CN108519612A - Network RTK switching methods - Google Patents
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- CN108519612A CN108519612A CN201810173064.XA CN201810173064A CN108519612A CN 108519612 A CN108519612 A CN 108519612A CN 201810173064 A CN201810173064 A CN 201810173064A CN 108519612 A CN108519612 A CN 108519612A
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- 238000013507 mapping Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 5
- 241001269238 Data Species 0.000 abstract description 2
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Classifications
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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]
-
- 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
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- Mobile Radio Communication Systems (AREA)
Abstract
The present invention provides a kind of network RTK switching methods, enter before VRS from main VRS in the actual physical location of terminal, the differential data that server-side broadcasts neighbouring VRS in advance gives terminal (not interrupting broadcasting for main VRS differential datas at this time), differential data of the terminal in advance based on neighbouring VRS carries out positioning calculation, theoretically terminal is close from neighbouring VRS at this time, can enter fixed solution.When the actual physical location of terminal enters neighbouring VRS, the differential data that terminal has been based on neighbouring VRS enters fixed solution state and has obtained higher precision.Server-side stops broadcasting again the differential data of main VRS at this time.The present invention is to solve preferable a solution of the high-speed motion apparatus inter-network lattice switching problems such as automobile, unmanned plane, for the universal significant of consumer terminal high-speed dynamic scene application in the future.
Description
Technical field
The present invention relates to technology of network RTK fields, and in particular to a kind of network RTK switching methods and realization.
Background technology
Network RTK (Real-time Kinematic) is also referred to as base station RTK, is the basis in conventional RTK and differential GPS
On a kind of new technology for setting up.We in a region usually establishing multiple (generally three or three or more)
GPS reference stations constitute netted covering, and calculating and broadcast on the basis of one or more of these base stations to the region
GPS correcting informations, the positioning method to carry out real-time correction to the GPS user in this area are known as GPS network network RTK, also known as
For more base station RTK.
Virtual reference station (VRS-Virtual Reference Stations).Certain number is set up first in certain area
The base station of amount, base station receive satellite-signal, then transfer information to information processing centre, movement station is first by the position of receiver
Confidence breath is sent to data processing centre, and data processing centre can be according to the position of movement station, and selection is nearby compared several positions
Good base station information, " virtual " goes out a reference station, and then, the reference station fictionalized correction data are broadcast to movement station.
The basic principle of network RTK is：The base station (also known as base station or reference station) of known accurate coordinate, which calculates, to be come from
Oneself arrives the distance correction of satellite, and uniformly uploads to data center, the formed ground based augmentation system of base station and data center
(difference broadcasts platform).Difference broadcasts platform and this data is sent to the terminal device for needing to position in real time.Terminal device exists
While carrying out moonscope, also receives difference and broadcasts the differential data that platform is sent out, and its positioning result is corrected,
To improve positioning accuracy.In general, the grid that square can be divided according to physical location where virtual reference station, by terminal
Actual physical location where equipment is mapped in grid, and is judged corresponding virtual reference station and needed the difference number broadcast
According to.
Existing technology of network RTK is mainly for static scene, and from positioning calculation is started to end, terminal device is all quiet
Only motionless, corresponding virtual reference station is also constant, and there is no the corresponding virtual reference stations of terminal device in position fixing process
The problem of switching.When technology of network RTK is applied to consumer terminal device and scene, such as automobile, unmanned plane, mobile phone face
A problem be that terminal device is dynamic.For being based on the technology of network RTK of virtual reference station (VRS), when automobile exists
When running on expressway, due to the variation of automobile (terminal device) actual physical location, corresponding virtual reference station (is usually
One square grid) it can also change simultaneously.For dynamic scene, general resolving ideas and implementation are as follows
(as shown in Figure 1)：
Where terminal position corresponds to virtual reference station 1 (VRS1) when grid, virtual reference station 1 is broadcast
(VRS1) differential data；
Terminal carries out positioning calculation according to the differential data of grid where virtual reference station 1 (VRS1)；
Where terminal is moved to virtual reference station 2 (VRS2) after grid, the difference of virtual reference station 2 (VRS2) is broadcast
Data；
Terminal carries out positioning calculation according to the differential data of grid where virtual reference station 2 (VRS2) at this time.
Above-mentioned solution is known as " direct-cut operation " by we.
