moment:
Wherein argminG() indicates the index where being maximized, and ρ={ h=1 ..., HG}；
B. using the reference station for calculating selection in step A as reference station, the observation number at the reference station is received
According to, and Carrier Phase Ambiguity Resolution is carried out with rover station:
If can obtain it is fixed resolve as a result, if high accuracy positioning success；
If be unable to get it is fixed resolve as a result, if reject the index of current base reference station, re-execute above-mentioned steps, directly
It is empty set to set ρ；
S14. rover station receives the observation data at reference station, and combines the observation data of itself, completes rover station
High accuracy positioning specifically comprises the following steps:
A. rover station receives the observation data at reference station, and carries out calculus of differences with the observation data of itself, goes forward side by side
Row Carrier Phase Ambiguity Resolution and high accuracy positioning；
If b. rover station cannot proceed normally Carrier Phase Ambiguity Resolution, current reference station is rejected, and is repeated
Step 13: if the reference station of all candidate reference station groups all cannot correctly resolve integer ambiguity later traversal one time,
Then assert that rover station current time not can be carried out high accuracy positioning；Rover station carries out high accuracy positioning next time and resolves process；
S15. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can become instant reference station: if judging successfully, rover station is converted to instant reference station,
Specially judged using following rule:
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters,
And carrier phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station；Wherein, N can use arbitrary integer
Value.N value is too small, be easy to cause the false-alarm of instant reference station to judge by accident, and then lead to error accumulation, so that changing instant reference station institute
The rover station of pairing all generates positioning mistake, causes the sprawling formula of mistake to spread on entire RTK network.N value is excessive, is easy to make
Reference station can be become at only a few rover station, so that the instant reference station that can be used in RTK network is very few.Therefore, the value of N
There is different selection modes according to different scenes.For example, under unmanned environment, needing sub_meter position smart in unmanned plane
It spends under environment, N value can be 100-200 or so, it is assumed that 1 second renewal frequency, then rover station is needed as instant reference station
By 2-3 minutes time decisions.In the case where surveying and drawing environment, centimeter-level positioning precision is needed, the value of N can be 1000-3000
Left and right, it is assumed that 1 second renewal frequency, then rover station needs the time decision by 20-60 minutes or so as instant reference station；
S16. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain time
Residual error, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this reference immediately
Station converts back rover station, if specially reference station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful immediately, instant reference station turns
It is changed to rover station；In order to guarantee the correctness of instant reference station and not cause the mistake sprawling of RTK network, the value of M is in 10-20
It is secondary or so more appropriate；
S17. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position and the ginseng belonging to it
Relationship between the management region of the control centre Kao Zhan, and rover station set belonging to reference station control centre is updated, specially
It is updated using following steps:
A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；
B. centralized-control center according to rover station position and its belonging to reference station control centre management region it
Between relationship, using rover station set belonging to following Policy Updates reference station control centre:
If rover station has got over area and has been switched to the management region of other reference station control centres, update belonging to rover station
Reference station control centre information, and by more new information be sent to rover station and update front and back reference station control centre；
C. the reference station control centre before updating is concentrated from the rover station of subordinate deletes rover station information, and updated ginseng
Rover station information is added to the rover station collection of itself subordinate by the control centre Kao Zhan；
S18. reference station control centre updates the unpaired message of reference station and rover station, specially uses the following two kinds mode
One of be updated:
The request of mode A- rover station updates: when rover station is unable to get admittedly under the current reference station environment matched
Determine calculation result, then rover station request reference station control centre carries out reference station update；
The mode B- set time updates: in the fixed time period being previously set, the fixed time period timing is reached
The unpaired message of reference station and rover station is then updated immediately；The fixed time period is to be set according to the dynamic of environment
It sets, or is configured according to user behavior analysis.
Claims (12)
- The RTK localization method 1. a kind of cellular network cooperates, includes the following steps:S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；S3. the standard coordinate position of itself is sent to centralized-control center by fixed reference station；S4. centralized-control center distributes fixed reference station institute according to the standard coordinate position of the step S3 fixed reference station obtained The reference station control centre of category；S5. fixed reference station calculates the pseudorange residuals and carrier phase residual error of itself according to the step S2 observation data obtained；S6. the standard coordinate of fixed reference station obtains step S5 pseudorange residuals, carrier phase residual error and step S1 setting Position is sent to affiliated reference station control centre；S7. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；S8. rover station sends the coarse positioning result that step S7 is obtained to centralized-control center；S9. centralized-control center reference station tune according to belonging to the coarse positioning result of the step S8 rover station obtained distribution rover station Degree center；S10. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, Yi Jiliu The coarse positioning position result at dynamic station matches the candidate reference station group that rover station is matched；S11. the unique identification for the candidate reference station group that rover station is matched is sent to rover station by reference station control centre；S12. rover station receives corresponding reference station according to the unique identification of the candidate reference station group matched from communication network Observation data and standard coordinate position；S13. rover station receives data according to step S12 and optimal ginseng is calculated in the conjunction of last moment candidate reference station clustering Station is examined as reference station；S14. rover station receives the observation data at reference station, and combines the observation data of itself, completes the high-precision of rover station Degree positioning.
- The RTK localization method 2. cellular network according to claim 1 cooperates, it is characterised in that flowing described in step S10 Corresponding reference station of standing includes fixed reference station and instant reference station.
- The RTK localization method 3. cellular network according to claim 2 cooperates, it is characterised in that described based on RTK and ginseng The localization method for examining station further includes following steps:S15. rover station obtains result, pseudorange residuals and the carrier phase residual error of the Carrier Phase Ambiguity Resolution in setting time, and Joint judges whether itself can become instant reference station: if judging successfully, rover station is converted to instant reference station；S16. the result of the Carrier Phase Ambiguity Resolution in instant reference station acquisition certain time, pseudorange residuals and carrier phase are residual Difference, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this instant reference station Convert back rover station.
