CN113050138A - Grid-based high-precision satellite navigation positioning service method - Google Patents
Grid-based high-precision satellite navigation positioning service method Download PDFInfo
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- CN113050138A CN113050138A CN202110294390.8A CN202110294390A CN113050138A CN 113050138 A CN113050138 A CN 113050138A CN 202110294390 A CN202110294390 A CN 202110294390A CN 113050138 A CN113050138 A CN 113050138A
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- 238000012795 verification Methods 0.000 claims description 12
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- 230000008859 change Effects 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 4
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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 provides a grid-based high-precision satellite navigation positioning service method, which comprises the following steps: the data access of the reference station is realized, and the data access of the reference station is realized by accessing the data to an intranet calculation center through a special reference station line and a one-way optical gate; the computing center completes the division of the virtual grid points of the region, and stores and processes the data of the regional reference station to generate regional enhanced data information; and pushing the regional enhanced data information to an external network environment through a one-way optical gate, and pushing the enhanced data information requested by the user to the authenticated terminal user through a mobile communication network or the Internet. The invention only calculates the grid point virtual reference stations with fixed quantity through the calculation center, is not related to the number of terminal users any more, and consumes fixed resources, thereby greatly saving the resource cost.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a grid-based high-precision satellite navigation positioning service method.
Background
The implementation steps of the network RTK positioning technology can be summarized as the following three points:
firstly, baseline calculation is carried out based on the observation data of the CORS network, and ambiguity parameters on each baseline are fixed. The exact fixation of the ambiguity parameters determines the computational accuracy of the various spatial correlation errors. The distance between the current CORS network reference stations is generally long, and the fixation of long-distance baseline ambiguity is a key technology of network RTK.
And secondly, calculating to obtain each coefficient of the correction model after the ambiguity parameters and the like are accurately and timely fixed.
And finally, the data processing center simulates according to the approximate position of the user to obtain the optimal observation value at the VRS position, model correction is carried out on space related errors, other technical means and measures are adopted for eliminating non-space error sources, error correction numbers and position results are accurately obtained, the virtual observation value of the VRS is obtained, a short base line is formed between the VRS and the user, and accurate coordinate information at the user position is finally obtained through relative positioning calculation.
In recent years, as high-precision real-time positioning technology is increasingly developed in various fields, more demands are made, sufficient attention is paid to the construction of CORS infrastructure all over the world, a large amount of capital is invested for development, and a CORS-based multifunctional system oriented to real-time positioning service and classical geodetic measurement application is developed.
In view of the great advantages in practicality and feasibility, the network RTK technology has been fully validated and improved by the existing CORS system.
The VRS (virtual reference station) system is actually a multi-base station technology, the positioning process is effective fusion of data of a plurality of reference stations in a CORS network, and the positioning steps are as follows:
(1) all reference stations in the CORS network transmit observed original data to a computing center in real time;
(2) the user sends the probability coordinates to a computing center in the form of NMEA GGA, and the computing center generates a virtual reference station according to the probability coordinates;
(3) the computing center selects a group of reference stations according to the user position;
(4) according to the baseline resolving result of the selected reference station, the calculation center carries out classified modeling calculation on the error sources, and various error corrections at the VRS position are obtained through interpolation;
(5) and sending the calculated differential correction number to a user by using a standard RTCM protocol, and finishing differential positioning after the user receives correction information.
The above-mentioned VRS (virtual reference station) system has the following technical defects: (1) the user needs to send the coordinates in the NMEA form to the computing center, and the computing center generates the virtual reference station according to the coordinates and sends the difference correction number to the user. In the method, the virtual reference station is calculated by the calculation center according to the position of the user, and the larger the user amount is, the larger the resource consumed by the calculation center is; (2) distributed deployment is not facilitated; (3) the number of supported users is about two thousand, and then the number is expanded, so that a single software cannot support the users; (4) the original data of all reference stations in the CORS network are transmitted to a computing center in real time, more than 3 original data of the reference stations are confidential data and need to be transmitted to a confidential environment, and the computing center of the scheme needs to interact with users at the same time, is a two-way interaction environment connected with the Internet and does not meet the security level protection design.
