CN105590028A - Real-time recording and processing method for high-frequency GNSS data - Google Patents
Real-time recording and processing method for high-frequency GNSS data Download PDFInfo
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- CN105590028A CN105590028A CN201510969450.6A CN201510969450A CN105590028A CN 105590028 A CN105590028 A CN 105590028A CN 201510969450 A CN201510969450 A CN 201510969450A CN 105590028 A CN105590028 A CN 105590028A
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Abstract
The invention discloses a real-time recording and processing method for high-frequency GNSS data. The method comprises the following steps: obtaining high-frequency GNSS data; carrying out data filtering processing on the obtained high-frequency GNSS data; carrying out data compression processing on the filtered high-frequency GNSS data; and creating a storage path to store the compressed data. Real-time collecting processing and data filtering are carried out on the high-frequency GNSS data through a receiver, so that the reliability is ensured. Data compression is carried out, so that occupation in a storage space is reduced; and the data transfer load is reduced. Data storage is carried out to generate a static file; and post-processing can be further carried out after the static file is obtained.
Description
Technical field
The present invention relates to satellite-signal process field, relate in particular to a kind of for high frequency GNSS dataReal time record and processing method.
Background technology
GPS GNSS (GlobalNavigationSatelliteSystem),Realized round-the-clock, the navigation locating function of the continuous precise in global range. Lead at satelliteBoat neck and comprehensive geographic information monitoring field, the use model of high frequency GNSS satellite navigation system dataEnclose more and more extensively, from the forecast analysis of earthquake, the Real-Time Monitoring of high-speed mobile equipment, to highThe vibration monitoring of layer building structure, high-frequency information can provide the information more becoming more meticulous.
The restriction that very big degree is still received in the application of high-frequency data simultaneously, reason roughly has followingSeveral: Packet Generation speed is fast, the integrality of data, longitude and continuity are all affected;In unit interval, output data quantity is large, needs more reliable algorithm to enter for different applicationsRow conversion processing; And be subject to the performance impact of receiving equipment, data volume is difficult to carry out reality while sharp increaseTime processing and forwarding. From static data preserve angle, embedded receiving equipment limited inDeposit space and also restricting the storage of high-frequency data.
Summary of the invention
In view of current satellite-signal process field above shortcomings, the invention provides a kind of pinTo real time record and the processing method of high frequency GNSS data, can realize the data to high frequency GNSSReal time record and processing, reduced space hold.
For achieving the above object, embodiments of the invention adopt following technical scheme:
For real time record and the processing method of high frequency GNSS data, described for high frequencyReal time record and the processing method of GNSS data comprise the following steps:
Obtain high frequency GNSS data;
The high frequency GNSS data of obtaining are carried out to data filtering processing;
High frequency GNSS data after filtering are carried out to data compression process;
Creating store path stores compressing data after treatment.
According to one aspect of the present invention, described the high frequency GNSS data of obtaining are carried out to data mistakeFilter is processed and is comprised following filter criteria: frame length judgement, CRC32 verification, UTC time resolution andRelevant peaks detects.
According to one aspect of the present invention, described to filter after high frequency GNSS data carry out dataCompression is processed and specifically can be comprised: use open source software storehouse RTKLib to decode to initial data,Carry out again recompile and binary data stream compression, the literary composition of last spanned file * .HRC by namePart.
According to one aspect of the present invention, described to filter after high frequency GNSS data carry out dataCompression is processed and specifically can be comprised: first by open source software storehouse RTKLib, initial data decoded,Be converted to Rinex form, then by the suffix name of rnx2crx compression algorithm to data volume maximumFor the observation file of .o compresses processing.
According to one aspect of the present invention, described by rnx2crx compression algorithm to data volumeAfter the observation file of large suffix .o by name compresses and processes, spanned file suffix .d's by nameCompressed file.
According to one aspect of the present invention, described establishment store path is to compressing data after treatmentThe detailed description of the invention of storing can be: receiving equipment internal memory is set up ../HRC data storage literary compositionPart path, creates compressed format HRC file, and the binary data stream after compression is write to HRCFile.
