阅读说明：本技术 未知点位基准站精确坐标确定方法 (Method for determining accurate coordinates of reference station of unknown point position ) 是由 汪威 王建波 陈林 于 2020-04-10 设计创作，主要内容包括：本发明揭示了未知点位基准站精确坐标确定方法,包括如下步骤：先由千寻位置网络科技公司获取至少一个CORS账号并进行账号可用性测试；接着,获取基准站的原始观测数据及设备基础信息并采用单点定位技术求出基准站的粗略坐标；当基准站坐标得出之后,在此坐标基础结合VRS技术可获取新的VRS站点的坐标,后续可以以新获得的VRS站点的坐标获取千寻位置网络科技公司发出的高精度的差分观测值,最后联同基准站观测数据进行平差解算,求得基准站的精确坐标。本方案提供了一种不需要依赖测绘主观部门的数据且能够有效解决在无已知基准站点位的情况下快速求解基准站的高精度绝对坐标的方法,同时,该方法有效地满足多个基准站的精确坐标进行解算的要求。(The invention discloses a method for determining accurate coordinates of an unknown point location reference station, which comprises the following steps: firstly, acquiring at least one CORS account by a thousand-searching-position network technology company and carrying out account availability test; then, acquiring original observation data and equipment basic information of the reference station and solving a rough coordinate of the reference station by adopting a single-point positioning technology; after the coordinates of the reference station are obtained, the coordinates of a new VRS station can be obtained by combining the VRS technology on the basis of the coordinates, high-precision differential observed values sent by a thousand-searching-position network technology company can be obtained according to the newly obtained coordinates of the VRS station, and finally adjustment calculation is carried out on the observed data of the same reference station to obtain the accurate coordinates of the reference station. The method provided by the scheme can effectively solve the problem of fast solving the high-precision absolute coordinates of the reference station under the condition of no known reference station point location without depending on data of a surveying and mapping subjective department, and meanwhile, the method effectively meets the requirement of solving the precise coordinates of a plurality of reference stations.)

1. The method for determining the accurate coordinates of the unknown point reference station is characterized by comprising the following steps: the method comprises the following steps:

s1, acquiring at least one CORS account by the Chinake location network technology company and carrying out account availability test by using the RTK terminal;

s2, accurately fixing the antenna of the receiver of the reference station and acquiring the original observation data of the reference station;

s3, calculating the rough coordinates of the reference station by adopting a single-point positioning technology according to the original observation data;

s4, virtualizing at least two VRS site coordinates according to the rough coordinates obtained by the single-point positioning technology, so that a polygonal net shape with a short base line is formed between the VRS site and at least one reference station;

s5, requesting the RTCM differential data broadcasted by the VRS site coordinates in real time and continuously storing the RTCM differential data of the target duration;

and S6, carrying out whole network adjustment calculation on the original observation data of the reference station and the data collected by the VRS station to obtain the accurate coordinates of the reference station.

2. The method for determining the accurate coordinates of the reference station of unknown point positions according to claim 1, wherein: in the step S1, the number of the CORS accounts is two.

3. The method for determining the accurate coordinates of the reference station of unknown point positions according to claim 1, wherein: the account availability test in S1 comprises

S11, mounting the mobile phone card to the RTK terminal or opening a wireless hotspot of the mobile phone, and connecting the RTK handbook with the hotspot and the RTK terminal;

and S12, inputting CORS account information, and checking whether the RTK terminal can obtain fixed difference decomposition and hold within seconds, if so, indicating that the account is available.

4. The method for determining the accurate coordinates of the reference station of unknown point positions according to claim 1, wherein: in S2, device basic information is stored, and the device basic data includes an antenna type, an antenna height, and a receiver type.

5. The method for determining the accurate coordinates of the reference station of unknown point positions according to claim 1, wherein: in the S4, the distances between the reference station and the virtual station and between the VRS stations are 1-5 km.

6. The method for determining the accurate coordinates of the reference station of unknown point positions according to claim 1, wherein: in the step S5, the target duration is between 10min and 30 h.

