CN113031011B - Beidou high-precision satellite navigation and position service system - Google Patents
Beidou high-precision satellite navigation and position service system Download PDFInfo
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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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
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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 provides a Beidou high-precision satellite navigation and position service system which comprises a satellite navigation and positioning resolving module, a user management platform, a terminal user and an operation state monitoring module, wherein the satellite navigation and positioning resolving module is used for resolving and processing data of a reference station to acquire regional enhanced data information; the user management platform is used for managing and authenticating the terminal user, selecting a corresponding virtual observed quantity of a grid point from the area enhanced data information as the differential information of the user according to the information uploaded by the terminal user, and sending the differential information and the position coordinates of the grid point to the terminal user; the running state monitoring module is in data communication with the satellite navigation positioning resolving module and is used for monitoring the running state of the reference station and the regional enhanced data information. According to the invention, only a fixed number of grid point virtual reference stations are calculated through the satellite navigation positioning calculation module, the number of the grid point virtual reference stations is not related to the number of terminal users, and the consumed resources are fixed, so that the resource cost can be greatly saved.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a Beidou high-precision satellite navigation and position service system.
Background
The implementation steps of the network RTK positioning technology can be summarized as the following three points:
first, baseline calculation is performed based on observed data of the CORS network, and ambiguity parameters on each baseline are fixed. The exact fixing of the ambiguity parameters determines the accuracy of the calculation of various spatially dependent errors. The distance between the reference stations of the CORS network is generally far, and the fixation of long-distance baseline ambiguity is a key technology of the network RTK.
And secondly, after the ambiguity parameters are fixed accurately and timely, calculating to obtain various coefficients of the correction model.
Finally, the data processing center obtains an optimal observation value at the VRS according to the outline position simulation of the user, and accurately obtains an error correction and a position result by carrying out model correction on the space-related error and eliminating a non-space error source by adopting other technical means and measures, so as to obtain a virtual observation value of the VRS, form a short base line between the VRS and the user, and finally obtain accurate coordinate information at the user through relative positioning calculation.
In recent years, as the high-precision real-time positioning technology is deepened in various fields, more demands are put forward, sufficient attention is paid to the construction of the CORS infrastructure all over the world, a great amount of funds are put into development, and a multifunctional system based on the CORS and oriented to the real-time positioning service and classical geodetic application is developed.
In view of the great advantages in terms of availability and feasibility, network RTK technology has been fully validated and improved by existing CORS systems.
The VRS (virtual reference station) system is actually a multi-base station technology, and its positioning process is an effective fusion of multiple reference station data in the CORS network, and its positioning steps are as follows:
(1) All reference stations in the CORS network transmit the observed original data to a satellite navigation positioning resolving module in real time;
(2) The user sends the probability coordinates to a satellite navigation positioning resolving module in the form of NMEA GGA, and the satellite navigation positioning resolving module generates a virtual reference station according to the probability coordinates;
(3) The satellite navigation positioning resolving module selects a group of reference stations according to the position of the user;
(4) According to the baseline resolving result of the selected reference station, the satellite navigation positioning resolving module carries out classified modeling calculation on the error source, and each error correction at the VRS is obtained through interpolation;
(5) And sending the calculated differential correction to a user by using a standard RTCM protocol, and receiving correction information by the user to finish differential positioning.
The above-mentioned VRS (virtual reference station) system for positioning has the following technical drawbacks: (1) The user needs to send the NMEA form coordinates to a satellite navigation positioning resolving module, and the satellite navigation positioning resolving module generates a virtual reference station according to the coordinates and sends the differential correction to the user. In the method, the satellite navigation positioning resolving module calculates a virtual reference station according to the position of a user, so that the larger the user quantity is, the larger the resources required to be consumed by the satellite navigation positioning resolving module are; (2) disfavor distributed deployment; (3) The number of supported users is about two thousand, and then the number is enlarged, so that a single software can not be supported; (4) All original data of reference stations in the CORS network are transmitted to the satellite navigation positioning resolving module in real time, more than 3 original data of the reference stations are secret data and are required to be transmitted to a secret environment, and the satellite navigation positioning resolving module in the scheme is required to interact with a user at the same time, is a bidirectional interaction environment connected with the Internet, and does not meet the design of security level protection.
Therefore, there is an urgent need in the art to develop a location service system that overcomes the above-mentioned technical problems in the prior art.
Disclosure of Invention
The invention aims to provide a Beidou high-precision satellite navigation and position service system, which can solve the technical problems that the existing accurate positioning service is limited by hardware resources, the bearing capacity of a user is limited, and the safety level protection design is not satisfied.
