CN106842266A - A kind of instant reference station localization method and system - Google Patents

A kind of instant reference station localization method and system Download PDF

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Publication number
CN106842266A
CN106842266A CN201710037577.3A CN201710037577A CN106842266A CN 106842266 A CN106842266 A CN 106842266A CN 201710037577 A CN201710037577 A CN 201710037577A CN 106842266 A CN106842266 A CN 106842266A
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reference station
station
rover
instant
carrier phase
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CN106842266B (en
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蒋云翔
向为
郑彬
彭果
易文鑫
朱增贤
刘蓉杰
张宁波
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HUNAN BEIYUN TECHNOLOGY Co Ltd
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HUNAN BEIYUN TECHNOLOGY Co Ltd
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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
    • 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
    • G01S19/51—Relative positioning

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of instant reference station localization method and its system, including choose fixed reference station；Fixed reference station observation data are chosen, pseudorange residuals and carrier phase residual error is calculated and is sent reference station control centre to；Rover station coarse positioning simultaneously sends reference station control centre to；The corresponding reference station of matching rover station is simultaneously sent to rover station；Rover station receives observation data and standard coordinate position；Rover station carries out high accuracy positioning.Present invention also offers a kind of system positioned with the localization method, including reference station control centre, several fixed reference stations, several rover stations and a reference station control centre, the communication link of data exchange is carried out between fixed reference station and rover station.Positioning precision of the present invention is high, and data processing pressure is small during large-scale application, efficiently solves the key issue of technology of network RTK presence, is very beneficial for the large-scale application of high accuracy positioning navigation.

Description

A kind of instant reference station localization method and system
Technical field
Present invention relates particularly to a kind of instant reference station localization method and system.
Background technology
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 real-time processing, there is provided the 3-dimensional positioning knot in specified coordinate system Really, Real-Time Positioning can reach Centimeter Level, and have the advantages that real-time is good, speed is fast.The general principle of RTK is to join Station is examined with rover station while receiving satellite-signal, 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 precision is up to Centimeter Level.RTK technologies are widely used in outdoor high accuracy positioning and lead The industry of correlation of navigating, for example, surveying and drawing, Driving Test, Based Intelligent Control is unmanned, unmanned plane, remote sensing etc..
The core of RTK technologies is to consider that observed data value possesses identical ionosphere mistake between reference station and rover station The common error of difference, tropospheric error and other forms, common error is eliminated using the mode of difference, obtains reference station with flowing The integer ambiguity of carrier phase is poor with real-time phase between standing, and then realizes high accuracy positioning.However, RTK technologies are for ginseng Examining the distance between station and rover station has certain limitation.Typically, the distance between reference station and rover station be no more than 20km, referred to as short baseline RTK.If the distance between reference station and rover station have more than 20km, reference station and rover station Standby ionosphere and the correlation of tropospheric error can be substantially reduced, so that Real-Time Positioning is greatly lowered.For The RTK technologies of the distance between reference station and rover station more than more than 20km are referred to as Long baselines RTK.Long baselines are solved at present The key technology of RTK precision positionings is technology of network RTK.The principle schematic of technology of network RTK is as shown in Figure 1.Firstly, there are Virtual ginseng under one network RTK data center, its observation data genaration diverse location using multiple reference stations (CORS stations) Examine station (VRS-Virtual Reference Station) and be calculated the dummy observation of virtual reference station, and then set up The list of one virtual reference station and dummy observation, and by collecting the data of all RTK reference stations, real-time update is virtual The virtual reference value of reference station.Secondly, rover station obtains the positioning of precision within 10 meters by coarse positioning (pseudorange One-Point Location) As a result, network RTK data centers are given by its result, RTK data centers calculate corresponding virtual ginseng according to its positioning result Position and the observation at station are examined, and sends the dummy observation of corresponding virtual reference station to rover station.Finally, rover station profit Data are observed with our station and do difference, recycle conventional fast ambiguity computation to obtain with the dummy observation of virtual reference station Take rover station poor with real-time phase with the integer ambiguity of virtual reference station, further obtain the positioning result of Centimeter Level.