Therefore, there is a need in the art to develop a location service method that can overcome the above-mentioned technical problems in the prior art.
Disclosure of Invention
The invention aims to provide a grid-based high-precision satellite navigation positioning service method, which can solve the technical problems that the existing precise positioning service is limited by hardware resources, the bearing capacity of a user is limited, and the safety level protection design is not met.
The invention provides a grid-based high-precision satellite navigation positioning service method, which comprises the following steps:
the data access of the reference station is realized, and the data access of the reference station is realized by accessing the data to an intranet calculation center through a special reference station line and a one-way optical gate;
the computing center completes the division of the virtual grid points of the region, and stores and processes the data of the regional reference station to generate regional enhanced data information;
and pushing the regional enhanced data information to an external network environment through a one-way optical gate, and pushing the enhanced data information requested by the user to the authenticated terminal user through a mobile communication network or the Internet.
Preferably, the computing center completes the division of the virtual points of the area grid, stores and processes the data of the area reference station, and further includes, after generating the area enhanced data information:
and monitoring the running state of the reference station in real time, monitoring the coverage area and time delay of the generated regional enhanced data information service, and displaying the service capability provided in the coverage area in real time.
Preferably, the step of completing the virtual point division of the area grid by the computing center comprises:
and dividing a coverage area into a plurality of polygons according to the distribution of the reference station network, the service area range and the preset grid distance, wherein the intersection point of the polygons is the division of the virtual points of the grid in the first step.
Preferably, the step of completing the virtual point division of the area grid by the computing center further includes:
and encrypting the area with higher user density according to the distribution density of the area users to form the second-step grid virtual point.
Preferably, the step of completing the virtual point division of the area grid by the computing center further includes:
and analyzing the terrain of the area, and encrypting the area with sharp elevation change according to the elevation change of the terrain to form a third step of grid virtual points.
Preferably, the storing and processing the regional reference station data, and the generating the regional enhanced data information includes:
and the calculation center calculates the virtual observation data of the virtual grid points according to the fixed frequency.
Preferably, the calculating center calculates the virtual observation data of the virtual grid point according to a fixed frequency includes:
and calculating the virtual observed quantity of the area grid according to three or more reference stations near each virtual grid point.
Preferably, the pushing the regional enhanced data information to an external network environment through a unidirectional optical gate, and then pushing the enhanced data information requested by the user to the authenticated end user through a mobile communication network or the internet includes:
pushing the regional enhancement data information to a user management platform arranged in an extranet environment through a one-way optical gate;
the user management platform receives the regional enhanced data information sent by the computing center and performs cache storage;
the user management platform manages and authenticates the terminal user;
the authenticated terminal user sends a request for enhancing data to the user management platform, and simultaneously the terminal user sends an approximate position of the terminal user, and the user management platform selects a certain grid point virtual observed quantity corresponding to the approximate position from the area grid virtual observed quantity as differential information of the user according to the approximate position uploaded by the terminal user;
and sending the difference information and the position coordinates of the lattice points to an end user together.
Preferably, the step of the user management platform managing and authenticating the end user comprises:
the user management platform receives authentication request information of a terminal user, distinguishes the request information according to different user types, and sends the received authentication information to the user management platform for authentication and verification;
and feeding back the authentication and verification result to the terminal user and the enhanced information distribution subsystem, and judging whether to send enhanced data information to the terminal user or not by the enhanced information distribution subsystem according to the authentication and verification result.
Preferably, before sending the difference information and the position coordinates of the lattice point to the end user, the method further includes:
verifying the regional enhanced service data sent to the terminal user;
sending the verified regional enhanced service information to the terminal user, and prompting and displaying the regional enhanced service data which does not pass the verification on an interface;
establishing a distribution interface management mechanism, and editing and managing distribution interface information;
and the user management platform displays the distribution interface information and records the enhanced information distribution subsystem operation log.