7. The method for determining the accurate coordinates of the reference station of unknown point positions according to claim 1, wherein: in S5, the RTCM difference data is calculated by at least the following method:

the inter-station differencing between the master reference station a and the VRS station V is performed:

in the formulas (1), (2) and (3), lambda represents wavelength, delta represents single difference sign, v delta represents double difference sign, r represents satellite phi represents carrier phase observed value, rho represents pseudo range observed value, I represents ionosphere error, T represents troposphere error, O represents satellite orbit error, m represents multipath error, N represents whole-cycle ambiguity, c represents light velocity, T represents clock difference and represents noise error; ref is a reference satellite;

let S be I + T + O (4)

Simultaneous cross-matching of the formulas (1), (2), (3) and (4) to obtain the formula (5)

"S" in the formula (4) represents an equivalent distance error,representing multipath error, equation (5) represents the observation of the virtual reference station,cΔt_AVis constant and is eliminated in the differencing process,the method can be solved by adopting an error interpolation model, and the ambiguity and the clock error at the VRS end are both zero, so the formula (5) can be simplified into the following expression;

the VRS site carrier phase observations are as follows:

for any double difference observation valueThus, it is possible to provide

VRS site pseudorange observations are as follows:

a pseudo-range observation value of the virtual station to the r-th satellite,A pseudo-range observation value representing the main reference station to the r-th satellite,Represents pseudorange observations of the virtual stations to the reference satellites,A pseudorange observation representing the primary reference station to the first reference satellite,Representing the double difference ionospheric delay of the master reference station and the virtual station,Double differenced tropospheric delays for the master reference station and the virtual station.

8. The method for determining the accurate coordinates of the reference station of unknown point positions according to claim 1, wherein: in S6, the RTCM data is decoded before the adjustment calculation of the entire net, and the decoded data at least includes GPS L1/L2 pseudorange and carrier phase observed data, BDS B1/B2 pseudorange and carrier phase observed data, and GLONASS L1/L2 pseudorange and carrier phase observed data.

9. The method for determining the accurate coordinates of the reference station of unknown point positions according to claim 1, wherein: and S7, outputting the accurate coordinate obtained in S6 and evaluating the accuracy.

10. The method for determining the accurate coordinates of the reference station at the unknown point location according to claim 9, wherein: in the step S7, at least the RATIO value, the observed value residual error RMS, the length of a retest baseline and the positioning accuracy are used for measurement, and the accuracy evaluation is carried out on the synchronous closed loop closing difference and the asynchronous loop closing difference.

Technical Field

The invention relates to the technical field of positioning, in particular to a method for determining accurate coordinates of a reference station of an unknown point position.

Background

With the rapid development of the global positioning system, a situation that a plurality of satellite navigation systems such as a GPS, a BDS, a GLONASS, a GAILLEO, a QZSS, an SBAS and the like coexist currently is formed, the satellite navigation positioning is completely realized from single system positioning to multi-mode combined positioning, and the positioning accuracy and the stability are greatly improved. The popularization of high-precision position services is a trend in the future.

At present, the single-point positioning precision is 5-8 m, and the precision cannot meet the requirements of some industries on the positioning precision, such as lane-level positioning of buses, automatic driving vehicle positioning and the like. The effective method for improving the positioning accuracy is to use a differential positioning technology, and the premise of obtaining differential information is that a certain number of base stations need to be arranged and networking is carried out, wherein whether the coordinates of the base stations are accurate directly influences the point position coordinates of the rover station.

At present, the accurate coordinate of a reference station is solved by mainly adopting joint measurement with a known point location and network adjustment calculation, but the known point location data is generally in a local surveying and mapping department, and a user is difficult to obtain due to the fact that some high-precision observation data and coordinate confidentiality are involved.

Because the calculation by adopting the PPP technology can reach millimeter-scale precision, some students also propose that the method is adopted to calculate the coordinates of the reference station, but the method has a certain problem in the aspect of multi-reference-station networking, the whole CORS net-shaped structure cannot be accurately reflected by using the result of multi-group PPP calculation, precise ephemeris is required for PPP calculation, two weeks are required for obtaining the precise ephemeris finally, the real-time performance cannot be effectively guaranteed, particularly, the construction of some emergency projects can be adversely affected, and how to quickly and effectively calculate the coordinates of the reference station points and apply the coordinates to practical purposes is an important task.

Disclosure of Invention

The invention aims to solve the problems in the prior art, and provides an unknown point reference station accurate coordinate determination method which utilizes differential data source information provided by thousand-seek position network science and technology companies to reversely solve accurate coordinates of a reference station based on a VRS algorithm principle.

