CN114325764A - Satellite-ground integrated high-precision positioning service monitoring system - Google Patents
Satellite-ground integrated high-precision positioning service monitoring system Download PDFInfo
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Abstract
The invention discloses a satellite-ground integrated high-precision positioning service monitoring system, which comprises a GNSS monitoring station, a platform resolving center, an intermediate platform and a monitoring and early warning center, wherein the GNSS monitoring station needs to perform real-time precision positioning on a received real-time target and provides positioning data for the monitoring and early warning center; the platform resolving center needs to transmit index data and resolving server data to a monitoring and early warning center; the intermediate platform comprises an intermediate process part of data transmission of a ground transmitting station, a communication satellite and the like in the product transmission process and provides transmission process data for the monitoring and early warning center; the monitoring and early warning center is responsible for collecting various data and indexes produced and transmitted by the GNSS monitoring station, the platform resolving center and the intermediate platform, and processing, analyzing and determining the early warning state of the data. The invention can find and warn abnormal problems in time, position the abnormal problems, help maintenance personnel to solve the problems quickly, and ensure the stable operation of the high-precision positioning system.
Description
Technical Field
The invention relates to a global satellite navigation system, in particular to a satellite-ground integrated high-precision positioning service monitoring system.
Background
The PPP-RTK (precision Point Positioning-Real-time Kinematic) technology is a technology which combines a GNSS navigation satellite, a communication satellite, a ground GNSS observation station, a ground communication station, a platform product resolving center and a terminal Positioning instrument, can provide high-precision Positioning service in Real time, and is satellite-ground integrated high-precision Positioning service. The high-precision positioning service needs strong timeliness, accuracy and stability, and the PPP-RTK technology relates to a large number of links from a service end to a terminal, and needs a complete and efficient monitoring system to help the operation and maintenance of the whole system so as to ensure high-quality positioning service.
In the PPP-RTK high precision positioning technique, the GNSS navigation satellite: transmitting pseudo range and carrier signals to the ground, and receiving by a ground GNSS receiver; ground GNSS observation station: as a data source, receiving GNSS data and transmitting the GNSS data to a platform product resolving center; the system can also be used as a monitoring station to receive a platform product in real time to perform GNSS high-precision positioning; a platform product resolving center: receiving observation data of multiple observation stations, calculating to generate products such as precision clock error, orbit, phase fractional deviation (UPD), hardware delay Deviation (DCB), atmosphere and the like, performing integrity calculation according to the generated products and the observation station data, identifying satellites and abnormal data with poor product quality, and facilitating subsequent removal of abnormal products; the generated products can be broadcast outwards through a network or transmitted to a ground communication station; a ground communication station: sending the product solved by the platform to a communication satellite; a communication satellite: broadcasting the products resolved by the platform to a service area; a terminal positioning instrument: and receiving various products in real time, and carrying out real-time high-precision positioning (which can be understood as a user side).
The above parts are connected with each other through a network, the platform product can be broadcasted through the network except a mode of broadcasting the product through the satellite, the two links of the product to the satellite and the satellite are not required to be transmitted in a network broadcasting mode, and the product can be directly broadcasted through the network by a platform resolving center.
When the PPP-RTK system is running, the following exceptional problems may occur: data transmission interruption or delay, ground GNSS observation station abnormity, platform resolving program abnormity and precision product abnormity caused by specific situations.
The satellite-ground integrated real-time high-precision positioning system comprises a GNSS satellite, a communication satellite, a ground reasonably-distributed GNSS observation station, a platform resolving center, a terminal user and the like, and meanwhile, the whole system needs to continuously operate, so that serious influence can be caused if the system is abnormal.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a satellite-ground integrated high-precision positioning service monitoring system capable of timely finding and warning abnormal problems.
The technical scheme is as follows: the satellite-ground integrated high-precision positioning service monitoring system is characterized by comprising a GNSS monitoring station, a platform resolving center, an intermediate platform and a monitoring and early warning center, wherein,
the GNSS monitoring station needs to perform real-time precise positioning on the received real-time target and provide positioning data for the monitoring and early warning center;
the platform resolving center can additionally generate judgment index data in the resolving process of the real-time product; index data and data of a calculation server need to be transmitted to a monitoring and early warning center;
the intermediate platform comprises an intermediate process part of data transmission of a ground transmitting station, a communication satellite and the like in the product transmission process and provides transmission process data for the monitoring and early warning center;
the monitoring and early warning center is responsible for collecting various data and indexes produced and transmitted by the GNSS monitoring station, the platform resolving center and the intermediate platform, and processing, analyzing and determining the early warning state of the data.
And the GNSS monitoring station, the platform resolving center and the intermediate platform are used as data sources for monitoring and early warning, and relevant data are sent to the early warning center in real time. The early warning center is used as a decision-making pivot of the whole monitoring system, processes and judges the related data and is used as the basis of early warning. The GNSS monitoring station needs to receive a precise target sent by a network or a satellite in real time for real-time precise positioning, and a positioning result is used as a basis for directly judging whether the whole high-precision positioning service is abnormal or not.
