CN108415048A - Large scale network RTK localization methods based on space clustering and system - Google Patents
Large scale network RTK localization methods based on space clustering and system Download PDFInfo
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- CN108415048A CN108415048A CN201810065877.7A CN201810065877A CN108415048A CN 108415048 A CN108415048 A CN 108415048A CN 201810065877 A CN201810065877 A CN 201810065877A CN 108415048 A CN108415048 A CN 108415048A
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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
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Abstract
The invention discloses based on space clustering large scale network RTK localization methods and system, this method include：(1) space clustering is carried out to user according to user location；(2) a virtual reference station location is determined respectively according to per a kind of user region, i.e., per the common virtual reference station location of a kind of user；Wherein, it is located at per in a kind of user region per the common virtual reference station location of a kind of user；(3) it is calculated according to the real-time observed data stream of CORS reference stations and virtual reference station location and generates virtual reference station observation, i.e., per the common virtual reference station observation of a kind of user；(4) RTK positioning is carried out using common virtual reference station observation per a kind of user.The present invention can support that a large number of users is concurrent simultaneously online, and be not only restricted to server computing resource, solve the contradiction between high concurrent number of users and Limited computational resources in the construction of large scale network RTK system.
Description
Technical field
The invention belongs to survey and draw and precision positioning field, and in particular to the large scale network RTK positioning based on space clustering
Method and system.
Background technology
Network RTK (real-time dynamic carrier phase difference positioning) is as a kind of important GNSS precision positioning means,
At home and abroad it is widely applied.Network RTK is the real-time GNSS observation numbers using continuous operation of the reference station system (CORS)
According to being handled, calculates the GNSS observation corrections of CORS web areas and broadcast to user.User terminal is changed using what is received
Positive number improves a kind of technology of self poisoning precision.It belongs to a kind of difference precision positioning technology, can realize plane 2cm~
The precision positioning of 3cm, elevation 5cm precision.Compared with single base station RTK, network RTK is with service range is wide, reliability is high, user
The advantages such as easy to operate, thus be widely applied.Since Shenzhen CORS in 1998 is built up, each provinces and cities of China are successively
The CORS networks of oneself are established, and network RTK differential services are provided, meet the accurate measurement of mapping, prospecting, engineering etc.
Demand.The CORS website numbers that conservative estimation China is completed at present reach thousands of, and the network RTK services based on CORS become one
The space fundamental facilities of the kind development of the national economy.The ground enhancing technological core technology of dipper system is also network RTK in recent years
Location technology.
For a long time there are mainly two types of the realization methods of technology of network RTK：One is the region correction methods of broadcast type
(FKP)；Another is virtual reference station technology (VRS).Wherein, region correction method mainly use one-way communication form to
User's broadcast area correction, after user terminal receives region correction, voluntarily interpolation and processing.Virtual reference station technology is then adopted
With the form of two-way communication, user reports rough coordinates, data center to pass through mistake according to the rough coordinates of user to data center
The mode of poor interpolation and Geometric correction, generates the observation of virtual reference station, and broadcasts to user.User terminal utilizes the sight of itself
Measured value and the virtual reference station observation received carry out double difference and determine the precision coordinate of itself.Virtual reference station technology is current
Mainstream technology do not needed pair because user terminal only needs the algorithm positioned using single base station RTK that can realize network RTK
Receiver firmware makes any modification.
However virtual reference station technology is there is also a problem, is exactly that data center needs to each user for accessing network
Virtual reference station correction is calculated, and networked RTK system is real-time system, thus the calculating pressure of data center is larger.Mesh
Preceding major part network RTK softwares all limit concurrent number of users, or determine network RTK softwares according to concurrent user number
Price.Thus, the concurrent user number that major part provincial, and municipal level CORS is supported at present only has dozens or hundreds, such concurrent
Number of users can even deal with a small amount of professional user, it can be difficult to meeting growing precision positioning demand for services, separately
On the one hand certain wasting of resources is also resulted in.Cause built CORS nets can not be to greatest extent the limitation of concurrent user number
Performance its effect, result in waste of resources.