The purpose of the invention is realized by the following technical scheme:

the method for determining the accurate coordinates of the unknown point reference station comprises the following steps:

s1, acquiring at least one CORS account by the Chinake location network technology company and carrying out account availability test by using the RTK terminal;

s2, accurately fixing the antenna of the receiver of the reference station, and acquiring original observation data and basic information of equipment of the reference station;

s3, calculating the rough coordinates of the reference station by adopting a single-point positioning technology according to the original observation data;

s4, respectively virtualizing at least two VRS site coordinates according to the rough coordinates obtained by the single-point positioning technology, so that a polygonal net shape with a short base line is formed between the VRS site and at least one reference station;

s5, collecting RTCM differential data broadcasted by thousands of position network science and technology companies in real time through VRS sites and continuously storing the RTCM differential data of the target duration;

and S6, carrying out whole network adjustment calculation on the original observation data of the reference station and the data collected by the VRS station to obtain the accurate coordinates of the reference station.

Preferably, in the method for determining the accurate coordinates of the reference station at the unknown point location, in S1, there are two CORS account numbers.

Preferably, in the method for determining the precise coordinates of the reference station at the unknown point location, the account availability test in S1 includes

S11, mounting the mobile phone card to the RTK terminal or opening a wireless hotspot of the mobile phone, and connecting the RTK handbook with the hotspot and the RTK terminal;

and S12, inputting CORS account information, and checking whether the RTK terminal can obtain the fixation difference resolution and maintain within 10S, if so, indicating that the account is available.

Preferably, in the method for determining precise coordinates of an unknown point location reference station, in S2, the device basis data includes an antenna type, an antenna height, and a receiver type.

Preferably, in the method for determining the precise coordinates of the reference station at the unknown point, in S4, the distances between the reference station and the virtual station and between the VRS stations are 1-5 km.

Preferably, in the method for determining the precise coordinates of the reference station at the unknown point location, in S5, the target time duration is between 10min and 30 h.

Preferably, in the method for determining the precise coordinates of the reference station at the unknown point, in S5, the RTCM difference data is calculated at least by the following method:

the inter-station differencing between the master reference station a and the VRS station V is performed:

in the formulas (1), (2) and (3), lambda represents wavelength, delta represents single difference sign, v delta represents double difference sign, r represents satellite phi represents carrier phase observed value, rho represents pseudo range observed value, I represents ionosphere error, T represents troposphere error, O represents satellite orbit error, m represents multipath error, N represents whole-cycle ambiguity, c represents light velocity, T represents clock difference and represents noise error;

let S be I + T + O (4)

Simultaneous cross-matching of the formulas (1), (2), (3) and (4) to obtain the formula (5)

"S" in the formula (4) represents an equivalent distance error,representing multipath error, equation (5) represents the observations at the virtual reference station, ref is the reference satellite,cΔt_AVis constant and is eliminated in the differencing process,the method can be solved by adopting an error interpolation model, and the ambiguity and the clock error at the VRS end are both zero, so the formula (5) can be simplified into the following expression;

the VRS site carrier phase observations are as follows:

for any double difference observation valueThus, it is possible to provide

VRS site pseudorange observations are as follows:

a pseudo-range observation value of the virtual station to the r-th satellite,A pseudo-range observation value representing the main reference station to the r-th satellite,Represents pseudorange observations of the virtual stations to the reference satellites,A pseudorange observation representing the primary reference station to the first reference satellite,Representing the double difference ionospheric delay of the master reference station and the virtual station,Double differenced tropospheric delays for the master reference station and the virtual station.

Preferably, in the method for determining precise coordinates of an unknown point reference station, in S6, before performing adjustment calculation of the whole network, the RTCM data is decoded, and the decoded data at least includes GPS L1/L2 pseudorange and carrier phase observation data, BDS B1/B2 pseudorange and carrier phase observation data, and GLONASS L1/L2 pseudorange and carrier phase observation data.

Preferably, the method for determining the precise coordinates of the reference station at the unknown point position further comprises the step of S7, outputting the precise coordinates obtained in the step S6 and carrying out precision evaluation.

Preferably, in the method for determining the precise coordinates of the reference station at the unknown point location, in S7, at least the RATIO value, the observed residual RMS, the length of the retest baseline, and the positioning precision are used for measurement, and the precision evaluation is performed on the synchronous closed loop closing difference and the asynchronous loop closing difference.