The invention provides a Beidou high-precision satellite navigation and position service system which comprises a satellite navigation and positioning resolving module, a user management platform, a terminal user and an operation state monitoring module,
the satellite navigation positioning resolving module is used for accessing the data of the reference station and resolving, so that the regional enhancement data information is obtained;
the user management platform is used for managing and authenticating the terminal user, the authenticated terminal user sends an enhanced data information request to the user management platform, meanwhile, the terminal user sends self outline position and elevation information, and the user management platform selects a certain grid point virtual observed quantity corresponding to the outline position from the area enhanced data information as difference information of the user according to the outline position and elevation information uploaded by the terminal user, and sends the difference information and the position coordinates of the grid point to the terminal user;
The running state monitoring module is in data communication with the satellite navigation positioning resolving module and is used for monitoring the running state of the reference station and the regional enhancement data information;
the satellite navigation positioning resolving module is arranged in an intranet, and reference station data is accessed into the satellite navigation positioning resolving module through a reference station dedicated line and a unidirectional optical gate;
the regional enhancement data information is pushed to the external network environment through the unidirectional optical gate, and then enhancement data information requested by a user is pushed to an authenticated terminal user through a mobile communication network or the Internet.
Preferably, the operation state monitoring module comprises a reference station network state monitoring module and an enhanced service performance monitoring module, wherein,
the reference station network state monitoring module is used for monitoring the running state of the reference station in real time;
the enhanced service performance monitoring module is used for monitoring the coverage range and time delay of the regional enhanced data information service and displaying the service capability provided in the coverage range in real time.
Preferably, the satellite navigation positioning resolving module comprises a reference station data access module, a reference station data preprocessing module, a reference station data storage module, a regional grid virtual point dividing module and a regional grid virtual observed quantity resolving module,
The reference station data access module is used for being responsible for accessing the regional reference station data;
the reference station data preprocessing module is used for checking, analyzing and reducing data protocols and data contents in the reference station data;
the reference station data storage module is used for subscribing the real-time data or the cache data processed by the reference station data preprocessing module and storing an original data stream file of the reference station data;
the regional grid virtual point dividing module is used for dividing the virtual points of the coverage region grid to finish regional virtual grid point division;
the regional grid virtual observed quantity resolving module is used for resolving the reference station data based on the regional virtual grid points to generate regional enhanced data information.
Preferably, the regional grid virtual point dividing module comprises a first step grid virtual point dividing module, a second step grid virtual point dividing module and a third step grid virtual point dividing module,
the first step grid virtual point dividing module is used for dividing a coverage area into a plurality of polygons according to the standard station grid distribution, the service area range and the preset grid distance, and the polygon intersection points are first step grid virtual points;
the second step grid virtual point dividing module is used for encrypting the area with larger user density according to the user distribution density of the area to form second step grid virtual points;
The third step grid virtual point dividing module is used for analyzing the regional topography, encrypting the region with rapid elevation change according to the topography elevation change, and forming the third step grid virtual point.
Preferably, the regional grid virtual observed quantity resolving module comprises an algorithm load balancing module, a data processing module, a regional correction information processing module and a regional enhancement data packaging module,
the algorithm load balancing module is used for carding and preprocessing the data of the reference station and monitoring the node state of the core algorithm through the core algorithm;
the data processing module is used for carrying out data processing, ambiguity fixing and regional error modeling on the reference station data;
the regional correction information processing module is used for generating regional grid virtual point information;
the region enhancement data encapsulation module is used for encapsulating the region grid virtual point information generated by the region correction information processing module into a standard RTCM message format, pushing the encapsulated region enhancement information service message to a user management platform, and sending the service to a terminal user through data broadcasting through the user management platform.
Preferably, the user management platform comprises a user authentication module and an enhanced data information broadcasting module,
The user authentication module is used for receiving authentication request information of the terminal user, differentiating the request information according to different user types, auditing and feeding back the authentication information, and maintaining and managing the terminal user information;
the enhanced data information broadcasting module is used for verifying the enhanced data sent to the terminal user, sending the regional enhanced service information passing the verification to the terminal user, and establishing a distribution interface management mechanism to realize the control of the distribution interface information.
Preferably, the user authentication module comprises an authentication operation module and an authentication management module, wherein,
the authentication operation module comprises an authentication information receiving module, an authentication information auditing module and an authentication information feedback module,
the authentication information receiving module is used for receiving authentication request information of a terminal user, differentiating the request information according to different user types, and sending the received authentication information to the authentication information auditing;
the authentication information auditing module is used for authenticating the request information of the terminal user, extracting the user information of the high-precision user comprehensive service management system, comparing and auditing, and generating auditing authentication result information;
the authentication information feedback module is used for feeding the verification authentication result back to the user and the enhancement information distribution subsystem, and the enhancement information distribution subsystem judges whether to send enhancement information to the user according to the verification result of the authentication information;
The authentication management module comprises a user information maintenance module and an abnormal user management module,
the user information maintenance module is used for maintaining the terminal user information, including terminal user information updating, abnormal user recording and log information maintenance;
the abnormal user management module is used for intervening the behavior of the abnormal user, and taking corresponding measures for the abnormal login user to ensure the safety of the broadcasting system.