Invention content
The object of the present invention is to provide large scale network RTK localization methods and system based on space clustering, energy of the present invention
It solves the data center caused by large-scale access CORS networks and calculates stress problems.
Large scale network RTK localization methods provided by the invention based on space clustering, including：
(1) space clustering is carried out to user according to user location；
(2) determine a virtual reference station location respectively according to per a kind of user region, i.e., it is public per a kind of user
Virtual reference station location；Wherein, it is located at per in a kind of user region per the common virtual reference station location of a kind of user；
(3) it is calculated according to the real-time observed data stream of CORS reference stations and virtual reference station location and generates virtual reference station sight
Measured value, i.e., per the common virtual reference station observation of a kind of user；
(4) RTK positioning is carried out using common virtual reference station observation per a kind of user.
Further, the space clustering includes but not limited to k-nearest neighbor, K averaging methods, DBSCAN methods, the poly- method of supervision, nothing
Supervision clustering method or predefined cluster areas method.
Further, in step (1), the virtual reference station location is determined using verification experimental verification method, can be met real
Border location requirement.
Further, the virtual reference station location is per the geometric center of all user locations, every one kind in one kind
Cluster the center of gravity of the outsourcing convex polygon of all user locations in core customer's neighbouring position or every one kind.
Further, the present invention is based on the large scale network RTK localization methods of space clustering further includes：
User's mapping table is established according to space clustering result, same class user is mapped to same virtual account；
According to user's mapping table, it will broadcast per a kind of common virtual reference station observation of user and be used per a kind of to corresponding
Family.
Large scale network RTK positioning systems provided by the invention based on space clustering, including CORS reference stations, service
Device broadcasts center and user terminal, and the data link broadcast between center and the user terminal is equipped with an intermediate clothes
Business device, center and the user terminal of broadcasting carry out two-way communication with the intermediate server；
The intermediate server is configured as：
Space clustering is carried out to user according to user location；
A virtual reference station location is determined respectively according to every a kind of user region, i.e., per the common void of a kind of user
It is quasi- to refer to station location；Wherein, it is located at per in a kind of user region per the common virtual reference station location of a kind of user.
Further, the intermediate server is additionally configured to：
User's mapping table is established according to space clustering result, same class user is mapped to same virtual account.
In current virtual reference station technology, data center needs to respond the positioning of each user of access CORS networks
Request, and calculate separately and generate virtual reference station observation for each user, due to calculate in real time, thus data center
Calculating pressure it is larger.Most of network RTK softwares access concurrent user's quantity of CORS networks by limitation, to avoid increasing
The calculating pressure of data center.
For the present situation, the present invention carries out space clustering to all users for accessing CORS networks, and spatial position is distributed
The user of concentration shares a virtual reference station observation as a kind of user, fellow users.For fellow users, using same
One virtual reference station observation does not have notable area with respective virtual reference station observation, the locating effect of the two is used respectively
Not.Therefore, using the method for the present invention, for the fellow users positioned at the same area, data center no longer needs to use for each
Family generates virtual reference station observation, it is only necessary to generate a common virtual reference station observation, you can it is accurately positioned,
To reduce the calculating pressure of data center.In addition, it is, in principle, that under the conditions of limited computing resource, branch of the present invention
Arbitrary more user is held in the concurrent operation of the same area, to realize the networked RTK system of large-scale access.
The features of the present invention and advantageous effect overview are as follows：
(1) it takes full advantage of computing resource and concurrently limits, determined according to active user job region calculative
Virtual reference station observation；When any active ues are few, data center's calculation amount also reduces, and will not cause computing resource waste；
To existing network RTK positioning systems, no minimum concurrent user number limitation, i.e. network RTK positioning systems only allows one concurrently
User can also be used.
