CN114460612A - Method for positioning boundary address point of air-ground cooperative shielding area - Google Patents
Method for positioning boundary address point of air-ground cooperative shielding area 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
- G01S19/38—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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
- G01S19/115—Airborne or satellite based pseudolites or repeaters
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention discloses a method for positioning boundary address points of an open-ground cooperative shielding area; the invention has the beneficial effects that: the invention realizes the acquisition and processing of the fast positioning information of the boundary point by arranging the electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID ranging, storage and the like, and adopts the cooperation of the unmanned aerial vehicle and the ground robot in the air space, thereby solving the problem that all parts in a measurement type receiver frequently used in the existing GNSS measurement work are arranged in a tiled mode.
Description
Technical Field
The invention relates to the technical field of air-ground cooperative satellite positioning, in particular to a method for positioning boundary points of an air-ground cooperative shielding area.
Background
GNSS refers to all satellite navigation systems in general, including global, regional, and augmentation, such as GPS in the united states, Glonass in russia, Galileo in europe, and beidou satellite navigation system in china, and related augmentation systems, such as WAAS (wide area augmentation system) in the united states, EGNOS (european geostationary navigation overlay system) in europe, and MSAS (multi-function transport satellite augmentation system) in japan, and also covers other satellite navigation systems to be built and later. With the continuous development of satellite navigation technology, satellite navigation positioning technology has increasingly entered into our life and work, and in order to improve the precision of satellite positioning as much as possible, various satellite positioning enhancement technologies have been developed, such as local area differential GPS, wide area differential GPS, network RTK, etc., which can greatly improve the precision of satellite positioning. However, the GNSS receiver with the satellite positioning enhancement function generally has the problems of complex structure and high price, and for application occasions requiring more GNSS receivers to work simultaneously, such as data acquisition of cadastral survey work of the homeland resource department, the high application cost thereof can bring great trouble to users. Taking the foundation enhancement system as an example, it is a new generation real-time dynamic positioning technology developed on the basis of the conventional RTK, Internet, wireless communication, computer network management and other technologies in recent years. At present, the foundation enhancement system network construction of the GPS/GLONASS system is more popular, and the foundation enhancement system compatible with the BDS system is also rapidly developed. The ground enhancement system broadcasts system error correction items such as troposphere delay, ionosphere delay, orbit error and the like to a user through a ground GNSS base station, and after a user receiver acquires an enhancement signal by using technologies such as wireless transmission and the like, high-precision positioning of 2-3cm on the plane and 5cm in the network can be realized.
Many GNSS positioning devices on the market mostly adopt a carrier phase differential technology to perform positioning, firstly detect satellite signals, and then utilize the carrier phase differential technology to resolve the satellite signals to obtain positioning data. However, in the GNSS positioning process, when a satellite signal is interfered by environmental factors such as building or jungle sheltering, the satellite signal is easy to lose lock, the satellite signal losing lock generally affects the positioning data precision, while the current GNSS positioning method generally cannot continuously obtain high-precision positioning coordinates under the condition of poor satellite signal environment, all parts in a measurement type receiver frequently used in the current GNSS measurement operation are arranged in a tiled mode, most of the parts are oriented to a single precision positioning measurement task, position information cannot be output in real time, or the output result form and the customizability of an output means are poor, in the traditional right book measurement in China, the electronic boundary point measurement depends on the GNSS or a total station measurement, time and labor are wasted, and the measurement result is easily interfered by the considered factors. The research of the access point with RFID is available, but the access point is only used for storing information and has no functions of positioning, communication and the like.