However, network RTK has some limitations.Firstly, it is necessary to set up a RTK data center, data center with The position of all RTK reference stations needs to consider.It is able to ensure that between RTK data centers 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 speed does not reach RTK observation data transmission rates demands, technology of network RTK cannot be used.Secondly as network RTK skills There is the solution of problem proposition mainly for Long baselines RTK in art, therefore, technology of network RTK cannot be by short distance radio station Mode realize, the observation of reference station can only be believed by the form of cable network, wireless cellular network or WLAN Breath is aggregated into network RTK data centers by internet, and observation data have certain transmission delay and treatment postpones, There is certain limitation for the high accuracy positioning under dynamic environment.Finally, RTK data centers need to maintain huge virtual ginseng Station data are examined to update and rover station data interaction.Also, the complexity and virtual reference observation of technology of network RTK algorithm be with The increase of the quantity of rover station and increase, and then bring greatly negative to data center server treatment and communication network transmission Load and pressure.In recent years, the application of high accuracy NAVSTAR extends to Driving Test, intelligence from traditional survey field Can control, unmanned, unmanned plane, the field such as remote sensing, so as to the quantity for causing high accuracy satellite navigation terminal (rover station) exists It is continuously increased.The drawbacks of application of ever-increasing high accuracy satellite positioning navigation and positioning terminal cause technology of network RTK is more next It is more obvious.
The content of the invention
An object of the present invention be when a kind of positioning precision high, large-scale application are provided data processing pressure it is small i.e. When reference station localization method.
The second object of the present invention is to provide a kind of system for applying the instant reference station localization method to be positioned.
This instant reference station localization method and system that the present invention is provided, comprise the following steps：
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. step S1 chooses fixed reference station real-time monitored and the observation data needed for obtaining RTK technologies；
S3. the observation data for being obtained according to step S2 calculate the pseudorange residuals and carrier phase residual error of fixed reference station；
S4. the standard that the pseudorange residuals and carrier phase residual error and step S1 that fixed reference station obtains step S3 are set Coordinate position sends reference station control centre to；
S5. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S6. the coarse positioning result that rover station obtains step S5 sends reference station control centre to；
S7. pseudorange residuals, carrier phase residual sum standard coordinate position of the reference station control centre according to reference station, and The coarse positioning position result of rover station matches the reference station corresponding to rover station；
S8. the reference station unique mark that rover station is matched in reference station control centre is sent to rover station；
S9. rover station receives the observation data and standard coordinate of correspondence reference station according to the unique mark of correspondence reference station Position；
S10. rover station completes rover station according to the observation data and the observation data of itself of the corresponding reference station for receiving High accuracy positioning.
Reference station described in step S7 includes fixed reference station and instant reference station.
Described instant reference station localization method also comprises the following steps：
S11. 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 turn into instant reference station：If judging successfully, rover station is converted to instant reference station；
S12. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain hour Residual error, and combine judge this instant reference station whether can continue turn into instant reference station：If judgement is unsuccessful, this reference immediately Station converts back rover station.
Rover station described in step S11 judges whether itself can turn into 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 for resolving every time is not more than 2 meters, And carrier phase residual values are not more than 2 centimetres, then mobile station mode can turn into instant reference station.
Judge whether instant reference station can continue to turn into instant reference station described in step S12, if specially reference immediately Station has that continuous N time Carrier Phase Ambiguity Resolution is unsuccessful, then instant reference station is converted to rover station.
The selection of the fixed reference station described in step S1, specially sets fixed reference in the place of known exact position Stand, or fixed reference station is set at an arbitrary position, and the exact position of fixed reference station is obtained by location algorithm.
The described exact position that fixed reference station is obtained by location algorithm, specifically by PPP Static Precise Point Positionings Algorithm obtains the exact position of fixed reference station for a long time.
Calculating pseudorange residuals and carrier phase residual error described in step S3, are specially calculated using following formula：
In formula
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the pseudorange on i-th every t frequency of satellite is seen Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data are respectively WithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)。
The reference station matched corresponding to rover station described in step S7, is specially matched using following rule：
The reference station h that rover station is matchedjForArgmin () is to take maximum place in formula Index, γ={ h=1 ..., 3, Δ Dj,h＜ SD }；Wherein The precision positions of h-th reference station arePseudorange residuals and carrier phase residual error areWithJth The coarse positioning position of individual rover station isThe value of SD is relevant with the precision of short baseline RTK, and SD values are got over It is big then RTK positioning precisions are smaller.