(2) it is not necessary to modify network RTK service terminal software algorithms, without modification receiver user firmware, you can promote net
Network RTK positioning system concurrent user number realizes large-scale concurrent user access.Without logical between change data center and user
Format and Content of Communication are believed, with existing software and hardware without compatibility issue.
(3) it is suitable for existing network RTK positioning systems to be transformed, can be realized, be not necessarily to by the form of system middleware
Existing network RTK system software is changed, adaptability is good, simple and easy to do.
(4) the virtual reference station pattern for using two-way communication, convenient for the managing of online user, geographical of network RTK user
Fence, charging etc..
Description of the drawings
Fig. 1 is network RTK positioning system structure schematic diagrames；
Fig. 2 is the logical construction schematic diagram of the embodiment of the present invention；
Fig. 3 is used the flow diagram of spatial clustering method by the embodiment of the present invention.
In figure, 1-CORS reference stations；2- data cables；3- user；4- virtual reference stations；The first data link of 5-；6-
Two data link；7- data centers.
Specific implementation mode
In order to illustrate more clearly of the present invention and/or technical solution in the prior art, below originally by control description of the drawings
The specific implementation mode of invention.It should be evident that drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In addition, technical characteristic involved in the various embodiments of the present invention described below is as long as they do not conflict with each other
It can be combined with each other.
It should be noted that CORS reference stations, that is, continuous operation of the reference station described below, the user refer in particular to online net
Network RTK user.
The present invention starts with from the characteristic distributions of network RTK user, to solve a large number of users concurrently caused data center's meter
Calculate stress problems.The position of online user is spatially not continuously distributed, but according to its operating area in aggregation shape distribution.
For example, there is an engineering construction project in somewhere, if the place can nearby have dry measure staff to carry out accurate measurement operation simultaneously.
Measurement staff's spatial distribution Relatively centralized of same engineering construction project, and the measurement work people of different engineering construction projects
Member's distribution relative distribution.Existing network RTK positioning systems do not account for the spatial coherence between user, but will be all online
User calculates separately virtual reference station observation as independent individual access network RTK positioning systems for each online user,
Computing resource limited in this way is bound to online user's number of limiting concurrent.The present invention, which fully takes into account, measures operation user's space
Spatial position is distributed close user and gathered automatically for one kind by the correlation of distribution by carrying out space clustering to online user,
And determine the best virtual reference station location of fellow users, it is reported to server.Server, which only needs to calculate to fellow users, gives birth to
At a virtual reference station observation, you can meet the difference precision positioning demand of similar all users.
The specific implementation mode of the present invention is illustrated below in conjunction with attached drawing.
See that Fig. 1, typical network RTK positioning systems include CORS reference stations 1, user 3 and data center 7；Data center 7
The network RTK positioning softwares run including server and on the server；CORS reference stations 1 and data center 7 pass through data
Cable 2 is communicated；User 3 sends the authentication information and location information of user by the first data link 5 to data center 7；
Data center 7 sends virtual reference station observation and virtual reference station location information, virtual reference station by the second data link 6
Observation and virtual reference station location information are referred to as virtual reference station information.The operation principle of network RTK positioning systems is：Number
According to center 7 according to the request of user 3, generates virtual reference station information using the real-time observed data stream of CORS reference stations 1 and broadcast
User 3 is issued, the precision positioning demand of user 3 is met.Network RTK precision positionings are a kind of Differential positioning modes, when user with
When closer with reference to distance between sites, differential effect is good, and positioning accuracy is high.And the virtual reference station 4 generated is calculated just by data center 7
It is a virtual reference station being located near user 3, can meets the needs of 3 short baseline Differential positioning of user.Virtual reference station 4
It is not to change immediately following 3 position change of user, and be integrally fixed near the initial position of user 3.Until user 3 and virtual reference
Stand 4 distance exceed a certain range, new virtual reference station 4 can be just generated near user 3 again.It is generally believed that several kilometers
Within short baseline positioning base line length positioning result will not be significantly affected.It is understood that closely located
All users use respective virtual reference station using the same virtual reference station and each user, without aobvious from locating effect
Write difference.