Problem of the existing technology is：Grid where virtual reference station 1 and virtual reference station 2 is different, corresponding
Differential corrections are also different.When terminal moves within the scope of VRS1, the differential data of the VRS1 received can obtain
Fixed solution and higher positioning calculation precision.But when terminal has just been moved to VRS2 ranges, the corresponding differences of VRS2 are had received
Divided data, terminal need the regular hour from differential data is received into fixed solution, and this period is likely to be Difference Solution
Or single-point solution (corresponding precision is relatively low).The field of high reliability is needed for automatic driving or the automatic flight of unmanned plane etc.
It is unacceptable for scape.
Invention content
The present invention proposes a kind of method of network RTK switchings, it is therefore an objective to enter in the actual physical location of terminal device
The differential data that VRS2 is based on before VRS2 is resolved and obtains higher precision, is entered in this way in actual physical location
The differential data of stopping VRS1, which is broadcast, after VRS2 would not cause terminal device the influence even the short time.
The present invention proposes a kind of network RTK switching methods, while also proposed corresponding server-side end system and terminal
The specific implementation of equipment and the transformation realization method of interaction protocol.The technical solution adopted by the present invention is as follows：
A kind of network RTK switching methods, include the following steps：
Step 1, terminal initiates Location Request, and establishes and connect with server-side；
Step 2, terminal obtains the probability positions of oneself, and is reported to server-side；
Step 3, the probability positions and preconfigured strategy that server-side is reported according to terminal, carry out logic judgment；
Step 4, server-side broadcasts the differential data of main VRS grids；
Step 5, according to the judgement of step 3, server-side determines whether and when broadcasts the differential data adjacent to VRS grids；
Step 6, terminal is resolved according to the differential data received；
Step 7, terminal continuous positioning and report the probability positions of oneself to server-side；
Step 8, the probability positions that server-side is reported according to terminal judge that terminal comes into neighbouring VRS grids；
Step 9, the main VRS grids of server-side notice terminal and neighbouring VRS grids switching, and stop broadcasting former main VRS grids
Differential data, start the differential data for broadcasting new main VRS grids, i.e., the differential data of former neighbouring VRS grids；
Step 10, after terminal receives handover request, following steps are executed：
Step 10.1, the alternative calculation result based on former neighbouring VRS grids that will have first calculated is as actually making
Result；
Step 10.2, it is resolved based on new main VRS grids, until obtaining new fixed solution；
Step 10.3, using the fixed solution result resolved based on new VRS grids as the result of actual use；
Step 11, terminal continues to resolve and persistently reports the probability positions of oneself, until not needing positioning calculation, disconnect with
The connection of server-side.
Further, terminal obtains the probability positions of oneself by way of single-point calculating in the step 2.
Further, the probability positions of oneself are reported to server-side by terminal by way of the GGA that NMEA is defined.
Further, the step 3 specifically includes following steps：
Step 3.1, according to the latitude and longitude coordinates of probability positions, main VRS grids are selected；
Step 3.2, it according to the latitude and longitude coordinates of probability positions and preconfigured strategy, selects and determines and when broadcasts
The differential data of the neighbouring VRS grids of hair.
Further, VRS grids are square in the step 3.1, by the latitude and longitude coordinates of probability positions and VRS grids
The upper left corner and bottom right angular coordinate compare, the VRS grids that probability positions are fallen i.e. be used as main VRS grids.
Further, the step 3.2 specifically includes following steps：
Step 3.2.1 judges the moving direction of terminal according to the variation of probability positions at least twice；
Step 3.2.2 judges which terminal can enter adjacent to VRS grids according to the moving direction of terminal；
Step 3.2.3 judges the differential data for when broadcasting neighbouring VRS grids according to preconfigured distance threshold.
Further, if cannot judge terminal can enter which VRS grid, while broadcast terminal possibly into
The differential data of VRS grids.
Further, in the step 6 terminal according to the differential data of main VRS grids resolve as a result, as most
The positioning result selected eventually；According to the differential data of neighbouring VRS grids resolve as a result, the positioning knot alternately used
Fruit.
Further, VRS grids are square in the step 8, by the latitude and longitude coordinates of probability positions and VRS grids
The upper left corner and bottom right angular coordinate compare, and the neighbouring VRS grids that probability positions are fallen are i.e. as new main VRS grids.
Further, the terminal include it is following any one or more：Measure mapping equipment, mobile phone, automobile, nobody
Machine, bicycle.
The present invention is to solve a kind of preferable solution party of the high-speed motion apparatus inter-network lattice switching problems such as automobile, unmanned plane
Case, for the universal significant of consumer terminal high-speed dynamic scene application in the future.