According to one aspect of the present invention, described establishment store path is to compressing data after treatmentThe detailed description of the invention of storing can be: the Rinex data storage file path after compressionFor ../Rinex, observation file suffixes .d by name, navigate file and meteorological file remain unchanged.
According to one aspect of the present invention, the data frequency of described high frequency GNSS data arrives at 1HzBetween 50hz.
Advantage of the invention process: the real time record for high frequency GNSS data of the present inventionAnd processing method, comprise the following steps: obtain high frequency GNSS data; To the high frequency GNSS obtainingData are carried out data filtering processing; High frequency GNSS data after filtering are carried out to data compression process;Create store path store compressing data after treatment, by receiver to high frequency GNSSData are carried out real-time acquisition process, carry out data filtering, have ensured its reliability; CountAccording to compression, minimizing takies memory space, reduces the load that data are transmitted; Carrying out data depositsStorage, generates static file, further post processing after obtaining.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below will be to embodimentIn the accompanying drawing of required use be briefly described, apparently, the accompanying drawing in the following describesBe only some embodiments of the present invention, for those of ordinary skill in the art, do not payingGo out under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is a kind of real time record and processing side for high frequency GNSS data of the present inventionMethod schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical side in the embodiment of the present inventionCase is clearly and completely described, and obviously, described embodiment is only one of the present inventionDivide embodiment, instead of whole embodiment. Based on the embodiment in the present invention, this area is generalLogical technical staff is not making the every other embodiment obtaining under creative work prerequisite,All belong to the scope of protection of the invention.
Embodiment mono-
As shown in Figure 1, a kind of real time record and processing method for high frequency GNSS data, instituteState for real time record and the processing method of high frequency GNSS data and comprise the following steps:
Step S1: obtain high frequency GNSS data;
Described step S1 obtains high frequency GNSS data and specifically can be: high-precision from receiving equipment insideDegree board obtains high frequency GNSS data, or obtains from other forwarding units.
In actual applications, the data frequency of described high frequency GNSS data 1Hz to 50hz itBetween.
Step S2: the high frequency GNSS data of obtaining are carried out to data filtering processing;
Described step S2 carries out the concrete reality of data filtering processing to the high frequency GNSS data of obtainingThe mode of executing can be:
Receiving data frames, carries out length judgement and and verification (method of calibration CRC32). And ifPacket discard of check results mistake.
Carry out Preliminary screening according to the interval T in sampling time, carry out the decoding of data, obtain formerThe UTC time that beginning packet carries. Abandon data treasured if can not correctly parse time value. RightReview time value, and by a second value (s), millisecond value (ms) value sorts.
Filter according to closing on peak value, detect principle according to relevant peaks, even if relevant peaks explanationThere is abnormal information, get rid of wild point and disturb.
Step S3: the high frequency GNSS data after filtering are carried out to data compression process;
Described step S3 carries out data compression process to the high frequency GNSS data after filtering specifically canFor: use open source software storehouse RTKLib initial data is decoded, then carry out recompile andBinary data stream compression, the file of last spanned file * .HRC by name. To screening rear dataFurther decoding compressed processing, reduces taking system memory space.
Carry out data compression by HRC form, be specially:
HRC form is to the combing compression algorithm of initial data binary stream a kind of pressure after treatmentContracting form. Its general principle is to use open source software storehouse RTKLib, carries out the decoding of data, heavyNew coding, binary data stream compression, the file of last spanned file * .HRC by name, its pressureShrinkage is in 20% left and right.
Wherein said RTKLib is resolving for RTK by the exploitation of ocean, Tokyo universitySource code algorithms library, it is open source software, collection GNSS location, navigation, time service is integrated, bagDraw together IGS station data and download, pseudorange location navigation, carrier wave location, the functions such as Static Precise Point Positioning.The GPS of support standard GLONASS QZSS SBAS Position Fixing Navigation System multiple standards form andAgreement.
Step S4: create store path and store compressing data after treatment.
