阅读说明：本技术 观测数据的生成方法与提高vrs稳定性的电文数据生成方法 (Observation data generation method and text data generation method for improving VRS stability ) 是由 曾虎 杜洪伟 于 2019-11-07 设计创作，主要内容包括：本发明涉及卫星定位技术领域,公开了虚拟参考站观测数据的生成方法：以参考站A为主参考站,生成t历元虚拟参考站的观测数据Φ<Sub>VA</Sub>(t)；以参考站C为主参考站,生成t历元虚拟参考站的观测数据Φ<Sub>VC</Sub>(t)；计算ΔΦ(t)＝Φ<Sub>VA</Sub>(t)-Φ<Sub>VC</Sub>(t)；以参考站A为主参考站,计算t+n历元虚拟参考站的观测数据Φ<Sup>′</Sup><Sub>VA</Sub>(t+n)＝Φ<Sub>VC</Sub>(t+n)+ΔΦ(t)。相应地,还公开了提高VRS稳定性的方法、系统和可读存储介质。本发明的一些技术效果在于：提高了虚拟参考站技术的定位稳定性。(The invention relates to the technical field of satellite positioning, and discloses a method for generating observation data of a virtual reference station, which comprises the following steps: generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station VA (t); generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station VC (t); calculating delta phi (t) to phi VA (t)‑Φ VC (t); calculating observation data phi of t + n epoch virtual reference station by taking a reference station A as a main reference station ′ VA (t+n)＝Φ VC (t + n) + Δ Φ (t). Accordingly, methods, systems, and readable storage media for improving VRS stability are also disclosed. Some technical effects of the invention are as follows: the positioning stability of the virtual reference station technology is improved.)

1. The method for generating the observation data of the virtual reference station is characterized by comprising the following steps:

generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t)；

Generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t)；

Calculating delta phi (t) to phi_VA(t)-Φ_VC(t)；

Calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t+n)+ΔΦ(t)。

2. The generation method according to claim 1, characterized in that: n is more than or equal to 1 and less than or equal to 15.

3. A text data generation method for improving VRS stability is characterized by comprising the following steps:

s1 receiving observation data of the main reference station A and the auxiliary reference station C;

s2.1 when the observation data of the main reference station A is received, the observation data of the A is used for generating the observation data phi of the virtual reference station_VA；

S2.2 when only the observation data of the auxiliary reference station C is received, the continuous missing time of the observation data of the main reference station A is T;

s2.2.1 such as t₁≤T≤t₂Generation of virtual reference station observation data phi 'from observation data derivation of auxiliary reference station C'_VA；

S2.2.1 such as t₂If the number of the auxiliary reference stations C is less than T, the auxiliary reference station C is used as a new main reference station, and observation data phi of the virtual reference station are generated_VC。

4. The textual data generation method of claim 3, wherein said deriving generates virtual reference station observation data Φ'_VA：

Generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t)；

Generating t epoch by taking the reference station C as a main reference stationObservation data phi of virtual reference station_VC(t)；

Calculating delta phi (t) to phi_VA(t)-Φ_VC(t)；

Calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t+n)+ΔΦ(t)。

5. The textual data generation method of claim 4, characterized by: n is more than or equal to 1 and less than or equal to 15.

6. The textual data generation method of claim 3, wherein: t is not more than 0s₁≤3s，3s≤t₂≤15s。

7. A readable storage medium, characterized in that: the readable storage medium has stored thereon a computer program for execution by a processor to perform the method of any of claims 3 to 6.

8. A text data generation system for improving VRS stability, comprising: a communication unit, a generation unit, and a storage unit;

the communication unit is used for communicating with the reference station data, receiving and broadcasting observation data;

the generating unit is used for calculating and generating observation data:

when the observation data of the main reference station A is received, the observation data of A is used for generating the observation data phi of the virtual reference station_VA；

When only the observation data of the auxiliary reference station C is received and the continuous missing time of the observation data of the main reference station A is T, then: such as t₁≤T≤t₂Generation of virtual reference station observation data phi 'from observation data derivation of auxiliary reference station C'_VA(ii) a Such as t₂If the number of the auxiliary reference stations C is less than T, the auxiliary reference station C is used as a new main reference station, and observation data phi of the virtual reference station are generated_VC；

The storage unit is used for data storage.