Wherein RATIO represents the RATIO of the next minimum RMS to the minimum RMS after ambiguity resolution, and requires RATIO >3

The requirement of synchronous ring closure difference:

the requirement of synchronous ring closure difference:

net unconstrained adjustment baseline vector residual requirements:

V_ΔX≤3σ，V_ΔY≤3σ，V_ΔZ≤3σ。

the technical scheme of the invention has the advantages that:

the method does not need to rely on data of a surveying and mapping subjective department, can effectively solve the problem of fast solving the high-precision absolute coordinates of the reference station under the condition of no known reference station point location, and meanwhile effectively meets the requirement of solving the precise coordinates of a plurality of reference stations, so that the efficiency is greatly improved; and the method is based on high-precision basic data of the thousand-searching position network technology company, and can effectively ensure the final positioning precision.

The method can freely set stations according to the position distribution of the reference stations, can be used for laying a high-level control network, can be used for laying control points particularly in some remote areas without known control points, and can be applied to the field of deformation monitoring.

According to the scheme, the short baseline network is constructed, so that the resolving precision can be effectively guaranteed, the resolving difficulty is reduced, and the resolving efficiency is improved.

The scheme can enable the final precision to reach a millimeter level through the optimization of data acquisition time, and the accuracy is effectively improved.

Drawings

FIG. 1 is a schematic flow diagram of the present invention.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.

In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.

The method for determining the accurate coordinates of the reference station of unknown point location disclosed by the invention is explained by combining the attached drawings, as shown in fig. 1, and comprises the following steps:

and S1, acquiring at least one CORS account by the Kyoto location network technology company and carrying out account availability test by using the RTK terminal.

Therefore adopt thousand to seek position network technology company's CORS account number, because present thousand seek position network technology company and have accomplished the integration of two thousand a plurality of big dipper ground reinforcing reference stations in the country, possess and provide the location ability that reaches dynamic centimeter level and static millimeter level, the user can pay corresponding expense according to the demand of oneself and can obtain corresponding location service, its service positioning accuracy covers millimeter level, decimeter level and centimeter's positioning accuracy, thereby can guarantee the precision of basic data effectively.

During actual testing, two CORS accounts are obtained from the Kyowa location network technology company, and convenience can be better brought to data acquisition of subsequent VRS sites.

The account number availability test method comprises the following steps:

s11, mounting the mobile phone card to the RTK terminal or opening a wireless hotspot of the mobile phone, and connecting the RTK handbook with the hotspot and the RTK terminal;

s12, inputting CORS account information, checking whether the RTK terminal can obtain the fixation difference decomposition and keep within 10S, and if yes, indicating that the account is available; and if the input parameters are not correct, checking whether the input parameters are incorrect and then connecting, and if the equipment is not correct and the input parameters are accurate, contacting the supplier to confirm whether the CORS account is invalid. And re-acquiring the CORS account and carrying out usability test.

S2, accurately fixing the antenna of the receiver of the reference station, and acquiring original observation data and basic information of equipment of the reference station; the basic data of the equipment at least comprises an antenna type, an antenna height and a receiver type, and the parameters are mainly provided for high-precision data processing software so as to meet the requirements of the high-precision data processing software on the information when a strict mathematical model adopted by the high-precision data processing software imports data and sets control parameters.

S3, calculating the rough coordinate of each reference station by adopting a single-point positioning technology according to the original observation data; the single-point positioning technique is a known technique for finding the coordinates of a ground point by observing four or more satellites, and the positioning accuracy is generally several tens of meters, and may be, for example, the prior art 201510002829.X disclosed in the application number, and the purpose of finding the rough coordinates of a reference station is to request an RTCM differential data service using the coordinates.

And S4, virtualizing at least two VRS site coordinates according to the rough coordinates of the reference station obtained by the single-point positioning technology, so that a polygonal net shape with a short base line is formed between the VRS site and at least one reference station.