Mark described in step S8 includes station channel, network ip address, modulation frequency or encryption ID.
Present invention also offers a kind of system for applying the instant reference station localization method to be positioned, including a ginseng Kao Zhan control centres, several fixed reference stations, several rover stations and reference station control centre, fixed reference station and flowing The communication link of data exchange is carried out between standing；The reference station control centre is used to match the reference station letter corresponding to rover station Breath, and the match information is sent into rover station by communication link；Rover station is to need to carry out pinpoint rover station；Gu Reference station is determined for obtaining the exact position of itself position, is calculated the pseudorange residuals and carrier phase residual error of itself and is sent Reference station control centre, is additionally operable to be matched with rover station and positioned the position of rover station；Ginseng corresponding to the rover station Examining station includes fixed reference station and instant reference station, and the instant reference station is converted by the rover station after high accuracy positioning.
This instant reference station localization method and system that the present invention is provided, based on rover station/reference station can be dynamic immediately The pattern of switching, position and observation data using large-scale rover station/instant reference station, and specific reference station scheduling Algorithm, is matched, for each rover station provides a specific reference station so as to realize the high accuracy positioning of rover station；Its It is secondary, each rover station complete high accuracy positioning after, by certain decision rule, can turn into candidate reference station for Other rover stations make reference；The present invention needs a reference station control centre, but this control centre is only needed to according to flowing The coarse positioning result stood performs reference station dispatching algorithm, realizes reference station-rover station pairing, one of reference station can with it is many Individual rover station pairing；After completion is matched, reference station sends observation data to all rover stations for matching, so as to rover station reality Existing high accuracy positioning；The present invention is to provide a kind of instant reference station technology at brand-new no data center, efficiently solve The key issue that technology of network RTK is present, is very beneficial for the large-scale application of high accuracy positioning navigation.
Brief description of the drawings
Fig. 1 is the positioning principle schematic diagram of existing technology of network RTK.
Fig. 2 is system operating diagram of the invention.
Fig. 3 is flow chart of the method for the present invention.
Specific embodiment
It is illustrated in figure 2 alignment system operating diagram of the invention：This of present invention offer realizes the instant ginseng Station alignment system is examined, including reference station control centre, several fixed reference stations, several rover stations and a reference station are adjusted Degree center, the communication link that data exchange is carried out between fixed reference station and rover station；The reference station control centre be used for With the reference station information corresponding to rover station, and the match information is sent into rover station by communication link；Rover station is to need Carry out pinpoint rover station；Fixed reference station is used to obtain the exact position of itself position, calculates the puppet of itself Away from residual sum carrier phase residual error and reference station control centre is sent, be additionally operable to that rover station is matched and positioned with rover station Position；Reference station corresponding to the rover station includes fixed reference station and instant reference station, and the instant reference station is by high-precision Rover station after degree positioning is converted.
It is illustrated in figure 3 flow chart of the method for the present invention：This instant reference station localization method and be that the present invention is provided System, comprises the following steps：
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set：Specially known The place of exact position sets fixed reference station, or sets fixed reference station at an arbitrary position, and fixed by PPP accurate one-points Position algorithm obtains the exact position of fixed reference station for a long time；
S2. step S1 chooses fixed reference station real-time monitored and the observation data needed for obtaining RTK technologies；
S3. the observation data for being obtained according to step S2 calculate the pseudorange residuals and carrier phase residual error of fixed reference station；Tool Body is to be calculated using following formula：
In formula
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the pseudorange on i-th every t frequency of satellite is seen Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data are respectively WithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)；
S4. the standard that the pseudorange residuals and carrier phase residual error and step S1 that fixed reference station obtains step S3 are set Coordinate position sends reference station control centre to；
S5. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S6. the coarse positioning result that rover station obtains step S5 sends reference station control centre to；
S7. pseudorange residuals, carrier phase residual sum standard coordinate position of the reference station control centre according to reference station, and The coarse positioning position result of rover station match corresponding to rover station reference station (including fixed reference station and/or immediately reference Stand)；Specially matched using following rule：