- The RTK localization method 4. cellular network according to claim 3 cooperates, it is characterised in that flowing described in step S15 It stands and judges whether itself can become instant reference station, specially judged using following rule:If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters, and carries Wave phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station.
- The RTK localization method 5. cellular network according to claim 3 cooperates, it is characterised in that judgement described in step S16 Whether instant reference station can continue to become instant reference station, if specially reference station has continuous N time Carrier Phase Ambiguity Resolution immediately Unsuccessful, then instant reference station is converted to rover station.
- The RTK localization method 6. cellular network according to claim 3 cooperates, it is characterised in that the cellular network cooperation RTK localization method further includes following steps:S17. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position and the reference station belonging to it Relationship between the management region of control centre, and update rover station set belonging to reference station control centre；S18. reference station control centre updates the unpaired message of reference station and rover station.
- The RTK localization method 7. cellular network according to claim 6 cooperates, it is characterised in that update described in step S17 Rover station set belonging to reference station control centre, is specially updated using following steps:A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；B. between the management region of reference station control centre of the centralized-control center according to rover station position and belonging to it Relationship, using rover station set belonging to following Policy Updates reference station control centre:If rover station has got over area and has been switched to the management region of other reference station control centres, ginseng belonging to rover station is updated The control centre Kao Zhan information, and more new information is sent to rover station and updates the reference station control centre of front and back；C. the reference station control centre before updating is concentrated from the rover station of subordinate deletes rover station information, and updated reference station Rover station information is added to the rover station collection of itself subordinate by control centre.
- The RTK localization method 8. cellular network described according to claim 1~one of 7 cooperates, it is characterised in that described in step S5 Calculating pseudorange residuals and carrier phase residual error, specially calculated using following formula:In formulaWherein, Δ ρcFor pseudorange residuals, Δ ρfPseudo-range Observations for carrier phase residual error, on every t frequency point of i-th satellite It is respectively with single-point coarse positioning result corresponding to carrier phase observation data and precision positioning resultWithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)。
- The RTK localization method 9. cellular network described according to claim 1~one of 7 cooperates, it is characterised in that described in step S10 Reference station control centre pairing rover station corresponding to candidate reference station group, specially matched using following rule:The reference station h that rover station is matchedjForMin in formulaG() expression takes maximum HGA value institute Index list, γ={ h=1 ..., H, Δ Dj,h< SD }；The value of SD is related with the precision of short baseline RTK, and SD takes It is smaller to be worth more big then RTK positioning accuracy.
- The RTK localization method 10. cellular network described according to claim 1~one of 7 cooperates, it is characterised in that step S13 institute That states calculates optimal reference station as reference station, is specially calculated using following rule:A. judge the reference station of last moment whether in the candidate reference station clustering conjunction at this moment:If the reference station at this moment is set during candidate reference station clustering of the reference station of last moment at this moment closes It is set to the reference station of last moment；If the reference station of last moment is not in the candidate reference station clustering at this moment closes, according to the selected ginseng of following strategy Examine the reference station stood as this moment:Wherein argminG() indicates the index where being maximized, and ρ={ h=1 ..., HG}；hoFor selected reference station；B. using the reference station for calculating selection in step A as reference station, the observation data at the reference station are received, and Carrier Phase Ambiguity Resolution is carried out with rover station:If can obtain it is fixed resolve as a result, if high accuracy positioning success；If be unable to get it is fixed resolve as a result, if reject the index of current base reference station, re-execute above-mentioned steps, Zhi Daoji Conjunction ρ is empty set.
- The RTK localization method 11. cellular network described according to claim 1~one of 7 cooperates, it is characterised in that step S14 institute The rover station stated receives the observation data at reference station and carries out the high accuracy positioning of itself, specifically comprises the following steps:A. rover station receives the observation data at reference station, and carries out calculus of differences with the observation data of itself, and carry out whole All ambiguity resolutions and high accuracy positioning；If b. rover station cannot proceed normally Carrier Phase Ambiguity Resolution, current reference station is rejected, and repeats step S13: if the reference station of all candidate reference station groups all cannot correctly resolve integer ambiguity later traversal one time, recognize Determining rover station current time not can be carried out high accuracy positioning；Rover station carries out high accuracy positioning next time and resolves process.
- 12. a kind of system positioned using the cooperation RTK localization method of cellular network described in one of claim 1~11, It is characterized by comprising a centralized-control center, several cellular cells RTK and centralized-control center and the cellular cells RTK Carry out the communication link of data interaction；One cellular cell RTK includes a reference station control centre, several fix ginseng It examines station and carries out the logical of data exchange between several rover stations and reference station control centre, fixed reference station and rover station Believe link；During the centralized-control center is used to receive the location information of fixed reference station, judge that rover station and reference station are dispatched The positional relationship of the heart distributes reference station control centre belonging to rover station and updates the number of rover station and reference station control centre It is believed that breath；Reference station control centre is used to match the information of the group of candidate reference station corresponding to rover station, and the matching is believed Breath sends rover station by communication link；Rover station is to need to carry out pinpoint rover station, is joined by calculating from candidate It examines and chooses reference station in the group of station, and be subject to reference station to carry out itself positioning；Fixed reference station is for being obtained from The exact position of body position calculates the pseudorange residuals of itself and carrier phase residual error and sends reference station control centre, also For the position of rover station to be matched and positioned with rover station；Reference station corresponding to the rover station includes fixed reference station With instant reference station, the instant reference station is converted by the rover station after high accuracy positioning.
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