Described step S4 creates the concrete reality that store path is stored compressing data after treatmentThe mode of executing can be: set up ../HRC data storage file path at receiving equipment internal memory, create and pressContracting form HRC file, writes HRC file by the binary data stream after compression.
In the recodification transfer process of initial data, on the basis of its source code, adjust.Reduce floating number computing time, improve its execution efficiency, strict guarantee is located each bag dataThe reason time adapts to the requirement of 50Hz high-frequency data within being controlled at 20ms.
Real time record and processing method for high frequency GNSS data described in the present embodiment, compriseFollowing steps: obtain high frequency GNSS data; The high frequency GNSS data of obtaining are carried out to data mistakeFilter is processed; High frequency GNSS data after filtering are carried out to data compression process; Create store pathStore compressing data after treatment, by receiver, high frequency GNSS data are carried out in real timeAcquisition process, carry out data filtering, ensured its reliability; Carry out data compression, reduceTo taking of memory space, reduce the load that data are transmitted; Carry out data storage, generate staticFile, further post processing after obtaining.
Embodiment bis-
As shown in Figure 1, a kind of real time record and processing method for high frequency GNSS data, instituteState for real time record and the processing method of high frequency GNSS data and comprise the following steps:
Step S1: obtain high frequency GNSS data;
Described step S1 obtains high frequency GNSS data and specifically can be: high-precision from receiving equipment insideDegree board obtains high frequency GNSS data, or obtains from other forwarding units.
In actual applications, the data frequency of described high frequency GNSS data 1Hz to 50hz itBetween.
Step S2: the high frequency GNSS data of obtaining are carried out to data filtering processing;
Described step S2 carries out the concrete reality of data filtering processing to the high frequency GNSS data of obtainingThe mode of executing can be:
Receiving data frames, carries out length judgement and and verification (method of calibration CRC32). And ifPacket discard of check results mistake.
Carry out Preliminary screening according to the interval T in sampling time, carry out the decoding of data, obtain formerThe UTC time that beginning packet carries. Abandon data treasured if can not correctly parse time value. RightReview time value, and by a second value (s), millisecond value (ms) value sorts.
Filter according to closing on peak value, detect principle according to relevant peaks, even if relevant peaks explanationThere is abnormal information, get rid of wild point and disturb.
Step S3: the high frequency GNSS data after filtering are carried out to data compression process;
Described step S3 carries out data compression process to the high frequency GNSS data after filtering specifically canFor: first by open source software storehouse RTKLib, initial data is decoded, be converted to Rinex latticeFormula, then pass through the observation file of rnx2crx compression algorithm to the suffix of data volume maximum .o by nameCompress processing, the compressed file of spanned file suffix .d by name. Enter one to screening rear dataWalk decoding compressed processing, reduce taking system memory space.
Carry out data compression by Rinex form, be specially:
Rinex form needs first by RTKLib, initial data to be decoded, and compression adoptsRnx2crx compression algorithm. The Rinex file of standard is visible text, and data volume is very large,Need open up enough large data buffer zone, then be write with a brush dipped in Chinese ink in file by buffering area. Algorithm is only to itThe observation file (.o) of data volume maximum is processed, and the content of text after algorithm process canBe compressed to the size of 25-30%, reduced Internet Transmission load and memory space.
Wherein said RTKLib is resolving for RTK by the exploitation of ocean, Tokyo universitySource code algorithms library, it is open source software, collection GNSS location, navigation, time service is integrated, bagDraw together IGS station data and download, pseudorange location navigation, carrier wave location, the functions such as Static Precise Point Positioning.The GPS of support standard GLONASS QZSS SBAS Position Fixing Navigation System multiple standards form andAgreement.
The software that Rinex data format adopts the YukiHatanaka of soil reason institute of Japan to provideStorehouse crx2rnx/rnx2crxHatanakaRINEX form is stored, and this is a kind of " compression "RINEX form, its filename type letter is that d (is not o).
Step S4: create store path and store compressing data after treatment.