The reference station h that rover station is matchedjForArgmin () is where taking maximum in formula Index, γ={ h=1 ..., 3, Δ Dj,h＜ SD }；Wherein The precision positions of h-th reference station arePseudorange residuals and carrier phase residual error areWithJth The coarse positioning position of individual rover station isWherein the value of SD determines the precision of short baseline RTK, SD values Conference is crossed so that RTK positioning precisions decline or even cannot get calculation result.SD values are too small can cause not exist with it is current The reference station of rover station pairing；A kind of proper mode is that SD is set into 5km first, if discovery has reference station, is matched somebody with somebody It is right, if not finding the reference station that can be matched, then SD is increased into 5km, untill the reference station that discovery has pairing, wherein SD At most it is added to 20km；
Reference station that S8. rover station is matched in reference station control centre (including fixed reference station and/or reference immediately Stand) unique mark (such as station channel, network ip address, modulation frequency or encryption ID etc.) is sent to rover station；
S9. rover station is received according to the unique mark of correspondence reference station (including fixed reference station and/or instant reference station) The observation data of correspondence reference station and standard coordinate position；
S10. observation of the rover station according to the corresponding reference station (including fixed reference station and/or instant reference station) for receiving Data and the observation data of itself, complete the high accuracy positioning of rover station；
S11. 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 turn into instant reference station：
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value for resolving every time is not more than 2 meters, And carrier phase residual values are not more than 2 centimetres, then mobile station mode can turn into instant reference station；Wherein, the desirable arbitrary integers of N Value.N values are too small, easily cause the false-alarm erroneous judgement of instant reference station, and then cause error accumulation so that change instant reference station institute The rover station of pairing all produces Wrong localization, causes the formula that spreads of mistake to spread to whole RTK networks.N values are excessive, easily make Reference station can be turned into only a few rover station so that the instant reference station that can be used in RTK networks is very few.Therefore, the value of N Different selection modes are had according to different scenes.For example, in unmanned plane, it is necessary to sub_meter position is smart under unmanned environment Under degree environment, N values can be 100-200 or so, it is assumed that the renewal frequency of 1 second, then rover station needs as instant reference station By the time decision of 2-3 minutes.In the case where environment is surveyed and drawn, it is necessary to centimeter-level positioning precision, the value of N can be 1000-3000 Left and right, it is assumed that the renewal frequency of 1 second, then rover station turn into the time decision that instant reference station needs by 20-60 minutes or so；
S12. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain hour Residual error, and combine judge this instant reference station whether can continue turn into instant reference station：If instant reference station has continuous N time complete cycle Ambiguity resolution is unsuccessful, then instant reference station is converted to rover station；The value of M is more suitable at 10-20 times or so.

Claims (10)

1. a kind of instant reference station localization method and its system, comprise the following steps：
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. step S1 chooses fixed reference station real-time monitored and the observation data needed for obtaining RTK technologies；
S3. the observation data for being obtained according to step S2 calculate the pseudorange residuals and carrier phase residual error of fixed reference station；
S4. the standard coordinate that the pseudorange residuals and carrier phase residual error and step S1 that fixed reference station obtains step S3 are set Position sends reference station control centre to；
S5. rover station is calculated itself current coarse positioning result by Pseudo-range Observations；
S6. the coarse positioning result that rover station obtains step S5 sends reference station control centre to；
S7. pseudorange residuals, carrier phase residual sum standard coordinate position of the reference station control centre according to reference station, and flowing The coarse positioning position result stood matches the reference station corresponding to rover station；
S8. the reference station unique mark that rover station is matched in reference station control centre is sent to rover station；
S9. rover station receives observation data and the standard coordinate position of correspondence reference station according to the unique mark of correspondence reference station；
S10. rover station completes the height of rover station according to the observation data and the observation data of itself of the corresponding reference station for receiving Precision is positioned.
2. instant reference station localization method according to claim 1 and system, it is characterised in that the reference described in step S7 Stand including fixed reference station and instant reference station.
3. instant reference station localization method according to claim 2 and system, it is characterised in that described instant reference station Localization method also comprises the following steps：
S11. 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 turn into instant reference station：If judging successfully, rover station is converted to instant reference station；
S12. the result of the Carrier Phase Ambiguity Resolution in instant reference station acquisition certain hour, pseudorange residuals and carrier phase are residual Difference, and combine and judge whether this instant reference station can continue as instant reference station：If judgement is unsuccessful, this instant reference station Convert back rover station.