Network RTK positioning systems shown in FIG. 1 have 5 online concurrent users, according to existing networked RTK system, need
It to be asked as each self-generating virtual reference station of 5 concurrent users and be broadcast to each user according to concurrent user.And the present invention is then
First according to the spatial position of concurrent user, 5 users are gathered for two classes.Then, it is common virtual per a kind of user's generation
Reference station.In this way, the server of data center, which only needs to calculate, generates 2 virtual reference stations, it is concurrent in the same area of space
User data increase does not dramatically increase the calculation amount of data center server.
Fig. 2 illustrates a kind of logical construction schematic diagram of the present invention, and Data Transport Protocol uses in the specific implementation mode
Ntrip agreements.In Fig. 2, Ntrip Client, that is, online user, Ntrip Client1, Ntrip Client2, Ntrip
Client3, Ntrip Client4, Ntrip Client5 are 5 online users；Shown Ntrip Caster broadcast center,
The server of shown Ntrip Server, that is, data center；Shown Ntrip Source, that is, data source, including each CORS reference stations
Real-time observed data stream.Ntrip Client, Ntrip Caster, Ntrip Server, Ntrip Source are equally allusion quotations
The component part of type network RTK positioning systems.In present embodiment, between Ntrip Client and Ntrip Caster
Increase by an intermediate server in data link, the increased intermediate server of institute is used for carrying out online user's space clustering, online use
The management at family and the mapping of online user；Ntrip Client directly carry out two-way communication with intermediate server, and through centre
The mode of server forwarding carries out two-way communication with Ntrip Caster.It only needs to existing network RTK positioning system slight modifications,
It is not necessary to modify the software and hardwares of existing network RTK positioning systems, you can realizes the method for the present invention.
The workflow of the specific implementation mode is：
S100：The authentication information of user and location information are sent to intermediate server by Ntrip Client.
S200：Intermediate server carries out space clustering according to the location information of user to all concurrent users.
S300：Intermediate server determines a virtual reference station location respectively according to per a kind of user region, i.e., each
The common virtual reference station location of class user；Wherein, it is located at per a kind of user per the common virtual reference station location of a kind of user
In region.
There are many methods for the determination of virtual reference station location, specifically can be true using verification experimental verification method according to actual conditions
Fixed optimal virtual reference station location.Generally, virtual reference station location can be per in the geometry of all user locations in one kind
The heart, or per a kind of cluster core near, or per the center of gravity of the outsourcing convex polygon of all user locations in a kind of.
S400 intermediate servers establish user's mapping table to every a kind of one virtual Ntrip accounts of distribution respectively.
Specifically, intermediate server establishes user's mapping table according to space clustering result, same class user is mapped to together
One virtual Ntrip accounts.
S500 intermediate servers will be per the common virtual reference station location of a kind of user and per the corresponding void of a kind of user
Quasi- Ntrip accounts, are broadcast with Ntrip agreements and give Ntrip Caster, and broadcast through Ntrip Caster and give Ntrip Server.
S600Ntrip Server are calculated according to the real-time observed data stream and virtual reference station location of each CORS reference stations
Virtual reference station observation is generated, i.e., per the common virtual reference station observation of a kind of user；It will be per the common void of a kind of user
Quasi- reference station observation and corresponding virtual Ntrip accounts are transmitted to intermediate server by Ntrip Caster.
S700 intermediate servers, will according to the corresponding virtual Ntrip accounts of user's mapping table and virtual reference station observation
It is broadcast simultaneously per one kind common virtual reference station observation of user to corresponding per a kind of user.
When it is implemented, intermediate server needs Dynamic Maintenance user's mapping table, dynamic manage concurrent user in threadiness
State.The network RTK service systems of large capacity concurrent user are realized in this way.