Disclosure of Invention
The invention aims to provide a method for positioning boundary points of an air-ground cooperative shielding area, which has the advantages that based on electronic boundary point equipment with functions of wireless communication, GNSS positioning, RFID distance measurement, storage and the like, the unmanned aerial vehicle and a ground robot are adopted to cooperatively realize the acquisition and processing of the fast positioning information of the boundary points and update the information to a platform in real time, and the problems that all parts in a measurement type receiver frequently used in the existing GNSS measurement operation are arranged in a tiled mode, most of the parts are oriented to a single precise positioning measurement task, the position information cannot be output in real time or the output result form and the output means are poor in customizability are solved. The research of the access point with RFID is available, but the access point is only used for storing information and has no problems of functions such as positioning, communication and the like.
In order to achieve the purpose, the invention provides the following technical scheme: the method for positioning the boundary address point of the air-ground cooperative shielding area comprises the following steps:
step 1: acquiring high-precision coordinates of the mobile station by enhancing satellite positioning signals, acquiring common satellite positioning signals at the same time, and transmitting differential data between the high-precision coordinates of the mobile station and the common satellite positioning signals to the mobile station in real time through a communication link;
step 2: an air-ground robot cooperative control and perception positioning mechanism is utilized;
and step 3: performing differential positioning through a module of GNSS positioning equipment, and correcting observation data according to differential correction data received in advance to obtain a differential positioning result;
and 4, step 4: the GNSS sheltered area electronic boundary point robot completes high-precision positioning information acquisition by using autonomous navigation in the air;
and 5: packaging and sending the differential correction data to a server of a continuously-operating reference station system for storage, and sending the differential correction data to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment;
step 6: by utilizing pseudolite equipment provided by the earth location technology, the electronic boundary point air-ground robot is cooperatively positioned;
and 7: a server continuously operating a reference station system acquires address information of GNSS positioning equipment;
and 8: establishing association between accurate positioning of the boundary points and information;
and step 9: based on the electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID ranging, storage and the like, the information acquisition and processing are quickly positioned.
Preferably, in step 1, the mobile station receives its own normal satellite positioning signal, corrects its own normal satellite positioning signal by using the received differential data, and then obtains its own high-precision position information from the corrected normal satellite positioning signal.
Preferably, in step 2, the orthophoto image and the three-dimensional model of the village are rapidly acquired based on the unmanned aerial vehicle, the orthophoto image and the three-dimensional model are integrated into the village and town weight survey online service platform, the approximate position of the boundary point of the shielding area is acquired through the platform by using a mode of combining manual interpretation and computer vision, the potential sight distance finding positions of the unmanned aerial vehicle, the robot dog and the boundary point are established based on the shielding coverage condition of the boundary point, and the expected arrival approximate position of the air-ground robot is output.
Preferably, in step 3, it is determined whether the accuracy of the differential positioning result meets a threshold, a precision factor is obtained by analyzing the satellite signal received by the first positioning module, and when it is determined that the obtained precision factor is smaller than a preset value, it is determined that the accuracy of the obtained differential positioning result meets the threshold; otherwise, when the obtained precision factor is judged to be greater than or equal to the preset value, determining that the precision of the obtained differential positioning result does not meet the threshold value; the precision factor is a geometric precision factor and is obtained by calculating a three-dimensional position precision factor and a clock error geometric precision factor, and the larger the value of the geometric precision factor is, the worse the positioning precision is, the smaller the value is, and the better the positioning precision is.
Preferably, in the step 4, a GNSS/INS combined navigation positioning technology is researched, an inertial navigation fusion GNSS high-precision low-dynamic self-adaptive compact fusion model is constructed, the problem of INS-assisted integer ambiguity resolution and cycle slip detection and restoration is solved, the inertial navigation fusion model is integrated to an unmanned aerial vehicle platform, and centimeter-level unmanned aerial vehicle high-precision positioning information acquisition is realized.
Preferably, in step 5, after obtaining the address information of the GNSS positioning apparatus, the server continuously operating the reference station system packages and sends the obtained differential correction data to the GNSS positioning apparatus according to the instruction of the address information of the GNSS positioning apparatus, and sends the observation data to the server continuously operating the reference station system.