Compared with the prior art, the grid-based high-precision satellite navigation positioning service method has the following beneficial effects:
1. in the invention, the computing center only computes a fixed number of grid point virtual reference stations, which is not related to the number of terminal users, and the consumed resources are fixed, thereby greatly saving the resource cost.
2. The invention divides according to the virtual grid points of the region, the computing center generates the virtual reference station according to the grid, and transmits the grid differential correction data to the external grid broadcasting platform. The broadcasting platform is deployed in an external network, is designed in a sub-module mode, can be deployed in a distributed mode, and can calculate resource requirements according to service requirements, so that access of hundreds of thousands of levels and more users can be supported.
3. In the invention, all the original data of the reference stations in the CORS network are transmitted to the computing center in real time, more than 3 original data of the reference stations are confidential data and need to be transmitted to a confidential environment, the computing center is deployed in the confidential environment and is isolated from an external network through one-way network security equipment, the internal confidential area cannot be accessed by the external network, and data interaction is realized with a terminal user through the external network, so that the security level protection design can be met.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention provides a grid-based high-precision satellite navigation positioning service method, which comprises the following steps:
the data access of the reference station is realized, and the data access of the reference station is realized by accessing the data to an intranet calculation center through a special reference station line and a one-way optical gate;
the computing center completes the division of the virtual grid points of the region, and stores and processes the data of the regional reference station to generate regional enhanced data information;
and pushing the regional enhanced data information to an external network environment through a one-way optical gate, and pushing the enhanced data information requested by the user to the authenticated terminal user through a mobile communication network or the Internet.
In the invention, all the original data of the reference stations in the CORS network are transmitted to the computing center in real time, more than 3 original data of the reference stations are confidential data and need to be transmitted to a confidential environment, the computing center is deployed in the confidential environment and is isolated from an external network through one-way network security equipment, the internal confidential area cannot be accessed by the external network, and data interaction is realized with a terminal user through the external network, so that the security level protection design can be met.
In a further embodiment of the present invention, the method for completing the division of virtual points of the area grid by the computing center, storing and processing the data of the area reference station, and generating the area enhanced data information further includes the following steps:
and monitoring the running state of the reference station in real time, monitoring the coverage area and time delay of the generated regional enhanced data information service, and displaying the service capability provided in the coverage area in real time.
The invention can monitor the state of the reference station network (deployed in an internal network) and can also monitor the performance of the enhanced service (deployed in an external network). The reference station network state monitoring module is composed of a reference station data monitoring module and a reference station management module. And monitoring the coverage range and the time delay of the generated enhanced data information service by enhancing the service performance.
In a further embodiment of the present invention, the calculating the virtual point division of the central completed area grid comprises: dividing a coverage area into a plurality of polygons according to the distribution of the reference station network, the service area range and the preset grid distance, wherein the intersection point of the polygons is the first step of grid virtual point division; further, according to the distribution density of users in the area, encrypting the area with higher user density to form a second-step grid virtual point; and analyzing the terrain of the area, and encrypting the area with sharp elevation change according to the elevation change of the terrain to form a third step of grid virtual points. And adding all the grid virtual points to complete the virtual grid point division of the region.
Preferably, the storing and processing of the regional reference station data, and the generating of the regional enhanced data information includes:
and the calculation center calculates the virtual observation data of the virtual grid points according to the fixed frequency.
Preferably, the calculating of the virtual observation data of the virtual grid point by the calculation center according to the fixed frequency includes:
and calculating the virtual observed quantity of the area grid according to three or more reference stations near each virtual grid point. The regional grid virtual observation quantity calculation refers to processing regional reference station data to generate regional enhanced data information, and meets the requirements of regional decimeter-level and centimeter-level enhanced positioning. The area grid virtual observation quantity calculation mainly comprises an algorithm load balancing module, a data processing module, an area correction information processing module and an area enhancement data packaging module. The following describes the algorithm load balancing module, the data processing module, the area correction information processing module, and the area enhanced data encapsulation module.