Certain inventive network RTK positioning systems are not limited to a kind of embodiment shown in Fig. 2, can also take centre
Business device merges with Ntrip Caster or utilizes intermediate server substitution Ntrip Caster.
K-nearest neighbor, K averaging methods, DBSCAN methods, supervision or Unsupervised clustering may be used in spatial clustering method of the present invention
Method, predefined cluster areas method etc., but it is not limited to these.Fig. 3 show the used spatial clustering method of present embodiment
Flow chart, only show that a kind of preferred spatial clustering method, spatial clustering method according to the present invention are not limited to this.
The preferred spatial clustering method, is as follows：
S210：The alternative set of initialization, i.e., be put into alternative set by the position of all online users；Cluster set initialization
For empty set, and initialize distance limit it is poor.
S220：A new cluster set is created, arbitrarily selects the position of an online user to be arranged from current alternative set
To cluster core, and the new cluster set is added.
S230：Check whether each online user position meets distance at a distance from current cluster core in current alternative set
Limit is poor；When meeting, then it is assumed that current examined online user and the current online user clustered corresponding to core belong to same
Class executes S240；When being unsatisfactory for, then it is assumed that current examined online user and the current online user clustered corresponding to core
It is not belonging to same class, executes S260.
S240：Current cluster is added in the position for the currently examined online user for meeting distance limit difference to gather, while from
It is deleted in alternative set.
S250：Check whether current alternative set is empty set, when alternative collection is combined into empty set, representation space cluster is completed,
Go to S280；When alternative collection is combined into nonvoid set, S260 is gone to.
S260：It checks whether current alternative set is traversed completion, when alternative set is traversed completion, then executes
S220 starts the cluster of next round；When alternative set is not traversed completion, then S270 is executed, checks next online user
Position.
S270 selects any one online user position to check from alternative set, goes back to step S230.
S280：When current alternative collection is empty set, indicates that all online users are clustered completions, terminate to cluster.
After space clustering, cluster numbers are less than or equal to concurrent user number, to achieve the purpose that concurrent user's dilatation.Root
According to cluster result, a virtual Ntrip account is distributed to per a kind of, establishes user's mapping between online user and Virtual User
Table, you can realize the purpose of concurrent user's dilatation.In view of the kinetic characteristic and presence characteristic of online user, the space is poly-
Class method needs to be executed repeatedly to update user's mapping table by intervals.The space clustering that present embodiment provides
Method is simple, and calculation amount and memory consumption are small, is suitable for large-scale user's space and clusters.
The present invention utilizes the spatial distribution correlation of network RTK online users, and space clustering is carried out to online user, will be same
A kind of user is mapped as the same Virtual User, and network RTK servers are only calculated once virtual reference to the same Virtual User
It stands observation, then virtual reference station observation is broadcast simultaneously and is used to such all online user.It both ensure that use in this way
Family Differential positioning precision, and the calculation amount of network RTK servers is reduced, support that a large number of users is concurrent simultaneously online, without
It is limited to server computing resource.For the present invention without changing existing network RTK software and hardwares, cost of implementation is low, can significantly be promoted
Network RTK platform concurrent user number, while also solving high concurrent number of users and limited meter during large scale network RTK system is built
Calculate the contradiction between resource.
Specific embodiment described herein is only to be given an example to patent spirit of the present invention.Patent institute of the present invention
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit or beyond the scope defined by the appended claims of patent of the present invention.
Claims (7)
1. the large scale network RTK localization methods based on space clustering, characterized in that including：
(1) space clustering is carried out to user according to user location；
(2) determine a virtual reference station location respectively according to per a kind of user region, i.e., it is common virtual per a kind of user
With reference to station location；Wherein, it is located at per in a kind of user region per the common virtual reference station location of a kind of user；
(3) it is calculated according to the real-time observed data stream of CORS reference stations and virtual reference station location and generates virtual reference station observation
Value, i.e., per the common virtual reference station observation of a kind of user；
(4) RTK positioning is carried out using common virtual reference station observation per a kind of user.