Preferably, in step 6, the pseudolite device provided by the earth location technology is integrated into the air-ground cooperative robot platform and the boundary point, and the robot in the air-ground cooperative positioning network measures the distance information between the robot and the boundary point of the sheltered area and transmits the distance information to the service platform through communication means such as 5G.
Preferably, in step 7, when the differential positioning state is valid and the accuracy of the differential positioning result meets the threshold, it is determined that the differential positioning result indicates that the preset condition is met, and the differential precise positioning result and the satellite observation reference data obtain the multipath error correction model.
Preferably, in step 8, an air-ground robot co-location geometric structure analysis model dynamic library, a pseudolite ranging accuracy compensation dynamic library and a boundary point location dynamic library based on ranging information are constructed and integrated into a service platform, and ranging accuracy compensation, shielding area boundary point accurate location, ID and image information association and the like are realized by using the platform.
Preferably, in step 9, the target ID is extracted based on the air-ground robot and the shielding area boundary point RFID signal, and is transmitted to the back-end platform based on communication technologies such as 5G.
Compared with the prior art, the invention has the beneficial effects that: the invention realizes the acquisition and processing of the fast positioning information of the boundary point by arranging the electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID ranging, storage and the like and adopting the cooperation of the unmanned aerial vehicle and the ground robot, solves the problems that all parts in a measurement type receiver frequently used in the existing GNSS measurement operation are arranged in a tiled mode, most of the parts are oriented to a single precise positioning measurement task, position information cannot be output in real time or the output result form and the customizability of the output means are poor, and in the traditional membership measurement in China, the electronic boundary point measurement depends on the GNSS or a total station instrument for measurement, thereby consuming time and labor, and the measurement result is easily interfered by considered factors. The method for locating the boundary point of the air-ground cooperative shielding area has the advantages that the method is based on electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID distance measurement, storage and the like, and adopts unmanned aerial vehicles and ground robots to realize the rapid location information acquisition and processing of the boundary point in the air-ground cooperative manner and update the information to a platform in real time.
Detailed Description
The present invention will now be described in more detail by way of examples, which are given by way of illustration only and are not intended to limit the scope of the present invention in any way.
The invention provides a technical scheme that: the method for positioning the boundary address point of the air-ground cooperative shielding area comprises the following steps:
step 1: acquiring high-precision coordinates of the mobile station by enhancing satellite positioning signals, acquiring common satellite positioning signals at the same time, and transmitting differential data between the high-precision coordinates of the mobile station and the common satellite positioning signals to the mobile station in real time through a communication link;
step 2: an air-ground robot cooperative control and perception positioning mechanism is utilized;
and step 3: performing differential positioning through a module of GNSS positioning equipment, and correcting observation data according to differential correction data received in advance to obtain a differential positioning result;
and 4, step 4: the GNSS sheltered area electronic boundary point robot completes high-precision positioning information acquisition by using autonomous navigation in the air;
and 5: packaging and sending the differential correction data to a server of a continuously-operating reference station system for storage, and sending the differential correction data to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment;
step 6: by utilizing pseudolite equipment provided by the earth location technology, the electronic boundary point air-ground robot is cooperatively positioned;
and 7: a server continuously operating a reference station system acquires address information of GNSS positioning equipment;
and 8: establishing association between accurate positioning of the boundary points and information;
and step 9: based on the electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID ranging, storage and the like, the information acquisition and processing are quickly positioned.