The GNSS monitoring station provides positioning data for the monitoring and early warning center: real-time positioning results, differential temporary analysis data and intermediate files for recording real-time positioning states. The early warning data provided by the GNSS observation station can be classified into the following categories: 1. providing a real-time positioning result to a monitoring center: the real-time positioning results of a plurality of GNSS observation stations in different regions can reflect whether the high-precision positioning service normally operates or not, and simultaneously, the difference of individual observation stations caused by self environment is eliminated. 2. Providing differential clinical data to a monitoring center: the difference temporary period represents the difference between the time when the GNSS observation station receives the product and the time when the GNSS observation station generates the observation data used by the product, and comprises the time of all the intermediate processes from the time when the GNSS observation station receives the data to the time when the GNSS observation station generates the high-precision positioning of the final user (the GNSS observation station receives the data-the calculation center generates the product-the satellite broadcast/the network broadcast-the high-precision positioning of the user), and if the difference temporary period exceeds a certain time t, the product is low in timeliness and can cause poor positioning precision or cannot be positioned with high precision. 3. Providing the intermediate file of the terminal positioning to the monitoring center: when the GNSS observation station carries out real-time high-precision positioning, the GNSS observation station can output and store an intermediate file, and the intermediate file can record the real-time positioning state and serve as a basis for searching for abnormity.
Index data transmitted by the platform resolving center comprises indexes of success or failure of resolving of each real-time product, product precision indexes of each real-time product and available satellite number indexes of each real-time product; the real-time products comprise a precision clock error, a precision track, a UPD and an atmosphere. The number of the stations, the distribution condition of the stations, the data integrity rate of the stations and the data quality can be used for indicating whether the original observed value required by the system is abnormal or not, and the original observed value is provided for a monitoring center to be used as a judgment basis for a product resolving result.
The resolving server data transmitted by the platform resolving center comprises resolving time of each real-time product and memory use condition of the resolving server. The calculating time of each real-time product can indicate the timeliness of the product and can also indicate whether the calculating process of the calculating software is normal. The service condition of the server memory can monitor whether the operation memory and storage of the server are satisfied or not in real time, and can indicate whether the memory leakage exists in the resolving program or not.
The transmission process data provided by the intermediate platform includes the time the data or product was received, the results of analyzing the data or product integrity. The time of receiving data or products helps to position nodes with larger time delay; and the integrity of data or products is analyzed, so that no loss is caused in the data transmission process.
The functions of the monitoring and early warning center comprise data analysis statistics early warning, integrity algorithm and specific situation early warning, wherein:
the data analysis, statistics and early warning method comprises the steps of analyzing the data quality and the data integrity rate of each GNSS observation station by combining received data transmitted by a platform resolving center, and if the data quality and the data integrity rate do not meet resolving requirements, early warning is carried out; analyzing the difference temporary period and the time delay condition of the data product of each node, and if the time delay condition exceeds a time delay threshold t, carrying out early warning; analyzing the memory change condition of the platform resolving center, and if the memory is abnormal, early warning; analyzing index data, wherein the number of satellites available for each real-time product is greater than a threshold value, and early warning is carried out;
the integrity algorithm eliminates satellites with poor indexes according to the number of the indexes and positioning data output by a GNSS monitoring station during positioning, and carries out precision positioning again in a server for verification; the satellite with poor quality is confirmed and then is annotated and broadcast, so that a terminal user is helped to remove the satellite, and the positioning precision is improved;
and (3) early warning in a specific situation, running a related script, regularly acquiring announcements of an official website, and early warning if the conditions such as second skip change occur.
Through the modules, a satellite-ground integrated high-precision positioning service monitoring system can be constructed, the running condition of the whole service system is comprehensively monitored in real time, the abnormal part is early warned in time, operation and maintenance personnel are helped to quickly position and handle emergency, and the high-precision positioning service is guaranteed to be carried out.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: 1. and (5) finding abnormality in time and early warning. 2. And rapidly positioning abnormal positions and handling emergencies. 3. Outlier satellite data can be culled.
Drawings
FIG. 1 is a schematic diagram of the architecture of the present invention.
Fig. 2 is a schematic diagram of a network or signal node of the PPP-RTK high-precision positioning service.
Fig. 3 is a schematic diagram of PPP-RTK high-precision positioning service.
Detailed Description
The invention will be further explained with reference to the drawings.
Example 1
The satellite-ground integrated high-precision positioning service monitoring system is characterized by comprising a GNSS monitoring station, a platform resolving center, an intermediate platform and a monitoring and early warning center, wherein the GNSS monitoring station needs to perform real-time precision positioning on a received real-time target and provides positioning data for the monitoring and early warning center; the platform resolving center can additionally generate judgment index data in the resolving process of the real-time product; index data and data of a calculation server need to be transmitted to a monitoring and early warning center; the intermediate platform comprises an intermediate process part of data transmission of a ground transmitting station, a communication satellite and the like in the product transmission process and provides transmission process data for the monitoring and early warning center; the monitoring and early warning center is responsible for collecting various data and indexes produced and transmitted by the GNSS monitoring station, the platform resolving center and the intermediate platform, and processing, analyzing and determining the early warning state of the data.