Preferably, the enhanced data information broadcasting module comprises a data distribution service module and a distribution control module, wherein,
the data distribution service module is used for checking the correctness, timeliness and rationality of the enhanced service data sent to the terminal user, and the data is sent to the terminal user after checking, so that the terminal user receives the region enhanced service information passing the checking and simultaneously prompts and displays the enhanced information which does not pass the checking on an interface;
the distribution control module comprises a newly-built interface module, a management interface module, a distribution interface display module, a log recording module and a log auditing module; the newly-built interface module is used for newly-building distribution interface information; the management interface module is used for establishing a distribution interface management mechanism and editing, deleting, disabling and enabling distribution interface information; the distribution interface display module is used for displaying distribution interface information, and the queried information comprises distribution object names, distribution IP, ports and data request type information of the distribution interface; the log recording module is used for recording the operation log of the enhanced information distribution subsystem; the log audit module is used for an application layer log recording function and checking audit log information through a system log.
Preferably, the system further comprises a user integrated service management module, wherein the user integrated service management module is connected with the user management platform and is used for performing role allocation and management on the terminal user account numbers, and terminal users with different roles allocate different system authorities.
Preferably, the user integrated service management module comprises a user management module, a role management module and a high-precision account management module,
the user management module is used for managing the terminal user;
the role management module is used for supporting various roles of the terminal user and supporting role authorization;
the high-precision account management module is used for managing the terminal account.
Compared with the Beidou high-precision satellite navigation and position service system, the Beidou high-precision satellite navigation and position service system has the following beneficial effects:
1. in the invention, the satellite navigation positioning resolving module only calculates the virtual reference stations of the grid points with fixed quantity, which are not related to the number of terminal users, and consumes fixed resources, thereby greatly saving the resource cost.
2. According to the regional virtual grid point division, the satellite navigation positioning resolving module generates a virtual reference station according to the grid, and sends grid differential correction data to the external network broadcasting platform. As the broadcasting platform is deployed on the external network and is designed by a split module, the broadcasting platform can be distributed, and the resource requirement is calculated according to the service requirement, thereby supporting the hundred thousand-level and more user access.
3. In the invention, the original data of all reference stations in the CORS network are transmitted to the satellite navigation positioning resolving module in real time, and more than 3 original data of the reference stations are secret data and need to be transmitted to the secret environment.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a frame structure of a Beidou high-precision satellite navigation and position service system of the present invention;
FIG. 2 is a schematic diagram of a frame structure of a satellite navigation positioning calculation module according to the present invention;
FIG. 3 is a schematic diagram of a frame structure of a virtual observed quantity calculation module of an area grid according to the present invention;
FIG. 4 is a schematic diagram of a framework of a user management platform according to the present invention;
FIG. 5 is a schematic diagram of a frame structure of an operation state monitoring module according to the present invention;
fig. 6 is a schematic diagram of a framework structure of the subscriber integrated service management module according to the present invention.
Summarizing the reference numerals:
1. satellite navigation positioning resolving module 11 and reference station data access module
12. Reference station data preprocessing module 13 and reference station data storage module
14. Regional grid virtual point dividing module 15 and regional grid virtual observed quantity resolving module
151. Algorithm load balancing module 152 and data processing module
153. Region correction information processing module 154 and region enhancement data packaging module
2. User management platform 21 and user authentication module
22. Enhanced data information broadcasting module 3 and end user
4. Running state monitoring module 41 and reference station network state monitoring module
42. Enhanced service performance monitoring module 5 and user integrated service management module
51. User management module 52, character management module
53. High-precision account management module
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
As shown in fig. 1, the invention provides a Beidou high-precision satellite navigation and position service system, which comprises a satellite navigation positioning resolving module 1, a user management platform 2, a terminal user 3 and an operation state monitoring module 4. The satellite navigation positioning resolving module 1 is used for accessing reference station data and resolving, so that regional enhanced data information is obtained; the user management platform 2 is used for managing and authenticating the end user 3, the authenticated end user 3 sends an enhanced data information request to the user management platform 2, meanwhile, the end user 3 sends self outline position and elevation information, the user management platform 2 selects a certain grid point virtual observed quantity corresponding to the outline position from the regional enhanced data information according to the outline position and elevation information uploaded by the end user 3 as difference information of the user, and sends the difference information and the position coordinates of the grid point to the end user 3. The operation state monitoring module 4 is in data communication with the satellite navigation positioning resolving module 1 and is used for monitoring the operation state of the reference station and the regional enhancement data information.
Specifically, the end user 3 transmits its own outline position and elevation information, the user management platform 2 selects a certain grid point virtual observed quantity corresponding to the outline position transmitted by the end user from all grid virtual observed quantities as the difference information of the user according to the outline position, elevation and other information uploaded by the end user 3, specifically selects a certain grid point virtual observed quantity which is most suitable, i.e. has the shortest distance or has the suitable distance and the smallest elevation difference, from all grid virtual observed quantities as the difference information of the user, and further transmits the difference information and the position coordinates of the grid points to the end user.