The first embodiment is as follows:
acquiring high-precision coordinates of the mobile station by enhancing satellite positioning signals, acquiring common satellite positioning signals at the same time, and transmitting differential data between the high-precision coordinates of the mobile station and the common satellite positioning signals to the mobile station in real time through a communication link; an air-ground robot cooperative control and perception positioning mechanism is utilized; performing differential positioning through a module of GNSS positioning equipment, and correcting observation data according to differential correction data received in advance to obtain a differential positioning result; the GNSS sheltered area electronic boundary point robot completes high-precision positioning information acquisition by using autonomous navigation in the air; the differential correction data are packaged and sent to a server of a continuous operation reference station system for storage, and the differential correction data are sent to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment; by utilizing pseudolite equipment provided by the earth location technology, the electronic boundary point air-ground robot is cooperatively positioned; a server continuously operating a reference station system acquires address information of GNSS positioning equipment; establishing association between accurate positioning of the boundary points and information; based on the electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID ranging, storage and the like, the information acquisition and processing are quickly positioned.
Example two:
acquiring high-precision coordinates of the mobile station by enhancing satellite positioning signals, acquiring common satellite positioning signals at the same time, and transmitting differential data between the high-precision coordinates of the mobile station and the common satellite positioning signals to the mobile station in real time through a communication link; the mobile station receives a common satellite positioning signal of the mobile station, corrects the common satellite positioning signal of the mobile station by using the received differential data, then obtains high-precision position information of the mobile station according to the corrected common satellite positioning signal, and utilizes an air-ground robot cooperative control and perception positioning mechanism; the method comprises the steps that an orthophoto image and a three-dimensional model of a village are rapidly obtained on the basis of an unmanned aerial vehicle and integrated to a village and town right investigation online service platform, the general position of a boundary point of a shielding area is obtained through the platform in a mode of combining manual interpretation and computer vision, potential sight distance finding positions of the unmanned aerial vehicle, a robot dog and the boundary point are established on the basis of the shielding coverage condition of the boundary point, the expected arrival general position of an air-ground robot is output, differential positioning is carried out through a module of GNSS positioning equipment, and observation data are corrected according to differential correction data received in advance to obtain a differential positioning result; determining whether the accuracy of the differential positioning result meets a threshold value, obtaining an accuracy factor by analyzing the satellite signal received by the first positioning module, and determining that the accuracy of the obtained differential positioning result meets the threshold value when the obtained accuracy factor is judged to be smaller than a preset value; otherwise, when the obtained precision factor is judged to be greater than or equal to the preset value, determining that the precision of the obtained differential positioning result does not meet the threshold value; the precision factor is a geometric precision factor and is obtained by calculating a three-dimensional position precision factor and a clock error geometric precision factor, the larger the value of the geometric precision factor is, the worse the positioning precision is, the smaller the value is, the better the positioning precision is, and the high-precision positioning information acquisition is completed by the aid of aerial autonomous navigation of the GNSS shielding area electronic boundary point robot; packaging and sending the differential correction data to a server of a continuously-operating reference station system for storage, and sending the differential correction data to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment; the method comprises the steps that pseudolite equipment provided by a land right technology is utilized, and an electronic boundary point open-land robot is used for cooperative positioning; a server continuously operating a reference station system acquires address information of GNSS positioning equipment; establishing association between accurate positioning of the boundary points and information; based on the electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID ranging, storage and the like, the information acquisition and processing are quickly positioned.