1) Algorithm load balancing module
(1) And the data preprocessing module is used for combing the datum station data pushed by the big data platform and finishing the preprocessing requirement of the core algorithm on the datum station data.
(2) And 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.
(3) Monitoring the core algorithm nodes, monitoring the states of the core algorithm nodes, removing the core algorithm list after the core algorithm is down, and not distributing data to the down nodes.
2) Data processing module
(1) And the data processing module is used for carrying out data processing such as time conversion, satellite calculation, residual error generation, cycle slip detection, observation variance estimation and the like. Where time translation is used to implement the translation between different time systems (BD, GPS, GLONASS, UTC, etc.).
(2) The ambiguity fixing module is used for realizing ambiguity fixing of the reference station;
(3) the regional error modeling module comprises an ionosphere delay error, a troposphere delay error, an orbit error and the like, and a corresponding error model is required to be constructed to weaken the influence of the errors.
3) Area correction information processing module
(1) And the area correction information generation module is used for generating grid virtual point information which comprises various correction information required by network RTK and RTD users, wherein the correction information required by the users is virtual reference station observation value information, mainly comprising GNSS pseudo-range, carrier phase observation value, carrier dryness ratio and the like.
4) Regional enhanced data encapsulation module
(1) The standard message packaging module is used for packaging the correction information generated by the area correction information processing module into a standard RTCM message format;
(2) and the regional enhanced data pushing module pushes the packaged regional enhanced information service telegraph text to the user management platform, and the user management platform provides data broadcasting service for the terminal user in the transportation industry. The main function of the user management platform is to push satellite navigation enhancement information to an industry platform, and provide high-precision positioning service for the construction and management of industry infrastructure. Meanwhile, the method provides enhanced information service for direct terminal users in industries, social public and the like.
In a further embodiment of the present invention, pushing the regional enhanced data information to an extranet environment through a unidirectional optical gate, and then pushing the enhanced data information requested by the user to the authenticated end user through a mobile communication network or the internet comprises:
pushing the regional enhancement data information to a user management platform arranged in an extranet environment through a one-way optical gate;
the user management platform receives the regional enhanced data information sent by the computing center and performs cache storage;
the user management platform manages and authenticates the terminal user;
the authenticated terminal user sends a request for enhancing data to a user management platform, the terminal user sends self approximate position and elevation information, and the user management platform selects a certain grid point virtual observed quantity corresponding to the approximate position and the elevation information from the area grid virtual observed quantity as differential information of the user according to the approximate position and the elevation information uploaded by the terminal user;
and sending the difference information and the position coordinates of the lattice points to an end user together.
Wherein, the user management platform for managing and authenticating the terminal user comprises:
the user management platform receives authentication request information of a terminal user, distinguishes the request information according to different user types, and sends the received authentication information to the user management platform for authentication and verification;
and feeding back the authentication and verification result to the terminal user and the enhanced information distribution subsystem, and judging whether to send enhanced data information to the terminal user by the enhanced information distribution subsystem according to the authentication and verification result.
Preferably, before sending the difference information and the position coordinates of the lattice point to the end user, the method further includes:
verifying the regional enhanced service data sent to the terminal user;
sending the verified regional enhanced service information to the terminal user, and prompting and displaying the regional enhanced service data which does not pass the verification on an interface;
establishing a distribution interface management mechanism, and editing and managing distribution interface information;
and the user management platform displays the distribution interface information and records the enhanced information distribution subsystem operation log.
The invention divides according to the virtual grid points of the region, the computing center generates the virtual reference station according to the grid, and transmits the grid differential correction data to the external grid broadcasting platform. The broadcasting platform is deployed in an external network, is designed in a sub-module mode, can be deployed in a distributed mode, and can calculate resource requirements according to service requirements, so that access of hundreds of thousands of levels and more users can be supported.