In the invention, a satellite navigation positioning resolving module 1 is arranged in an intranet, and reference station data is accessed into the satellite navigation positioning resolving module 1 through a reference station dedicated line and a unidirectional optical gate; the regional enhancement data information is pushed to the external network environment through the unidirectional optical gate, and then the enhancement data information requested by the user is pushed to the authenticated terminal user 3 through the mobile communication network or the internet.
In the method, original data of all reference stations in a CORS network are transmitted to a satellite navigation positioning resolving module 1 in real time, more than 3 reference stations are secret data, and the secret data are required to be transmitted to a secret-related environment, the satellite navigation positioning resolving module 1 is deployed in the secret-related environment and isolated from an external network through unidirectional network safety equipment, the external network cannot access an internal secret-related area, and data interaction is realized through the external network and a terminal user 3, so that the security level protection design can be met.
The Beidou high-precision satellite navigation and position service system also comprises an operation state monitoring module 4, wherein the operation state monitoring module 4 is in data communication with the satellite navigation positioning resolving module 1, and the operation state monitoring module 4 comprises a reference station network state monitoring module 41 and an enhanced service performance monitoring module 42. Wherein,
The reference station network state monitoring module 41 is used for monitoring the operation state of the reference station in real time. The reference station network status monitoring module 41 includes a reference station data quality monitoring module and a reference station management module.
The reference station data quality monitoring module consists of functions of reference station quality analysis, star map and the like; the reference station management module is composed of functions of reference station import, reference station information editing, reference station running state monitoring and the like. The reference station data quality monitoring module is used for carrying out reference station data quality analysis, cycle slip detection and star map calculation and display, and displaying the position of the air navigation satellite at the current moment of the reference station through the altitude angle and azimuth angle of the satellite.
The reference station management module comprises a reference station import module, a reference station information editing module and a reference station running state monitoring module, wherein the reference station import module is used for importing reference station information, and comprises information such as a reference station name, reference station coordinates, a receiver type, a receiver antenna type, a communication mode, IP (Internet protocol) and the like; the reference station information editing module is used for editing information of the reference station, including adding, deleting, modifying, inquiring and the like of the information of the reference station; the reference station running state monitoring module is used for monitoring the real-time running state of the reference station, whether the reference station is online or not and the like.
The enhanced services performance monitoring module 42 is configured to monitor coverage and time delay of the regional enhanced data information service, and display the service capability provided in the coverage in real time.
In a further embodiment of the present invention, the satellite navigation positioning resolving module 1 includes a reference station data access module 11, a reference station data preprocessing module 12, a reference station data storage module 13, a regional grid virtual point dividing module 14 and a regional grid virtual observation resolving module 15. Wherein,
the reference station data access module 11 is used for being responsible for accessing the regional reference station data, and the main functions of the reference station data access module include a data source list building module, a reference station basic information input module, a communication protocol configuration module and the like. The data source list establishing module needs to establish data source lists of regional reference stations, and each data source list corresponds to one reference station; the basic information input module of the reference station inputs basic information of the reference station through a data source list, and mainly comprises: reference station name, reference station code, reference station space rectangular coordinates or earth coordinates, supported satellite system, receiver type, antenna height, etc. And the reference station data access module further comprises a reference station configuration information management module, wherein the reference station configuration information management module is used for modifying basic information and inquiring basic information, specifically is used for modifying reference station static basic information except a base station name and a base station ID, and can inquire single reference station static basic data. The reference station static base data includes: base station name, base station code, base station longitude, base station latitude, base station geodetic altitude, base station coordinates X/Y/Z, support satellite system, receiver type, antenna altitude, network communication protocol, data format protocol information.
The reference station data preprocessing module 12 is used for checking, analyzing and reducing data protocols and data contents in the reference station data. The reference station data preprocessing module comprises a data protocol checking module, a data content checking module, a data cleaning module and a data reduction module, in particular,
1) Data protocol checking module
The network communication protocol is checked, the agreed transmission protocol is checked, the network communication protocol is based on NTRIP protocol, the real-time data stream is accessed into the system through TCP/IP communication, and the two modes of single station data access and multi-station data stream access are distinguished. Checking a network communication protocol, wherein the server needs to check HTTP request header of the client and check the agreed transmission protocol;
checking the data format protocol, checking the agreed format protocol.
2) Data content checking module
The data content analysis is needed to analyze the data content, the data content analysis is preferably performed by adopting a data format analysis function which is matched and passed, and the analysis flow prompts that the analysis is passed and the analysis is not passed;
RTCM single-station data analysis and check, for receiving the message list check of single-station data adopting RTCM protocol, need confirm whether received message list is identical with message list agreed by the data access system, if inconsistent, establish the new message list, and feed back the message list and warning state to the data cleaning module;
And (3) carrying out RAW single-station data analysis and inspection, namely carrying out received message list inspection on single-station data adopting a RAW protocol, determining whether the received message list is consistent with a message list agreed by a data access system, if not, establishing a new message list, and feeding back the message list and a warning state to a data cleaning module.