2. the large scale network RTK localization methods based on space clustering as described in claim 1, it is characterized in that：
The space clustering is k-nearest neighbor, K averaging methods, DBSCAN methods, the poly- method of supervision, Unsupervised clustering method or predefined cluster
Field method.
3. the large scale network RTK localization methods based on space clustering as described in claim 1, it is characterized in that：
In step (1), the virtual reference station location is determined using verification experimental verification method, and actual location demand can be met.
4. the large scale network RTK localization methods based on space clustering as described in claim 1, it is characterized in that：
The virtual reference station location is the geometric center of all user locations in every one kind, the cluster core per one kind position nearby
The center of gravity of the outsourcing convex polygon of all user locations in setting or being often a kind of.
5. the large scale network RTK localization methods based on space clustering as described in claim 1, it is characterized in that：
Further include：
User's mapping table is established according to space clustering result, same class user is mapped to same virtual account；
According to user's mapping table, will be broadcast per a kind of common virtual reference station observation of user to corresponding per a kind of user.
6. the large scale network RTK positioning systems based on space clustering, including CORS reference stations, server, broadcast center and use
Family terminal, it is characterized in that：
The data link broadcast between center and the user terminal is equipped with an intermediate server, described to broadcast center and institute
It states user terminal and carries out two-way communication with the intermediate server；
The intermediate server is configured as：
Space clustering is carried out to user according to user location；
A virtual reference station location is determined respectively according to every a kind of user region, i.e., per the common virtual reference of a kind of user
Station location；Wherein, it is located at per in a kind of user region per the common virtual reference station location of a kind of user.
7. the large scale network RTK positioning systems based on space clustering as claimed in claim 5, it is characterized in that：
The intermediate server is additionally configured to：
User's mapping table is established according to space clustering result, same class user is mapped to same virtual account.
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| CN109688535A (en) * | 2018-12-13 | 2019-04-26 | 大唐软件技术股份有限公司 | Determine method, apparatus, electronic equipment and the medium in hotspot geographical location |
| CN109688535B (en) * | 2018-12-13 | 2021-01-26 | 大唐软件技术股份有限公司 | Method, device, electronic equipment and medium for determining geographic position of wireless hotspot |
| CN110095797A (en) * | 2019-05-28 | 2019-08-06 | 北京讯腾智慧科技股份有限公司 | A kind of grid precise positioning method of servicing and system based on satellite navigation system |
| CN111045051A (en) * | 2019-07-10 | 2020-04-21 | 广东星舆科技有限公司 | VRS information generation method, positioning service providing method and positioning service device |
| CN110618435A (en) * | 2019-11-07 | 2019-12-27 | 广东星舆科技有限公司 | Observation data generation method and text data generation method for improving VRS stability |
| CN111447676A (en) * | 2020-03-16 | 2020-07-24 | 苏州星恒通导航技术有限公司 | System based on differential data source matching |
| CN111447676B (en) * | 2020-03-16 | 2021-10-01 | 苏州星恒通导航技术有限公司 | System based on differential data source matching |
| CN113031011A (en) * | 2021-03-19 | 2021-06-25 | 北京中交创新投资发展有限公司 | Beidou high-precision satellite navigation and position service system |
| CN113050138A (en) * | 2021-03-19 | 2021-06-29 | 北京中交创新投资发展有限公司 | Grid-based high-precision satellite navigation positioning service method |
| CN113031011B (en) * | 2021-03-19 | 2023-09-29 | 交信北斗科技有限公司 | Beidou high-precision satellite navigation and position service system |
| CN113596722A (en) * | 2021-08-04 | 2021-11-02 | 武汉攀达时空科技有限公司 | Method for generating and serving adjacent user data product sharing MCBI |
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