In addition, the computing center only computes a fixed number of grid point virtual reference stations, and the consumption resources are fixed since the grid point virtual reference stations are not related to the number of terminal users, so that the resource cost can be greatly saved.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. A grid-based high-precision satellite navigation positioning service method is characterized by comprising the following steps:
the data access of the reference station is realized, and the data access of the reference station is realized by accessing the data to an intranet calculation center through a special reference station line and a one-way optical gate;
the computing center completes the division of the virtual grid points of the region, and stores and processes the data of the regional reference station to generate regional enhanced data information;
and pushing the regional enhanced data information to an external network environment through a one-way optical gate, and pushing the enhanced data information requested by the user to the authenticated terminal user through a mobile communication network or the Internet.
2. The method for grid-based high-precision satellite navigation and positioning service according to claim 1, wherein the computing center performs area grid virtual point division, stores and processes area reference station data, and further comprises the following steps after generating the area enhanced data information:
and monitoring the running state of the reference station in real time, monitoring the coverage area and time delay of the generated regional enhanced data information service, and displaying the service capability provided in the coverage area in real time.
3. The method as claimed in claim 1, wherein said computing center performs area grid virtual point division, including:
and dividing a coverage area into a plurality of polygons according to the distribution of the reference station network, the service area range and the preset grid distance, wherein the intersection point of the polygons is the division of the virtual points of the grid in the first step.
4. The method as claimed in claim 3, wherein said computing center performs area grid virtual point division, further comprising:
and encrypting the area with higher user density according to the distribution density of the area users to form the second-step grid virtual point.
5. The method as claimed in claim 4, wherein said computing center performs area grid virtual point division, further comprising:
and analyzing the terrain of the area, and encrypting the area with sharp elevation change according to the elevation change of the terrain to form a third step of grid virtual points.
6. The method of claim 1, wherein the storing and processing of the regional reference station data and the generating of the regional augmentation data information comprises:
and the calculation center calculates the virtual observation data of the virtual grid points according to the fixed frequency.
7. The method as claimed in claim 6, wherein said computing center computing the virtual observation data of said virtual grid point according to a fixed frequency comprises:
and sequentially resolving the virtual observed quantity of each grid point in the region according to three or more reference stations near each virtual grid point.
8. The method as claimed in claim 7, wherein pushing the regional enhanced data information to the extranet environment through the unidirectional optical gate, and then pushing the user-requested enhanced data information to the authenticated end user through the mobile communication network or the internet comprises:
pushing the regional enhancement data information to a user management platform arranged in an extranet environment through a one-way optical gate;
the user management platform receives the regional enhanced data information sent by the computing center and performs cache storage;
the user management platform manages and authenticates the terminal user;
the authenticated terminal user sends a request for enhancing data to the user management platform, and simultaneously the terminal user sends an approximate position of the terminal user, and the user management platform selects a certain grid point virtual observed quantity corresponding to the approximate position from the area grid virtual observed quantity as differential information of the user according to the approximate position uploaded by the terminal user;
and sending the difference information and the position coordinates of the lattice points to an end user together.
9. The method for grid-based high-precision satellite navigation and positioning service of claim 8, wherein the user management platform managing and authenticating the end user comprises:
the user management platform receives authentication request information of a terminal user, distinguishes the request information according to different user types, and sends the received authentication information to the user management platform for authentication and verification;
and feeding back the authentication and verification result to the terminal user and the enhanced information distribution subsystem, and judging whether to send enhanced data information to the terminal user or not by the enhanced information distribution subsystem according to the authentication and verification result.
10. The method of claim 9, wherein before sending the difference information and the position coordinates of the grid point to the end user, the method further comprises:
verifying the regional enhanced service data sent to the terminal user;
sending the verified regional enhanced service information to the terminal user, and prompting and displaying the regional enhanced service data which does not pass the verification on an interface;
establishing a distribution interface management mechanism, and editing and managing distribution interface information;
and the user management platform displays the distribution interface information and records the enhanced information distribution subsystem operation log.
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Application publication date: 20210629 |