3) Data cleaning module
The data cleaning module mainly comprises functions of normal data cleaning, alarm data cleaning, error data cleaning and the like.
Normal data clearing, namely, the normal state of the received data content checking module, wherein the specific state information is that the data format content is matched with the data format protocol, the data format is resolvable and is the agreed data format protocol, and the data of the current data source passes the content checking;
and the alarm data cleaning module processes the alarm and modifies the real-time data stream data format protocol of the data source agreed by the data access module. After the warning information processing is finished, the real-time data stream can be normally sent to the next module, but the repeatability test needs to be carried out before the real-time data stream is sent to the next module, namely, the data stream at the same moment sent by the previous module does not have a plurality of pieces of repeated data, and if the plurality of pieces of repeated data occur, only one piece of healthy data needs to be reserved for screening and sent to the next module;
The data is cleaned, the data is analyzed and passed in the data analysis process, and the check sum check error, the data length check error, the split error, the RTCM message missing and the RTCM message repetition of the packaged data occur, so that the real-time data flow of the data source is required to be interrupted to flow to the next module, and an error report is generated. When the data is analyzed and the data format content is not matched with the data format protocol and can not be analyzed and the data format is error state information, the real-time data flow of the data source is required to be interrupted to flow to the next module and an error report is generated.
4) Data reduction module
The data reduction module mainly comprises a raw observation data stream reduction function and an internal format data stream reduction function.
The original observation data flow is reduced, and the original observation data flow is mainly used for data distribution;
and the internal format data flow reduction is used for analyzing and splitting the original observed data flow to obtain a data flow conversion format defined in the system, and is mainly used as an internal service processing flow.
The reference station data storage module 13 is used for subscribing to real-time data or cache data processed by the reference station data preprocessing module 12, and storing an original data stream file of the reference station data. The reference station data storage module 13 includes a data conversion storage module and a data storage management module. The data conversion storage module subscribes to real-time data or cache data of the data reduction module of the data preprocessing subsystem, takes out the data in the message queue, describes the document according to the RINEX 3.X format, and converts the data from an internal circulation format into file forms of different RINEX versions. The naming mode of the RINEX file is according to the naming rule of the corresponding RINEX version convention, wherein the station name in the file name adopts base station code (four-bit English letters) of static information convention of a reference station in the data access system. The data storage management module supports an original data stream file for storing reference station data, wherein the station measurement name in the file name adopts base station codes (four-bit English letters) agreed by static information of the reference station in the data access system.
The regional grid virtual point division module 14 is configured to divide the coverage region grid virtual points, and complete the regional virtual grid point division. The regional grid virtual point dividing module 14 includes a first step grid virtual point dividing module, a second step grid virtual point dividing module, and a third step grid virtual point dividing module, where the first step grid virtual point dividing module is configured to divide a coverage area into a plurality of polygons according to the reference station grid distribution, the service area range, and the preset grid distance, and an intersection point of the polygons is the first step grid virtual point; the second step grid virtual point dividing module is used for encrypting the area with larger user density according to the user distribution density of the area to form second step grid virtual points; the third step grid virtual point dividing module is used for analyzing the regional topography, encrypting the region with rapid elevation change according to the topography elevation change, and forming the third step grid virtual point.
The regional grid virtual observed quantity resolving module 15 is used for resolving the datum station data based on the regional virtual grid points to generate regional enhanced data information, and meets the regional decimeter and centimeter enhanced positioning requirements. Preferably, the area grid virtual observance amount resolving module 15 includes an algorithm load balancing module 151, a data processing module 152, an area correction information processing module 153 and an area enhancement data encapsulation module 154.
The algorithm load balancing module 151 is configured to perform processing and preprocessing on the reference station data, and perform core algorithm node state monitoring through a core algorithm. The algorithm load balancing module comprises a data preprocessing module, a load balancing algorithm and a core algorithm node supervision module. The data preprocessing module is used for carding the data of the reference station and simultaneously finishing the preprocessing requirement of a core algorithm on the data; the load balancing algorithm module is used for establishing a core algorithm node list and distributing the received original data to the core algorithm in a balanced manner; the core algorithm node supervision module is used for monitoring the state of the core algorithm nodes, removing the core algorithm list after the core algorithm is down, and not distributing data to the down nodes.
The data processing module 152 is used for data processing, ambiguity fixing and region error modeling of the reference station data. The data processing comprises time conversion, satellite calculation, residual error generation, cycle slip detection and observation variance estimation; the time conversion is used to effect conversion between different time systems (BD, GPS, GLONASS, UTC, etc.). The ambiguity fixing realizes the ambiguity fixing of the reference station; the regional error modeling comprises ionospheric delay errors, tropospheric delay errors and orbit errors, and a corresponding error model is required to be constructed to attenuate the influence of the errors.