Described step S4 creates the concrete reality that store path is stored compressing data after treatmentThe mode of executing can be: the Rinex data storage file path after compression is ../Rinex, observation literary compositionPart suffix is called .d, and navigate file and meteorological file remain unchanged.
In Rinex Data Format Transform process, on the basis of its source code, adjust.Reduce floating number computing time, improve its execution efficiency, strict guarantee is located each bag dataThe reason time adapts to the requirement of 50Hz high-frequency data within being controlled at 20ms.
Advantage of the invention process: the real time record for high frequency GNSS data of the present inventionAnd processing method, comprise the following steps: obtain high frequency GNSS data; To the high frequency GNSS obtainingData are carried out data filtering processing; High frequency GNSS data after filtering are carried out to data compression process;Create store path store compressing data after treatment, by receiver to high frequency GNSSData are carried out real-time acquisition process, carry out data filtering, have ensured its reliability; CountAccording to compression, minimizing takies memory space, reduces the load that data are transmitted; Carrying out data depositsStorage, generates static file, further post processing after obtaining.
The above be only the specific embodiment of the present invention, but protection scope of the present invention alsoBe not limited to this, the technical staff of any skilled is at technology model disclosed by the inventionIn enclosing, the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (8)
1. for real time record and the processing method of high frequency GNSS data, it is characterized in that,Described real time record and processing method for high frequency GNSS data comprises the following steps:
Obtain high frequency GNSS data;
The high frequency GNSS data of obtaining are carried out to data filtering processing;
High frequency GNSS data after filtering are carried out to data compression process;
Creating store path stores compressing data after treatment.
2. real time record and processing for high frequency GNSS data according to claim 1Method, is characterized in that, described the high frequency GNSS data of obtaining is carried out to data filtering pack processingDraw together following filter criteria: frame length judgement, CRC32 verification, UTC time resolution and relevant peaks inspectionSurvey.
3. real time record and processing for high frequency GNSS data according to claim 1Method, is characterized in that, described to filter after high frequency GNSS data carry out data compression processSpecifically can comprise: use open source software storehouse RTKLib to decode to initial data, then carry out weightNew coding and binary data stream compression, the file of last spanned file * .HRC by name.
4. real time record and processing for high frequency GNSS data according to claim 1Method, is characterized in that, described to filter after high frequency GNSS data carry out data compression processSpecifically can comprise: first by open source software storehouse RTKLib, initial data is decoded, be converted toRinex form, then by rnx2crx compression algorithm, the suffix of data volume maximum is called to .o'sObservation file compresses processing.
5. real time record and processing for high frequency GNSS data according to claim 4Method, is characterized in that, described by the suffix of rnx2crx compression algorithm to data volume maximumAfter the observation file of .o by name compresses and processes, the compressed file of spanned file suffix .d by name.
6. real time record and processing side for high frequency GNSS data according to claim 3Method, is characterized in that, the tool that described establishment store path is stored compressing data after treatmentBody embodiment can be: receiving equipment internal memory is set up ../HRC data storage file path, createsCompressed format HRC file, writes HRC file by the binary data stream after compression.
7. real time record and processing for high frequency GNSS data according to claim 4Method, is characterized in that, described establishment store path is stored compressing data after treatmentDetailed description of the invention can be: the Rinex data storage file path after compression is ../Rinex,Observation file suffixes .d by name, navigate file and meteorological file remain unchanged.
8. according to the real-time note for high frequency GNSS data one of claim 1 to 7 Suo ShuRecord and processing method, is characterized in that, the data frequency of described high frequency GNSS data arrives at 1HzBetween 50hz.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107707629A (en) * | 2017-09-12 | 2018-02-16 | 千寻位置网络有限公司 | The method of GNSS message conversion checking |
| CN109783487A (en) * | 2018-12-07 | 2019-05-21 | 广州经传多赢投资咨询有限公司 | The storage method of securities data |
| CN113766020A (en) * | 2021-09-02 | 2021-12-07 | 飞纳经纬科技(北京)有限公司 | Remote control system and method for satellite navigation receiver equipment |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20160518 |