CN115639583A - High-precision positioning device based on Android system - Google Patents
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Abstract
The embodiment of the invention discloses a high-precision positioning device based on an Android system, which comprises: the receiving and sending module receives and analyzes the original observed quantity output by the positioning chip; the resolving module performs algorithm fusion on the data issued by the service module and the received analyzed original observed quantity to output nmea data containing high-precision position, time and satellite information; the service module analyzes the nmea data output by the resolving module, analyzes longitude and latitude, time and satellite information and reports the information to an application layer of an Android system. The method is automatically started when the Android system is started, can be connected with a plurality of cors platforms, and can realize cm-level precision positioning; the invention is based on the android platform, is convenient for customers to transplant and use, and can realize mass production quickly.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a high-precision positioning device based on an Android system.
Background
At present, positioning applications based on android are basically single-point positioning, and no existing high-precision application can be used. Therefore, a scheme capable of realizing cm-level precision positioning based on an Android system is urgently needed.
Disclosure of Invention
The embodiment of the invention aims to solve the technical problem of providing a high-precision positioning device based on an Android system so as to realize cm-level precision positioning.
In order to solve the above technical problem, an embodiment of the present invention provides a high precision positioning device based on an Android system, including:
a receiving and sending module: receiving and analyzing original observed quantity and instruction return value output by a positioning chip; sending the analyzed original observed quantity to a resolving module through a local socket; sending the instruction to a corresponding positioning chip;
a resolving module: the monitoring service module receives the data issued by the service module; monitoring a receiving and sending module, and receiving the analyzed original observed quantity sent by the receiving and sending module; performing algorithm fusion on the data sent by the service module and the received analyzed original observed quantity to output nmea data containing high-precision position, time and satellite information;
a service module: receiving data and an application layer instruction sent by a CORS station, and sending the data and the application layer instruction to a resolving module; and analyzing the nmea data output by the resolving module, resolving longitude and latitude, time and satellite information, and reporting to an application layer of the Android system.
Further, in the resolving module, firstly, differential data in data issued by the CORS station is resolved to obtain a virtual station position sent by the CORS station; then single-point positioning is carried out to obtain the position of the mobile station;
verifying the positioning result, judging whether the positioning result is valid or not, if the positioning result is invalid, failing to position, and entering the next epoch; if the floating point solution is valid, calculating the non-difference residual error of the base station, selecting a common-view satellite of the base station and the rover station, then updating the time, calculating the non-difference residual error of the rover station so as to obtain double differences through calculation, and measuring and updating the double differences to obtain the floating point solution;
judging whether the floating point solution is effective or not, if the floating point solution is ineffective, failing to position, and entering the next epoch; and if the result is valid, fixing the ambiguity, obtaining a fixed solution through ratio inspection, outputting the result, and if the floating solution is not obtained through ratio inspection, outputting the result.
Further, the solution module calculates the double difference according to:
wherein the content of the first and second substances,
to represent
A double-difference carrier phase observed value and a pseudo range observed value which pass through the station difference between a reference station b and a mobile station r, the inter-satellite difference between a satellite j and a satellite k on the frequency band,
representing the double-differenced true distance between the corresponding satellite and the receiver,
is frequency of
The corresponding wavelength of the light beam is selected,
is the phase difference value of the carrier wave,
is a correction term for the phase of the carrier,
is the composite error including the observation noise.
Further, the solution module adopts kalman filter measurement update, wherein the used single difference stochastic model is:
Further, the resolving module fixes the ambiguity by adopting an LAMBDA algorithm, and a fixed solution is obtained after the ambiguity is checked.
The invention has the beneficial effects that: the method is automatically started when the Android system is started, can be connected with a plurality of cors platforms, and can realize cm-level precision positioning; the invention is based on the android platform, is convenient for clients to transplant and use, and can quickly realize mass production.
Drawings
Fig. 1 is a schematic structural diagram of a high-precision positioning device based on an Android system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a solution flow according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict, and the present invention is further described in detail with reference to the drawings and specific embodiments.
In the embodiment of the present invention, if there is a directional indication (such as up, down, left, right, front, and rear \8230;) only used for explaining the relative positional relationship between the components, the motion situation, etc. at a specific posture (as shown in the drawing), if the specific posture is changed, the directional indication is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only used for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature.
Referring to fig. 1, the high-precision positioning device based on the Android system according to the embodiment of the present invention is applied to the Android system, and is automatically started when the Android system is started, so as to implement programming of a positioning chip driver and data interaction with an Android system service. The Android system comprises a positioning chip application layer. The high-precision positioning device based on the Android system comprises a receiving and sending module, a resolving module and a service module. The invention realizes the data interaction with the positioning chip, receives the data of the server, then carries out algorithm fusion processing, outputs high-precision position and can realize the cm-level precision positioning.
A receiving and sending module: receiving and analyzing original observed quantity and instruction return value output by a positioning chip; sending the analyzed original observed quantity to a resolving module through a local socket; and sending the instruction to the corresponding positioning chip. The receiving and sending module has the following analysis process:
a) Detecting a packet head;
b) Verifying the data according to the packet header classification type;
c) If the verification is correct, the data is sent to a corresponding thread, and the address is correspondingly shifted; checking errors and address offset;
d) The correct data are processed separately.
A resolving module: the monitoring service module receives the data issued by the service module; monitoring a receiving and sending module, and receiving the analyzed original observed quantity sent by the receiving and sending module; and performing algorithm fusion on the data issued by the service module and the received analyzed original observed quantity to output nmea data containing high-precision position, time and satellite information.