The regional correction information processing module 153 is configured to generate regional grid virtual point information, including network RTK and various correction information required by RTD users, where the correction information required by the users is virtual reference station observation value information, mainly GNSS pseudo-range, carrier phase observation value, carrier-to-dryness ratio, and the like.
The region enhanced data encapsulation module 154 is configured to encapsulate the region grid virtual point information generated by the region correction information processing module into a standard RTCM message format, push the encapsulated region enhanced information service message to the user management platform 2, and want the terminal user 3 to serve through data broadcasting via the user management platform 2.
The user management platform 2 of the present invention includes a user authentication module 21 and an enhanced data information dissemination module 22.
The user authentication module 21 is configured to receive authentication request information of the terminal user 3, differentiate the request information according to user types, audit and feedback the authentication information, and maintain and manage information of the terminal user 3.
Specifically, the user authentication module 21 includes an authentication operation module and an authentication management module. The authentication operation module comprises an authentication information receiving module, an authentication information auditing module and an authentication information feedback module, wherein the authentication information receiving module is used for receiving authentication request information of the terminal user 3, differentiating the request information according to different user types and sending the received authentication information to the authentication information auditing module; the authentication information auditing module is used for authenticating the request information of the terminal user 3, extracting the user information of the high-precision user comprehensive service management system, and comparing and auditing to generate auditing authentication result information; and the authentication information feedback module is used for feeding the auditing and authentication result back to the user and the enhanced information distribution subsystem. And the enhanced information distribution subsystem judges whether to send enhanced information to the user according to the verification result of the authentication information. The authentication management module comprises a user information maintenance module and an abnormal user management module, wherein the user information maintenance module is used for maintaining the information of the terminal user 3 and mainly comprises the information updating of the terminal user 3, abnormal user record and log information maintenance; the abnormal user management module is used for intervening the behavior of the abnormal user, and taking corresponding measures (shielding and the like) for the abnormal login user so as to ensure the safety of the broadcasting system.
The enhanced data information broadcasting module 22 is configured to verify the enhanced data sent to the end user 3, send the verified regional enhanced service information to the end user 3, and establish a distribution interface management mechanism to implement control over the distribution interface information. The enhanced data information broadcasting module comprises a data distribution service module and a distribution control module. The data distribution service module is used for checking the enhancement service data sent to the terminal user 3, checking the correctness, timeliness and rationality of the data, and sending the checked data to the terminal user 3, so that the terminal user 3 receives the regional enhancement service information passing the check, and simultaneously prompts and displays the enhancement information which does not pass the check on an interface. The distribution control module comprises a newly-built interface module, a management interface module, a distribution interface display module, a log recording module and a log auditing module. The newly-built interface module is used for newly-building distribution interface information (background control); the management interface module is used for establishing a distribution interface management mechanism and can edit, delete, disable and enable (background control) distribution interface information; the distribution interface display module is used for displaying distribution interface information, and the queried information comprises information such as a distribution object name, a distribution IP, a port, a data request type and the like of a distribution interface; the log recording module is used for recording the operation log (background control) of the enhanced information distribution subsystem; the log audit module is used for having a perfect application layer log recording function, and can check audit log information through a system log, wherein the audit log information comprises serial numbers, distribution system names, distribution categories, distribution dates, distribution descriptions and the like (background control).
In a further embodiment of the invention, the satellite navigation positioning solution module 1 calculates virtual observation data of the virtual grid points according to a fixed frequency. Preferably, the satellite navigation positioning resolving module 1 performs virtual observed quantity resolving of the regional grid according to three or more reference sites near each virtual grid point.
The Beidou high-precision satellite navigation and position service system also comprises a user integrated service management module 5, wherein the user integrated service management module 5 is connected with the user management platform 2 and is used for performing role allocation and management on account numbers of the terminal users 3, and the terminal users 3 with different roles are allocated with different system authorities. The user integrated service management module 5 includes a user management module 51, a role management module 52 and a high-precision account management module 53, wherein the user management module 51 is used for managing the terminal user 3, the role management module 52 is used for supporting roles of various terminal users 3 and supporting role authorization, and the high-precision account management module 53 is used for managing the terminal account.
The user management module 51 manages the end user 3, including modification of information and deletion of account number of the existing end user 3, and may also add the end user 3. The user management module 51 comprises a user list module, a user management module and a user password modification module, wherein the user list module supports inquiring and managing account information, including information such as account names, telephones, account states and the like, and supports pushing the alarm information for service; the user management module supports the operations of adding, editing, deleting and the like for the management user; the user password modification module supports resetting and modifying passwords of the management user.
The role management module 52 supports management of various end user 3 roles, e.g., supervisors, general administrators, etc., and support that supervisors have all rights, and system general administrators have all rights except for the allocation of system users.