Example three:
acquiring high-precision coordinates of the mobile station by enhancing satellite positioning signals, acquiring common satellite positioning signals at the same time, and transmitting differential data between the high-precision coordinates of the mobile station and the common satellite positioning signals to the mobile station in real time through a communication link; the mobile station receives a common satellite positioning signal of the mobile station, corrects the common satellite positioning signal of the mobile station by using the received differential data, then obtains high-precision position information of the mobile station according to the corrected common satellite positioning signal, and utilizes an air-ground robot cooperative control and perception positioning mechanism; the method comprises the steps that an orthophoto image and a three-dimensional model of a village are rapidly obtained on the basis of an unmanned aerial vehicle and integrated to a village and town right investigation online service platform, the general position of a boundary point of a shielding area is obtained through the platform in a mode of combining manual interpretation and computer vision, potential sight distance finding positions of the unmanned aerial vehicle, a robot dog and the boundary point are established on the basis of the shielding coverage condition of the boundary point, the expected arrival general position of an air-ground robot is output, differential positioning is carried out through a module of GNSS positioning equipment, and observation data are corrected according to differential correction data received in advance to obtain a differential positioning result; determining whether the accuracy of the differential positioning result meets a threshold value, obtaining an accuracy factor by analyzing the satellite signal received by the first positioning module, and determining that the accuracy of the obtained differential positioning result meets the threshold value when the obtained accuracy factor is judged to be smaller than a preset value; otherwise, when the obtained precision factor is judged to be greater than or equal to the preset value, determining that the precision of the obtained differential positioning result does not meet the threshold value; the precision factor is a geometric precision factor and is obtained by calculating a three-dimensional position precision factor and a clock error geometric precision factor, the larger the value of the geometric precision factor is, the worse the positioning precision is, the smaller the value is, the better the positioning precision is, and the high-precision positioning information acquisition is completed by the aid of aerial autonomous navigation of the GNSS shielding area electronic boundary point robot; researching a GNSS/INS combined navigation positioning technology, constructing an inertial navigation fusion GNSS high-precision low-dynamic self-adaptive compact fusion model, breaking through INS-assisted integer ambiguity resolution and cycle slip detection and repair problems, integrating the inertial navigation fusion GNSS high-precision low-dynamic self-adaptive compact fusion model to an unmanned aerial vehicle platform, realizing centimeter-level unmanned aerial vehicle high-precision positioning information acquisition, packaging and sending differential correction data to a server of a continuously-operating reference station system for storage, and sending the differential correction data to GNSS positioning equipment according to the indication of address information of the GNSS positioning equipment; after the server of the continuous operation reference station system obtains the address information of the GNSS positioning equipment, the obtained differential correction data is packaged and sent to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment, the observation data is sent to the server of the continuous operation reference station system, and the pseudo satellite equipment provided by the earth cadastre technology is utilized to realize the cooperative positioning of the electronic boundary point air-to-ground robot; the method comprises the steps that pseudolite equipment provided by the earth ground authority technology is integrated on an air-ground cooperative robot platform and boundary points, the distance information between the boundary points of a covered area and the robot measurement in an air-ground cooperative positioning network is transmitted to a service platform through communication means such as 5G, and a server of a reference station system continuously operates to obtain address information of GNSS positioning equipment; establishing association between accurate positioning of the boundary points and information; based on the electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID ranging, storage and the like, the information acquisition and processing are quickly positioned.
Example four:
acquiring high-precision coordinates of the mobile station by enhancing satellite positioning signals, acquiring common satellite positioning signals at the same time, and transmitting differential data between the high-precision coordinates of the mobile station and the common satellite positioning signals to the mobile station in real time through a communication link; the mobile station receives a common satellite positioning signal of the mobile station, corrects the common satellite positioning signal of the mobile station by using the received differential data, then obtains high-precision position information of the mobile station according to the corrected common satellite positioning signal, and utilizes an air-ground robot cooperative control and perception positioning mechanism; the method comprises the steps that an orthophoto image and a three-dimensional model of a village are rapidly obtained on the basis of an unmanned aerial vehicle and integrated to a village and town right investigation online service platform, the general position of a boundary point of a shielding area is obtained through the platform in a mode of combining manual interpretation and computer vision, potential sight distance finding positions of the unmanned aerial vehicle, a robot dog and the boundary point are established on the basis of the shielding coverage condition of the boundary point, the expected arrival general position of an air-ground robot is output, differential positioning is carried out through a module of GNSS positioning equipment, and observation data are corrected according to differential correction