Description of the drawings
Fig. 1 is prior art schematic diagram；
Fig. 2 is server-side and terminal interaction flow chart；
Fig. 3 is server-side specific implementation flow chart；
Fig. 4 is terminal specific implementation flow chart.
Specific implementation mode
The present invention proposes a kind of network RTK switching methods.Terminal actual physical location from main VRS enter it is neighbouring
Before VRS, the differential data that server-side broadcasts neighbouring VRS in advance gives terminal (not interrupting broadcasting for main VRS differential datas at this time), eventually
Differential data of the end in advance based on neighbouring VRS carries out positioning calculation, and theoretically terminal is close from neighbouring VRS at this time, can
To enter fixed solution.When the actual physical location of terminal enters neighbouring VRS, terminal has been based on the differential data of neighbouring VRS
It enters fixed solution state and has obtained higher precision.Server-side stops broadcasting again the differential data of main VRS at this time.Hereafter
In, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.
Fig. 2 is server-side of the present invention and terminal interaction flow chart, is included the following steps：
Step 1, terminal initiates Location Request, and establishes and connect with server-side.
Terminal：The terminal device of high accuracy positioning service is accessed and uses, such as measurement mapping equipment, mobile phone, automobile, nobody
Machine, bicycle etc..
Server-side (high in the clouds)：The server platform of (operating under cloud environment) offer high accuracy positioning service.
The interaction of general service end and terminal is to be based on NTRIP agreements (Networked Transport of RTCM via
Internet Protocol carry out the agreement of RTCM network transmissions by internet), the interactive mode proposed in of the invention needs
Extension is done based on NTRIP agreements or defines a kind of new agreement, do not limit specific interaction protocol.
Step 2, terminal obtains the probability positions of oneself, and be reported to server-side by single-point calculating or other modes.
Reporting schemes are generally by NMEA (National Marine Electronics Association, state of the U.S.
The abbreviation of Marine Electronics association of family, is the unified RTCM standard agreements of GPS navigation equipment now) the GGA fields that define, it can also
Otherwise, the specific mode for reporting probability positions is not limited.
Step 3, the probability positions and preconfigured strategy, progress logic judgment that server-side is reported according to terminal have
Body includes：
Step 3.1, according to the latitude and longitude coordinates of probability positions, main VRS grids are selected.Preferred decision logic is implemented for example
Under：The square that VRS grids usually delimited in advance, thus by the upper left corner of probability positions latitude and longitude coordinates and VRS grids and
Bottom right angular coordinate compares, which VRS grid probability positions fall in the range of, which VRS grid is just used as main VRS nets
Lattice.
Step 3.2, it according to the latitude and longitude coordinates of probability positions and preconfigured strategy, selects and determines and when starts
Broadcast the differential data of neighbouring VRS grids.Preferred strategy implement for example under：
Step 3.2.1 judges the moving direction of terminal device according to the variation of probability positions at least twice；
Step 3.2.2 judges which terminal device can enter adjacent to VRS according to the moving direction of terminal device
Grid；
Step 3.2.3, according to pre-configured distance threshold (such as 100 meters, may be according to terminal in practical application
The factors threshold values such as the time that mobile speed and entrance fixed solution needs), judge when start to broadcast neighbouring VRS grids
Differential data.
If according to the judgement for the probability positions that terminal repeatedly reports, do not know terminal enters which specific VRS grid,
Such as two or three adjacent VRS grids are likely to enter in square juncture area, can also broadcast simultaneously the two or
The differential data of three VRS grids.
Step 4, the differential data of main VRS grids is broadcast.
Step 5, according to the judgement of step 3, it is determined whether with when broadcast some differential data adjacent to VRS grids.
Step 6, terminal is resolved according to the differential data received.It resolves to obtain according to the differential data of main VRS grids
As a result, as the positioning result finally used.According to the differential data of neighbouring VRS grids resolve as a result, as standby
Select the positioning result used.
Step 7, terminal continuous positioning and the probability positions of oneself are reported.
Step 8, the probability positions that server-side is reported according to terminal judge that terminal comes into neighbouring VRS grids.One
Specific decision logic example is as follows：The square that VRS grids usually delimited in advance, therefore by probability positions latitude and longitude coordinates
It being compared with the upper left corner of VRS grids and bottom right angular coordinate, probability positions are fallen in the range of which is adjacent to VRS grids, which
One neighbouring VRS grid is just as new main VRS grids.