Because at least three stations are needed to form the closed loop, at least two VRS stations are obtained virtually, preferably 2 VRS stations in this embodiment, and two CORS accounts are used to obtain RTCM differential data, and more information is checked by two pieces of known coordinate information. In practice, if only one CORS account exists, the observation data needs to be longer. Meanwhile, the short base line is selected because the short base line is easier and more reliable to process, and the positioning of the reference station can reach higher precision and can stably reach centimeter level and even millimeter level under the condition that the VRS station and the reference station are short base lines. Preferably, the inventors have found that optimum accuracy and reliability can be obtained when the distances between the reference station and the virtual station and between the VRS stations are 1-5km, more preferably 2-4km, and even more preferably 2-3 km.

After the coordinates of the reference station are obtained, the coordinates of the new VRS station can be obtained by modifying the coordinates on the basis of the coordinates, the difference observation value can be obtained by the new virtual coordinates (the coordinates are changed into known values at the moment), and finally, adjustment calculation is carried out by combining the new virtual coordinates with the observation data of the reference station. The method comprises the following specific steps:

and S5, acquiring RTCM differential data broadcasted by the thousand-seek position network technology company in real time through a VRS site and continuously storing the RTCM differential data of the target duration. The method comprises the steps that the VRS site coordinates are used as a true value, RTCM original observation data are obtained by using an Ntrip protocol, in order to guarantee the accuracy and reliability of subsequent data analysis, the target time length is usually not less than 10min, preferably not less than 1h, and preferably not more than 30h, and the inventor researches and discovers that when the more preferred target time length is about 24h, sufficient observation data can be obtained for adjustment calculation, and moreover, the geometric configuration data of a satellite with a large variation range can be acquired, so that the method plays a great role in improving the positioning accuracy; simultaneously, the method also has certain treatment time effect.

In S5, the RTCM difference data is calculated by at least the following method:

the inter-station differencing between the master reference station a and the VRS station V is performed:

in the formulas (1), (2) and (3), lambda represents the wavelength, delta represents the sign of the single difference,representing a double-difference symbol, r representing a satellite phi representing a carrier phase observation value, rho representing a pseudo-range observation value, I representing an ionosphere error, T representing a troposphere error, O representing a satellite orbit error, m representing a multipath error, N representing an integer ambiguity, c representing a light velocity, T representing a clock difference and representing a noise error;

let S be I + T + O (4)

Simultaneous cross-matching of the formulas (1), (2), (3) and (4) to obtain the formula (5)

"S" in the formula (4) represents an equivalent distance error,representing multipath error, equation (5) represents the observations at the virtual reference station, ref is the reference satellite,cΔt_AVis constant and is eliminated in the differencing process,the method can be solved by adopting an error interpolation model, and the ambiguity and the clock error at the VRS end are both zero, so the formula (5) can be simplified into the following expression;

the VRS site carrier phase observations are as follows:

for any double difference observation valueThus, it is possible to provide

VRS site pseudorange observations are as follows:

a pseudo-range observation value of the virtual station to the r-th satellite,A pseudo-range observation value representing the main reference station to the r-th satellite,Represents pseudorange observations of the virtual stations to the reference satellites,A pseudorange observation representing the primary reference station to the first reference satellite,Representing the double difference ionospheric delay of the master reference station and the virtual station,Double differenced tropospheric delays for the master reference station and the virtual station.

And S6, carrying out whole network adjustment calculation on the original observation data of the reference station and the data collected by the VRS station to obtain the accurate coordinates of the reference station. In S6, before the adjustment calculation, the RTCM data is converted into RINEX, that is, the RTCM data is decoded, and the decoded data at least includes GPS L1/L2 pseudorange and carrier phase observation data, BDS B1/B2 pseudorange and carrier phase observation data, and GLONASS L1/L2 pseudorange and carrier phase observation data. And after the data are obtained by decoding, carrying out short baseline calculation on the data and the original observation data of the reference station.

And S7, outputting the accurate coordinates of the reference station obtained in the step S6, and evaluating the accuracy of the calculation result.

And during specific evaluation, precision evaluation is performed at least through parameters such as RATIO value, observed value residual error RMS, retest baseline length and positioning precision, synchronous closed loop closing difference and asynchronous loop closing difference.

Wherein RATIO represents the RATIO of the next minimum RMS to the minimum RMS after ambiguity resolution, and requires RATIO >3

The requirement of synchronous ring closure difference:

the requirement of synchronous ring closure difference:

net unconstrained adjustment baseline vector residual requirements:

V_ΔX≤3σ，V_ΔY≤3σ，V_ΔZ≤3σ。

the invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.