data received in advance to obtain a differential positioning result; determining whether the accuracy of the differential positioning result meets a threshold value, obtaining an accuracy factor by analyzing the satellite signal received by the first positioning module, and determining that the accuracy of the obtained differential positioning result meets the threshold value when the obtained accuracy factor is judged to be smaller than a preset value; otherwise, when the obtained precision factor is judged to be greater than or equal to the preset value, determining that the precision of the obtained differential positioning result does not meet the threshold value; the precision factor is a geometric precision factor and is obtained by calculating a three-dimensional position precision factor and a clock error geometric precision factor, the larger the value of the geometric precision factor is, the worse the positioning precision is, the smaller the value is, the better the positioning precision is, and the high-precision positioning information acquisition is completed by the aid of aerial autonomous navigation of the GNSS shielding area electronic boundary point robot; researching a GNSS/INS combined navigation positioning technology, constructing an inertial navigation fusion GNSS high-precision low-dynamic self-adaptive compact fusion model, breaking through INS-assisted integer ambiguity resolution and cycle slip detection and repair problems, integrating the inertial navigation fusion GNSS high-precision low-dynamic self-adaptive compact fusion model to an unmanned aerial vehicle platform, realizing centimeter-level unmanned aerial vehicle high-precision positioning information acquisition, packaging and sending differential correction data to a server of a continuously-operating reference station system for storage, and sending the differential correction data to GNSS positioning equipment according to the indication of address information of the GNSS positioning equipment; after the server of the continuous operation reference station system obtains the address information of the GNSS positioning equipment, the obtained differential correction data is packaged and sent to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment, the observation data is sent to the server of the continuous operation reference station system, and the pseudo satellite equipment provided by the earth cadastre technology is utilized to realize the cooperative positioning of the electronic boundary point air-to-ground robot; the method comprises the steps that pseudolite equipment provided by the earth ground right technology is integrated on an air-ground cooperative robot platform and boundary points, a robot in an air-ground cooperative positioning network measures distance information between the boundary points and a shielding area and transmits the distance information to a service platform through communication means such as 5G, and a server of a continuously operating reference station system obtains address information of GNSS positioning equipment; when the differential positioning state is effective and the accuracy of the differential positioning result meets the threshold, determining that the differential positioning result indicates that the preset condition is met, obtaining the multi-path error correction model by the differential precise positioning result and the satellite observation reference data, and constructing the association between the precise positioning of the boundary point and information; the method comprises the steps of constructing an air-ground robot co-location geometric structure analysis model dynamic library, a pseudolite ranging precision compensation dynamic library and a boundary point location dynamic library based on ranging information, integrating the dynamic library to a service platform, realizing ranging precision compensation by utilizing the platform, accurately locating a boundary point of a shielding area, associating ID (identity) and image information and the like, rapidly locating information acquisition and processing based on electronic boundary point equipment with functions of wireless communication, GNSS (global navigation satellite system) locating, RFID (radio frequency identification) ranging, storing and the like, completing target ID (identity) extraction based on an air-ground robot and a boundary point RFID signal of the shielding area, and transmitting the target ID extraction to a rear-end platform based on communication technologies such as 5G and the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The method for positioning the boundary address point of the air-ground cooperative shielding area is characterized by comprising the following steps: the method comprises the following steps:
step 1: acquiring high-precision coordinates of the mobile station by enhancing satellite positioning signals, acquiring common satellite positioning signals at the same time, and transmitting differential data between the high-precision coordinates of the mobile station and the common satellite positioning signals to the mobile station in real time through a communication link;
step 2: an air-ground robot cooperative control and perception positioning mechanism is utilized;
and step 3: performing differential positioning through a module of GNSS positioning equipment, and correcting observation data according to differential correction data received in advance to obtain a differential positioning result;
and 4, step 4: the GNSS sheltered area electronic boundary point robot completes high-precision positioning information acquisition by using autonomous navigation in the air;
and 5: packaging and sending the differential correction data to a server of a continuously-operating reference station system for storage, and sending the differential correction data to the GNSS positioning equipment according to the indication of the address information of the GNSS positioning equipment;
step 6: by utilizing pseudolite equipment provided by the earth location technology, the electronic boundary point air-ground robot is cooperatively positioned;
and 7: a server continuously operating a reference station system acquires address information of GNSS positioning equipment;
and 8: establishing association between accurate positioning of the boundary points and information;
and step 9: based on the electronic boundary point equipment with the functions of wireless communication, GNSS positioning, RFID ranging, storage and the like, the information acquisition and processing are quickly positioned.