4. instant reference station localization method according to claim 3 and system, it is characterised in that the flowing described in step S11 Stand and judge whether itself can turn into 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 for resolving every time is not more than 2 meters, and carry Wave phase residual values are not more than 2 centimetres, then mobile station mode can turn into instant reference station.
5. instant reference station localization method according to claim 4 and system, it is characterised in that the judgement described in step S12 Whether instant reference station can continue to turn into 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.
6. according to the described instant reference station localization method of one of Claims 1 to 5 and system, it is characterised in that described in step S1 Fixed reference station selection, fixed reference station specially is set in the place of known exact position, or set at an arbitrary position Fixed reference station is put, and the exact position of fixed reference station is obtained by location algorithm.
7. according to the described instant reference station localization method of one of Claims 1 to 5 and system, it is characterised in that described passes through Location algorithm obtains the exact position of fixed reference station, is obtained for a long time specifically by PPP Static Precise Point Positionings algorithm and fixed The exact position of reference station.
8. according to the described instant reference station localization method of one of Claims 1 to 5 and system, it is characterised in that described in step S3 Calculating pseudorange residuals and carrier phase residual error, specially calculated using following formula：
Δρ c = 1 I T Σ i = 1 I Σ t = 1 T ( Δρ i , t c ) 2
Δρ f = 1 I T Σ i = 1 I Σ t = 1 T ( Δρ i , t f ) 2
In formula
Δρ i , t c = ( X i , t c - X i ) 2 + ( Y i , t c - Y i ) 2 + ( Z i , t c - Z i ) 2 - ( X f - X i ) 2 + ( Y f - Y i ) 2 + ( Z f - Z i ) 2
Δρ i , t f = ( X i , t f - X i ) 2 + ( Y i , t f - Y i ) 2 + ( Z i , t f - Z i ) 2 - ( X f - X i ) 2 + ( Y f - Y i ) 2 + ( Z f - Z i ) 2
Wherein, Δ ρcIt is pseudorange residuals, Δ ρfIt is carrier phase residual error, the Pseudo-range Observations on i-th every t frequency of satellite It is respectively with the single-point coarse positioning result and precision positioning result corresponding to carrier phase observation dataWithThe exact position of website is (Xf,Yf,Zf), i-th position of satellite is (Xi,Yi,Zi)。
9. instant reference station localization method according to claim 5 and system, it is characterised in that the matching described in step S7 Go out the reference station corresponding to rover station, specially matched using following rule：
The reference station h that rover station is matchedjForArgmin () is the rope where taking maximum in formula Draw, γ={ h=1 ..., 3, Δ Dj,h＜ SD }；Wherein The precision positions of h-th reference station arePseudorange residuals and carrier phase residual error areWithJth The coarse positioning position of individual rover station isThe value of SD is relevant with the precision of short baseline RTK, and SD values are got over It is big then RTK positioning precisions are smaller.
10. the system that the instant reference station localization method described in a kind of application claim 1~9 is positioned, it is characterised in that Including a reference station control centre, several fixed reference stations, several rover stations and reference station control centre, fixed ginseng Examine the communication link that data exchange is carried out between station and rover station；The reference station control centre is used to match corresponding to rover station Reference station information, and the match information is sent into rover station by communication link；Rover station is accurately positioned for needs Rover station；Fixed reference station is used to obtain the exact position of itself position, calculates the pseudorange residuals and carrier wave phase of itself Position residual error simultaneously sends reference station control centre, is additionally operable to be matched with rover station and positioned the position of rover station；The flowing Corresponding reference station of standing includes fixed reference station and instant reference station, and the instant reference station is by the flowing after high accuracy positioning Station converts.
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CN108680183A (en) * 2018-03-29 2018-10-19 中国有色金属长沙勘察设计研究院有限公司 A kind of appraisal procedure of navigation and positioning accuracy
CN109991632A (en) * 2017-12-29 2019-07-09 沃尔沃汽车公司 Positioning system and method
CN110988940A (en) * 2019-12-06 2020-04-10 长沙海格北斗信息技术有限公司 Satellite navigation station working mode switching method and monitoring system
CN111045053A (en) * 2019-12-26 2020-04-21 广东星舆科技有限公司 Differential positioning method and system under VRS data interruption
CN111103603A (en) * 2018-10-29 2020-05-05 千寻位置网络有限公司 Cloud positioning method and device based on CORS system, positioning system and cloud server

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