Early warning of network delay abnormity:
step 1: the GNSS monitoring station and each intermediate platform upload time delay data to a monitoring center;
step 2: the monitoring center processes and judges the difference temporary time or the total time delay, and if the difference temporary time or the total time delay exceeds a threshold value t, early warning is carried out;
and step 3: the operation and maintenance personnel check the network condition of the corresponding node according to the early warning message;
and 4, step 4: and (5) processing the network abnormity problem and recovering normal high-precision positioning service.
Example 2
Early warning of abnormal satellites:
step 1: most GNSS monitoring stations are abnormal in high-precision positioning, and no alarm is sent out by a monitoring center;
step 2: determining abnormal satellites according to positioning intermediate data and real-time product resolving indexes of the GNSS observation station by using an integrity algorithm;
and step 3: when each GNSS observation station carries out high-precision positioning, abnormal satellites are removed, and whether the positioning result is normal or not is observed;
and 4, step 4: if the positioning result is normal, marking the satellite as an abnormal satellite and broadcasting the abnormal satellite to the user;
and 5: and the user side eliminates the abnormal satellite to obtain normal positioning.
Example 3
Memory abnormity early warning:
step 1: the platform resolving center sends the service memory use data of the server to the monitoring center in real time;
step 2: the monitoring center analyzes the change condition and the occupation condition of the running memory;
and step 3: if the operation memory is abnormally increased or the total usage is too high and exceeds a threshold value, the monitoring center sends an early warning;
and 4, step 4: and (4) checking by operation and maintenance personnel according to the early warning, optimizing the program if the use of the memory is abnormally increased, and increasing the memory if the total amount of the memory cannot meet the use requirement.
Claims (6)
1. A satellite-ground integrated high-precision positioning service monitoring system is characterized by comprising a GNSS monitoring station, a platform resolving center, an intermediate platform and a monitoring and early warning center, wherein,
the GNSS monitoring station needs to perform real-time precise positioning on the received real-time target and provide positioning data for the monitoring and early warning center;
the platform resolving center needs to transmit index data and resolving server data to a monitoring and early warning center;
the intermediate platform comprises an intermediate process part of data transmission of a ground transmitting station, a communication satellite and the like in the product transmission process and provides transmission process data for the monitoring and early warning center;
the monitoring and early warning center is responsible for collecting various data and indexes produced and transmitted by the GNSS monitoring station, the platform resolving center and the intermediate platform, and processing, analyzing and determining early warning states of the data.
2. The system according to claim 1, wherein the GNSS monitoring station provides positioning data for the monitoring and early warning center as follows: real-time positioning results, differential temporary analysis data and intermediate files for recording real-time positioning states.
3. The system according to claim 1, wherein the index data transmitted by the platform calculation center includes an index of success or failure of calculation of each real-time product, a product accuracy index of each real-time product, and an index of the number of satellites available for each real-time product; the real-time products comprise a precision clock error, a precision track, a UPD and an atmosphere.
4. The system according to claim 1, wherein the data of the resolving server transmitted by the platform resolving center include resolving time of each real-time product and memory usage of the resolving server.
5. The system according to claim 1, wherein the transmission process data provided by the intermediate platform comprises time of receiving data or product, analysis data or product integrity result.
6. The system according to claim 1, wherein the functions of the monitoring and early warning center include data analysis statistics early warning, integrity algorithm, and special case early warning, wherein:
the data analysis, statistics and early warning method comprises the steps of analyzing the data quality and the data integrity rate of each GNSS observation station by combining received data transmitted by a platform resolving center, and if the data quality and the data integrity rate do not meet resolving requirements, early warning is carried out; analyzing the difference temporary period and the time delay condition of the data product of each node, and if the time delay condition exceeds a time delay threshold t, carrying out early warning; analyzing the memory change condition of the platform resolving center, and if the memory is abnormal, early warning; analyzing index data, wherein the number of satellites available for each real-time product is greater than a threshold value, and early warning is carried out;
the integrity algorithm eliminates satellites with poor indexes according to the number of the indexes and positioning data output by a GNSS monitoring station during positioning, and carries out precision positioning again in a server for verification; the satellite with poor quality is confirmed and then is annotated and broadcast, so that a terminal user is helped to remove the satellite, and the positioning precision is improved;
and (3) early warning in a specific situation, running a related script, regularly acquiring announcements of an official website, and early warning if the conditions such as second skip change occur.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116660953A (en) * | 2023-05-12 | 2023-08-29 | 昆明市测绘研究院 | City CORS intelligent monitoring system |
| CN116660953B (en) * | 2023-05-12 | 2024-04-16 | 昆明市测绘研究院 | City CORS intelligent monitoring system |
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