The service module monitors a local socket interacting with the service and sends the data to the resolving module after receiving the data; receiving data (base station data and the like) issued by a CORS station and an instruction of an application layer, and issuing the data and the instruction to a resolving module; and analyzing the nmea data output by the resolving module, resolving longitude and latitude, time and satellite information, and reporting to an application layer of the Android system. The service module interacts with the android system to realize the opening and closing of the positioning service; the opening requires the activation of the relevant module, and the closing is the stopping of the module reception. The service module realizes the connection of the cors, the encryption of the account number and the authentication connection of the cors, monitors a cors connection port after the authentication is successful, and sends data to the resolving module.
Referring to fig. 2, a resolving module first resolves differential data in data sent by a CORS station to obtain a virtual station position (i.e., a base station position) sent by the CORS station and data of an original observed quantity observed by a user, and then performs positioning resolving. Firstly, solving a single-point solution, judging whether the single-point solution is effective or not, if the single-point solution is ineffective, failing to position, and entering the next epoch; if the result is valid, starting to calculate the base station non-difference residual error, selecting a common-view satellite of the base station and the rover station, then performing time updating, calculating the rover station non-difference residual error to obtain double differences, performing a measurement updating stage to obtain a three-dimensional coordinate, namely a floating solution, and checking whether the result is valid or not; and fixing the ambiguity after the result is valid, obtaining a fixed solution through ratio inspection, outputting the result, and outputting the result if a floating point solution is not obtained through inspection.
The resolving module adopts a double difference method, can eliminate system error items such as satellite clock error and receiver clock error of the reference station b and the rover station r, and weakens spatial correlation errors such as ionosphere errors and troposphere errors. Wherein, when the baseline length is a short baseline (< 10 km), ionospheric and tropospheric errors are negligible:
wherein, the first and the second end of the pipe are connected with each other,
to represent
A double-difference carrier phase observation value and a pseudo-range observation value passing through the difference between stations (a reference station b and a rover r) and the difference between satellites (a satellite j and a satellite k) on the frequency band,
representing the double-differenced true distance between the corresponding satellite and the receiver,
is frequency of
The corresponding wavelength of the light beam is selected,
is the phase difference value of the carrier wave,
is a correction term for the phase of the carrier,
for synthetic errors including observation noise, the short baseline measurement is substantially negligible, and the geometric distance in the equation is obtained
This term requires a preset reference station value.
An important step in the kalman filtering measurement updating link is the design of a measurement variance matrix, wherein the used single-difference random model is as follows:
And (4) obtaining a floating solution after Kalman filtering measurement updating, fixing the ambiguity by an LAMBDA algorithm, and obtaining a fixed solution after inspection.
In addition, it can be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments can be implemented by a program to instruct related hardware, where the program can be stored in a computer-readable storage medium, and when executed, the program can include the processes of the embodiments of the methods as described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various 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 (5)
1. The utility model provides a high accuracy positioner based on Android system which characterized in that includes:
a receiving and sending module: receiving and analyzing original observed quantity and instruction return value output by a positioning chip; sending the analyzed original observed quantity to a resolving module through a local socket; sending the instruction to a corresponding positioning chip;
a resolving module: the monitoring service module receives the data sent by the service module; monitoring a receiving and sending module, and receiving the analyzed original observed quantity sent by the receiving and sending module; performing algorithm fusion on the data sent by the service module and the received analyzed original observed quantity to output nmea data containing high-precision position, time and satellite information;
a service module: receiving data and an application layer instruction issued by a CORS station, and issuing the data and the application layer instruction to a resolving module; and analyzing the nmea data output by the resolving module, resolving longitude and latitude, time and satellite information, and reporting to an application layer of the Android system.
2. The Android system-based high-precision positioning device of claim 1, wherein in the resolving module, differential data in data issued by the CORS station is firstly resolved to obtain a virtual station position sent by the CORS station; then single-point positioning is carried out to obtain the position of the mobile station;
verifying the positioning result, judging whether the positioning result is valid or not, if the positioning result is invalid, failing to position, and entering the next epoch; if the floating point solution is valid, calculating the non-difference residual error of the base station, selecting a common-view satellite of the base station and the rover station, then updating the time, calculating the non-difference residual error of the rover station so as to obtain double differences through calculation, and measuring and updating the double differences to obtain the floating point solution;
judging whether the floating point solution is valid or not, if the floating point solution is invalid, failing to position, and entering the next epoch; and if the result is valid, fixing the ambiguity, obtaining a fixed solution through ratio inspection, outputting the result, and if the floating solution is not obtained through ratio inspection, outputting the result.
3. The Android system-based high-precision positioning device of claim 2, wherein the resolving module calculates the double difference according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,
to represent
A double-difference carrier phase observed value and a pseudo range observed value which pass through the station difference between a reference station b and a mobile station r, the inter-satellite difference between a satellite j and a satellite k on the frequency band,
representing the double-differenced true distance between the corresponding satellite and the receiver,
is a frequency
The corresponding wavelength of the light beam is selected,
is the phase difference value of the carrier wave,
is a correction term for the phase of the carrier,
is the composite error including the observation noise.
4. The Android system-based high-precision positioning device of claim 2, wherein the solution module is updated by kalman filtering measurement, wherein the used single-difference random model is as follows:
5. The Android system-based high-precision positioning device of claim 2, wherein the resolving module fixes the ambiguity by using a LAMBDA algorithm, and a fixed solution is obtained after the ambiguity is checked.
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Application publication date: 20230124 |