Step 9, the main VRS grids of server-side notice terminal and neighbouring VRS grids switching, and stop broadcasting former main VRS grids
Differential data, start to broadcast the differential data of new main VRS grids (former neighbouring VRS grids).
Step 10, after terminal receives handover request, following steps are executed：
Step 10.1, the alternative calculation result based on former neighbouring VRS grids that will have first calculated is as actually making
Result；
Step 10.2, it is resolved based on new main VRS grids, until obtaining new fixed solution；
Step 10.3, using the fixed solution result resolved based on new main VRS grids as the result of actual use.
Step 11, terminal continues to resolve and persistently reports the probability positions of oneself, until not needing positioning calculation, disconnect with
The connection of server-side.
The specific implementation flow chart of service end system is as shown in figure 3, be as follows：
Step 101, server-side initializes, and prepares the Location Request for receiving to carry out self terminal and connection.
Step 102, it receives after carrying out the request of self terminal, establishes connection, and prepare to receive the probability positions that terminal reports.
Step 103, the probability positions reported according to terminal select main VRS grids, and broadcast differential data.
It is preferred that decision logic embodiment is as follows：The square that VRS grids usually delimited in advance, therefore probability positions are passed through
Latitude coordinate is compared with the upper left corner of VRS grids and bottom right angular coordinate, and probability positions fall the range in which VRS grid
Interior, which VRS grid is just used as main VRS grids.
Step 104, it according to the latitude and longitude coordinates of probability positions and preconfigured strategy, selects and determines and when starts
Broadcast the differential data of neighbouring VRS grids.
Preference policy example is as follows：1) according to the variation of probability positions at least twice, judge the mobile side of terminal device
To；2) according to the moving direction of terminal device, judge which terminal device can enter adjacent to VRS grids；3) according to pre-
(such as 100 meters, according to the speed that terminal moves and may enter fixed solution need to the distance threshold first configured in practical application
The factors threshold value such as time wanted), judge the differential data for when starting to broadcast neighbouring VRS grids.
Preconfigured strategy further includes：If according to the judgement for the probability positions that terminal repeatedly reports, terminal is not known
Into which specific VRS grid, such as two or three adjacent VRS grids are likely to enter in square juncture area,
The differential data of the two or three VRS grids can also be broadcast simultaneously.
Step 105, the differential data of neighbouring VRS grids is broadcast.
Step 106, the newest probability positions that terminal uploads are received, judgement is re-started, and repeats step 3 and arrives step 5
Logic.
Step 107, stop positioning, disconnect.
The specific implementation flow chart of terminal device (device) is as shown in figure 4, be as follows：
Step 201, Connection Service end, and probability positions are obtained according to single-point or other means.
Step 202, the probability positions of oneself are persistently reported.
Step 203, the main VRS grid differences data that server-side issues are received, positioning calculation is carried out.
Step 204, the neighbouring VRS grid differences data that server-side issues are received, positioning calculation is carried out.
Step 205, the handover request that server-side issues is received, will first have been calculated based on former neighbouring VRS grids
Alternative calculation result as actual use as a result, until step 206 complete.Be simultaneously stopped based on former neighbouring VRS grids into
Row resolves.
Step 206, the differential data based on new main VRS grids is resolved, until obtaining new fixed solution.It will be based on
The fixed solution result that new main VRS grids resolve is as actual use as a result, and stopping using based on former neighbouring VRS nets
The calculation result of lattice.Step 202 is returned to, restarts persistently to report the probability positions of oneself.
Step 207, stop positioning, disconnect.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, and according to the present invention
Technical spirit to any simple modifications, equivalents, and modifications made by above example, belong to technical solution of the present invention
Protection domain.