The high-precision account management module 53 manages the terminal account, can edit static information of the terminal account, and can add a new terminal account. The high-precision account management module comprises an account list module, an account management module and an account password modification module, wherein the account list module supports displaying all account information, including user numbers, user names, user phones, service time and the like; the account management module supports new account creation, completes account creation by setting user names, contacts and contact phones of the applicant, and also supports editing and deleting of the new account; the account password modification module supports the functions of resetting and modifying the password of the user account.
According to the method, a satellite navigation positioning resolving module 1 generates a virtual reference station according to a grid according to regional virtual grid division, and transmits grid differential correction data to an external network broadcasting platform. As the broadcasting platform is deployed on the external network and is designed by a split module, the broadcasting platform can be distributed, and the resource requirement is calculated according to the service requirement, thereby supporting the hundred thousand-level and more user access.
In addition, the satellite navigation positioning resolving module only calculates the grid point virtual reference stations with fixed quantity, is not related to the number of terminal users any more, consumes fixed resources, and can greatly save the resource cost.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (9)
1. A Beidou high-precision satellite navigation and position service system is characterized by comprising a satellite navigation positioning resolving module, a user management platform, a terminal user and an operation state monitoring module,
the satellite navigation positioning resolving module is used for accessing the data of the reference station and resolving, so that the regional enhancement data information is obtained;
the user management platform is used for managing and authenticating the terminal user, the authenticated terminal user sends an enhanced data information request to the user management platform, meanwhile, the terminal user sends self outline position and elevation information, the user management platform selects a certain grid point virtual observed quantity corresponding to the outline position from the regional enhanced data information as difference information of the user according to the outline position uploaded by the terminal user, and sends the difference information and the position coordinates of the grid point to the terminal user;
The running state monitoring module is in data communication with the satellite navigation positioning resolving module and is used for monitoring the running state of the reference station and the regional enhancement data information;
the satellite navigation positioning resolving module is arranged in an intranet, and reference station data is accessed into the satellite navigation positioning resolving module through a reference station dedicated line and a unidirectional optical gate;
the regional enhancement data information is pushed to an external network environment through a unidirectional optical gate, and enhancement data information requested by a user is pushed to an authenticated terminal user through a mobile communication network or the Internet;
the satellite navigation positioning resolving module comprises a reference station data access module, a reference station data preprocessing module, a reference station data storage module, a regional grid virtual point dividing module and a regional grid virtual observed quantity resolving module,
the reference station data access module is used for being responsible for accessing the regional reference station data;
the reference station data preprocessing module is used for checking, analyzing and reducing data protocols and data contents in the reference station data;
the reference station data storage module is used for subscribing the real-time data or the cache data processed by the reference station data preprocessing module and storing an original data stream file of the reference station data;
The regional grid virtual point dividing module is used for dividing the virtual points of the coverage region grid to finish regional virtual grid point division;
the regional grid virtual observed quantity resolving module is used for resolving the datum station data based on the regional virtual grid points to generate regional enhanced data information;
the reference station data preprocessing module comprises a data protocol checking module, a data content checking module, a data cleaning module and a data reduction module;
the data protocol checking module is used for checking network communication protocols and checking agreed transmission protocols;
the data content checking module is used for analyzing the data content, analyzing the data content to be analyzed by selecting a data format analysis function which is matched and passing, and feeding back the analysis result to the data cleaning module;
the data cleaning module comprises normal data cleaning, alarm data cleaning and error data cleaning, wherein,
the normal data clearing is used for receiving the normal state of the data content checking module, and the specific state information is that the data format content is matched with the data format protocol, the data format is resolvable and is the agreed data format protocol, and the data of the current data source passes the content checking;
The alarm data cleaning module is used for processing the alarm, modifying the real-time data stream data format protocol of the data source appointed by the data access module, after the alarm information processing is finished, normally transmitting the real-time data stream to the next module, carrying out repeatability test before transmitting the alarm information to the next module, and if a plurality of pieces of repeated data appear, screening and only reserving one piece of healthy data to transmit the health data to the next module;
the error data cleaning is used for data analysis passing in the data analysis process, checking and checking errors of the packaged data, checking errors of the data length, splitting errors of the packaged data, RTCM text deletion and RTCM text repetition occur, and then the real-time data flow of the data source is interrupted to flow to the next module, and an error report is generated; in the data analysis process, when the data analysis is failed and error state information that the data format content is not matched with the data format protocol and can not be analyzed and the data format is error appears, interrupting the real-time data stream of the data source to flow to the next module and generating an error report;
the data reduction module comprises an original observed data stream reduction function and an internal format data stream reduction function; wherein,
The original observed data stream reduction is used for distributing and using the original observed data stream as data;
the internal format data stream reduction is used for resolving an original observed data stream, splitting the original observed data stream to obtain a data stream conversion format defined in the system, and using the data stream conversion format as an internal service processing stream.
2. The Beidou high-precision satellite navigation and location service system of claim 1, wherein the running state monitoring module comprises a reference station network state monitoring module and an enhanced service performance monitoring module, wherein,
the reference station network state monitoring module is used for monitoring the running state of the reference station in real time;
the enhanced service performance monitoring module is used for monitoring the coverage range and time delay of the regional enhanced data information service and displaying the service capability provided in the coverage range in real time.