2. The method as claimed in claim 1, wherein: in step 1, the mobile station receives its own ordinary satellite positioning signal, corrects its own ordinary satellite positioning signal by using the received differential data, and then obtains its own high-precision position information according to the corrected ordinary satellite positioning signal.
3. The method as claimed in claim 1, wherein: in the step 2, an orthophoto image and a three-dimensional model of the village are rapidly acquired based on the unmanned aerial vehicle and are integrated into the village and town weight survey online service platform, the approximate position of a boundary point of a shielding area is acquired by the platform in a mode of combining manual interpretation and computer vision, potential sight distance finding positions of the unmanned aerial vehicle, the robot dog and the boundary point are established based on the boundary point shielding coverage condition, and an air-ground robot is output to expect to reach the approximate position.
4. The method as claimed in claim 1, wherein: in step 3, determining whether the accuracy of the differential positioning result meets a threshold, obtaining an accuracy factor by analyzing the satellite signal received by the first positioning module, and determining that the accuracy of the obtained differential positioning result meets the threshold when the obtained accuracy factor is judged to be smaller than a preset value; otherwise, when the obtained precision factor is judged to be greater than or equal to the preset value, determining that the precision of the obtained differential positioning result does not meet the threshold value; the precision factor is a geometric precision factor and is obtained by calculating a three-dimensional position precision factor and a clock error geometric precision factor, and the larger the value of the geometric precision factor is, the worse the positioning precision is, the smaller the value is, and the better the positioning precision is.
5. The method as claimed in claim 1, wherein: in the step 4, a GNSS/INS combined navigation positioning technology is researched, an inertial navigation fusion GNSS high-precision low-dynamic self-adaptive compact fusion model is built, the problems of INS-assisted integer ambiguity resolution and cycle slip detection and repair are solved, the inertial navigation fusion GNSS high-precision low-dynamic self-adaptive compact fusion model is integrated to an unmanned aerial vehicle platform, and centimeter-level unmanned aerial vehicle high-precision positioning information acquisition is realized.
6. The method as claimed in claim 1, wherein: in step 5, after the server of the continuously operating reference station system obtains the address information of the GNSS positioning apparatus, the server packages and sends the obtained differential correction data to the GNSS positioning apparatus according to the indication of the address information of the GNSS positioning apparatus, and the observation data is sent to the server of the continuously operating reference station system.
7. The method as claimed in claim 1, wherein: in step 6, the pseudolite device provided by the earth location technology is integrated to the air-ground cooperative robot platform and the boundary point, and the robot in the air-ground cooperative positioning network measures the distance information between the robot and the boundary point of the sheltered area and transmits the distance information to the service platform through communication means such as 5G and the like.
8. The method as claimed in claim 1, wherein: in step 7, when the differential positioning state is valid and the accuracy of the differential positioning result meets the threshold, it is determined that the differential positioning result indicates that the preset condition is met, and the multipath error correction model is obtained from the differential precise positioning result and the satellite observation reference data.
9. The method as claimed in claim 1, wherein: in step 8, an air-ground robot co-location geometric structure analysis model dynamic library, a pseudolite ranging precision compensation dynamic library and a boundary point location dynamic library based on ranging information are constructed and integrated to a service platform, and ranging precision compensation, shielding area boundary point precise location, ID and image information association and the like are realized by using the platform.
10. The method as claimed in claim 1, wherein: in the step 9, target ID extraction is completed based on the RFID signals of the air ground robot and the boundary point of the shielding area, and the target ID is transmitted to the rear-end platform based on communication technologies such as 5G and the like.
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