Claims (10)
1. a kind of network RTK switching methods, which is characterized in that include the following steps：
Step 1, terminal initiates Location Request, and establishes and connect with server-side；
Step 2, terminal obtains the probability positions of oneself, and is reported to server-side；
Step 3, the probability positions and preconfigured strategy that server-side is reported according to terminal, carry out logic judgment；
Step 4, server-side broadcasts the differential data of main VRS grids；
Step 5, according to the judgement of step 3, server-side determines whether and when broadcasts the differential data adjacent to VRS grids；
Step 6, terminal is resolved according to the differential data received；
Step 7, terminal continuous positioning and report the probability positions of oneself to server-side；
Step 8, the probability positions that server-side is reported according to terminal judge that terminal comes into neighbouring VRS grids；
Step 9, the main VRS grids of server-side notice terminal and neighbouring VRS grids switching, and stop broadcasting the difference of former main VRS grids
Divided data starts the differential data for broadcasting new main VRS grids, i.e., the differential data of former neighbouring VRS grids；
Step 10, after terminal receives handover request, following steps are executed：
Step 10.1, first using the alternative calculation result based on former neighbouring VRS grids calculated as actual use
As a result；
Step 10.2, it is resolved based on new main VRS grids, until obtaining new fixed solution；
Step 10.3, using the fixed solution result resolved based on new VRS grids as the result of actual use；
Step 11, terminal continues to resolve and persistently report the probability positions of oneself, until not needing positioning calculation, disconnects and services
The connection at end.
2. a kind of network RTK switching methods as described in claim 1, which is characterized in that terminal passes through single-point in the step 2
The mode of calculating obtains the probability positions of oneself.
3. a kind of network RTK switching methods as claimed in claim 2, which is characterized in that terminal passes through the NMEA GGA's defined
The probability positions of oneself are reported to server-side by mode.
4. a kind of network RTK switching methods as described in claim 1, which is characterized in that the step 3 specifically includes following step
Suddenly：
Step 3.1, according to the latitude and longitude coordinates of probability positions, main VRS grids are selected；
Step 3.2, it according to the latitude and longitude coordinates of probability positions and preconfigured strategy, selects and determines and when broadcasts neighbour
The differential data of nearly VRS grids.
5. a kind of network RTK switching methods as claimed in claim 4, which is characterized in that VRS grids are in the step 3.1
Square compares the latitude and longitude coordinates of probability positions and the upper left corner of VRS grids and bottom right angular coordinate, and probability positions are fallen
VRS grids i.e. be used as main VRS grids.
6. a kind of network RTK switching methods as claimed in claim 4, which is characterized in that the step 3.2 specifically includes following
Step：
Step 3.2.1 judges the moving direction of terminal according to the variation of probability positions at least twice；
Step 3.2.2 judges which terminal can enter adjacent to VRS grids according to the moving direction of terminal；
Step 3.2.3 judges the differential data for when broadcasting neighbouring VRS grids according to preconfigured distance threshold.
7. a kind of network RTK switching methods as claimed in claim 6, which is characterized in that if cannot judge, terminal can enter
Which VRS grid, at the same broadcast terminal possibly into VRS grids differential data.
8. a kind of network RTK switching methods as described in claim 1, which is characterized in that terminal is according to master in the step 6
It is that the differential data of VRS grids resolves as a result, positioning result as final choice；According to the difference of neighbouring VRS grids
It is that data calculation obtains as a result, the positioning result alternately used.
9. a kind of network RTK switching methods as described in claim 1, which is characterized in that VRS grids are just in the step 8
It is rectangular, the latitude and longitude coordinates of probability positions and the upper left corner of VRS grids and bottom right angular coordinate are compared, what probability positions were fallen
Neighbouring VRS grids are as new main VRS grids.
10. a kind of network RTK switching methods as described in any claim in claim 1-9, which is characterized in that the end
End include it is following any one or more：Measure mapping equipment, mobile phone, automobile, unmanned plane, bicycle.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109541660A (en) * | 2018-11-12 | 2019-03-29 | 广东星舆科技有限公司 | A kind of method, receiver, readable medium and the Cloud Server of VRS switching |
| CN111142142A (en) * | 2018-11-06 | 2020-05-12 | 千寻位置网络有限公司 | Processing method and device for switching RTK reference station |
| WO2021063398A1 (en) * | 2019-09-30 | 2021-04-08 | 苏州宝时得电动工具有限公司 | Base station switching method, apparatus, and readable storage medium |
| CN113484885A (en) * | 2021-06-21 | 2021-10-08 | 武汉长江通信智联技术有限公司 | Terminal positioning method adaptive to CDR data broadcast VRS technology application |
| CN116932672A (en) * | 2022-04-08 | 2023-10-24 | 真点科技(北京)有限公司 | Method and device for processing grid switching data, computer storage medium and terminal |
| CN117538913A (en) * | 2022-08-01 | 2024-02-09 | 北京车和家信息技术有限公司 | Vehicle positioning method and related equipment |
| CN118828752A (en) * | 2024-05-07 | 2024-10-22 | 中移(上海)信息通信科技有限公司 | A network RTK cross-cloud node switching method and related equipment |
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