3. The Beidou high-precision satellite navigation and position service system of claim 1, wherein the regional grid virtual point dividing module comprises a first step grid virtual point dividing module, a second step grid virtual point dividing module and a third step grid virtual point dividing module,
the first step grid virtual point dividing module is used for dividing a coverage area into a plurality of polygons according to the standard station grid distribution, the service area range and the preset grid distance, and the polygon intersection points are first step grid virtual points;
The second step grid virtual point dividing module is used for encrypting the area with larger user density according to the user distribution density of the area to form second step grid virtual points;
the third step grid virtual point dividing module is used for analyzing the regional topography, encrypting the region with rapid elevation change according to the topography elevation change, and forming the third step grid virtual point.
4. The Beidou high-precision satellite navigation and position service system according to claim 1, wherein the regional grid virtual observational quantity resolving module comprises an algorithm load balancing module, a data processing module, a regional correction information processing module and a regional enhancement data packaging module,
the algorithm load balancing module is used for carding and preprocessing the data of the reference station and monitoring the node state of the core algorithm through the core algorithm;
the data processing module is used for carrying out data processing, ambiguity fixing and regional error modeling on the reference station data;
the regional correction information processing module is used for generating regional grid virtual point information;
the region enhancement data encapsulation module is used for encapsulating the region grid virtual point information generated by the region correction information processing module into a standard RTCM message format, pushing the encapsulated region enhancement information service message to a user management platform, and sending the service to a terminal user through data broadcasting through the user management platform.
5. The Beidou high-precision satellite navigation and position service system of claim 1, wherein the user management platform comprises a user authentication module and an enhanced data information broadcasting module,
the user authentication module is used for receiving authentication request information of the terminal user, differentiating the request information according to different user types, auditing and feeding back the authentication information, and maintaining and managing the terminal user information;
the enhanced data information broadcasting module is used for verifying the enhanced data sent to the terminal user, sending the regional enhanced service information passing the verification to the terminal user, and establishing a distribution interface management mechanism to realize the control of the distribution interface information.
6. The Beidou high-precision satellite navigation and location service system of claim 5, wherein the user authentication module comprises an authentication operation module and an authentication management module, wherein,
the authentication operation module comprises an authentication information receiving module, an authentication information auditing module and an authentication information feedback module,
the authentication information receiving module is used for receiving authentication request information of a terminal user, differentiating the request information according to different user types, and sending the received authentication information to the authentication information auditing;
The authentication information auditing module is used for authenticating the request information of the terminal user, extracting the user information of the high-precision user comprehensive service management system, comparing and auditing, and generating auditing authentication result information;
the authentication information feedback module is used for feeding the verification authentication result back to the user and the enhancement information distribution subsystem, and the enhancement information distribution subsystem judges whether to send enhancement information to the user according to the verification result of the authentication information;
the authentication management module comprises a user information maintenance module and an abnormal user management module,
the user information maintenance module is used for maintaining the terminal user information, including terminal user information updating, abnormal user recording and log information maintenance;
the abnormal user management module is used for intervening the behavior of the abnormal user, and taking corresponding measures for the abnormal login user to ensure the safety of the broadcasting system.
7. The Beidou high-precision satellite navigation and position service system of claim 5, wherein the enhanced data information broadcasting module comprises a data distribution service module and a distribution control module, wherein,
the data distribution service module is used for checking the correctness, timeliness and rationality of the enhanced service data sent to the terminal user, and the data is sent to the terminal user after checking, so that the terminal user receives the region enhanced service information passing the checking and simultaneously prompts and displays the enhanced information which does not pass the checking on an interface;
The distribution control module comprises a newly-built interface module, a management interface module, a distribution interface display module, a log recording module and a log auditing module; the newly-built interface module is used for newly-building distribution interface information; the management interface module is used for establishing a distribution interface management mechanism and editing, deleting, disabling and enabling distribution interface information; the distribution interface display module is used for displaying distribution interface information, and the queried information comprises distribution object names, distribution IP, ports and data request type information of the distribution interface; the log recording module is used for recording the operation log of the enhanced information distribution subsystem; the log audit module is used for an application layer log recording function and checking audit log information through a system log.
8. The Beidou high-precision satellite navigation and location service system of claim 1, further comprising a user integrated service management module, wherein the user integrated service management module is connected with the user management platform and is used for performing role allocation and management on terminal user accounts, and terminal users with different roles are allocated with different system permissions.
9. The Beidou high-precision satellite navigation and location service system of claim 8, wherein the user integrated service management module comprises a user management module, a role management module and a high-precision account management module,
The user management module is used for managing the terminal user;
the role management module is used for supporting various roles of the terminal user and supporting role authorization;
the high-precision account management module is used for managing the terminal account.
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