9. The system of claim 8, wherein: the generation unit deduces and generates virtual reference station observation data phi'_VA：

Generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t)；

Generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t)；

Calculating delta phi (t) to phi_VA(t)-Φ_VC(t)；

Calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t+n)+ΔΦ(t)。

10. The system of claim 9, wherein: n is more than or equal to 1 and less than or equal to 15.

Technical Field

The invention belongs to the technical field of satellite positioning systems and positioning measurement, and particularly relates to a method for generating observation data of a virtual reference station, a method for generating text data for improving VRS stability, a system and a readable storage medium.

Background

GNSS (Global Navigation Satellite System, which may be understood as "Global Navigation Satellite System") receivers typically employ RTK techniques in order to obtain centimeter-level positioning accuracy in real time.

RTK (Real-Time Kinematic, which may be understood as "Real-Time Kinematic positioning") is a Real-Time Kinematic relative positioning technique that utilizes carrier-phase observations between a rover station (or receiver) and a reference station. Specifically, the receiver can access the CORS (continuous Operating Reference states, which can be understood as "Continuously Operating Reference Stations") network difference services to perform RTK solution, so as to obtain high-precision positioning.

VRS (Virtual Reference Station, which may be understood as a "Virtual Reference Station") technology is one of the network RTK technologies that virtualizes a Reference Station in the vicinity of a rover Station in real time to provide the rover Station with differential text and Reference Station position information. The positioning principle of the virtual reference station is that a data center receives observation data of each reference station of a reference station network and a rough coordinate of a rover station in real time, a virtual reference station is generated near the rough coordinate, modeling is carried out on errors related to space distances such as troposphere and ionosphere delay and the like at the virtual reference station, virtual observation data of the virtual reference station are generated, and then the observation data at the virtual reference station are sent to the rover station, so that real-time high-precision positioning of the rover station is achieved. The observations of the reference station typically include pseudorange measurements and carrier-phase measurements.

When a user uses a VRS service, due to various reasons (such as signal shielding) switching occurs in a main reference station associated with the VRS, the VRS generates one jump when generating observation data, and for a positioning terminal, the jump from a fixed solution to a non-fixed solution can occur, which affects the positioning effect of the user. When the site data is recovered, the VRS generates one time of switching of the main reference site, so that the positioning result of the user generates two times of jumping.

Disclosure of Invention

In one aspect of the present invention, at least a method for generating observation data of a virtual reference station and a method, a system and a readable storage medium for generating text data for improving the stability of a VRS are provided, which can improve the stability of the virtual reference station technology.

The method for generating the observation data of the virtual reference station comprises the following steps: generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t); generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t)；Calculating delta phi (t) to phi_VA(t)-Φ_VC(t); calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t + n) + Δ of (t).

Preferably, the aforementioned n selected values are set as: n is more than or equal to 1 and less than or equal to 15.

The text data generation method for improving the stability of the VRS comprises the following steps: s1 receiving observation data of the main reference station A and the auxiliary reference station C; s2.1 when the observation data of the main reference station A is received, the observation data of the A is used for generating the observation data phi of the virtual reference station_VA(ii) a S2.2 when only the observation data of the auxiliary reference station C is received, the continuous missing time of the observation data of the main reference station A is T; s2.2.1 such as t₁≤T≤t₂Generation of virtual reference station observation data phi 'from observation data derivation of auxiliary reference station C'_VA(ii) a S2.2.1 such as t₂If the number of the auxiliary reference stations C is less than T, the auxiliary reference station C is used as a new main reference station, and observation data phi of the virtual reference station are generated_VC。

Preferably, the derivation generates virtual reference station observation data Φ'_VA: generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t); generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t); calculating delta phi (t) to phi_VA(t)-Φ_VC(t); calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t+n)+ΔΦ(t)。

Preferably, the aforementioned n selected values are set as: n is more than or equal to 1 and less than or equal to 15.

Preferably, the aforementioned t₁And t₂The selection values are set as: t is not more than 0s₁≤3s，3s≤t₂≤15s。

Also disclosed is a readable storage medium characterized by: the readable storage medium has stored thereon a computer program for execution by a processor to perform the method of any of claims 3 to 6.

Also disclosed is a text data generation system for improving VRS stability, comprising: a communication unit, a generation unit, and a storage unit;

the communication unit is used for communicating with the reference station data, receiving observation data of the reference station and broadcasting the generated observation data;

the generation unit is used for calculating and generating observation data: when the observation data of the main reference station A is received, the observation data of A is used for generating the observation data phi of the virtual reference station_VA(ii) a When only the observation data of the auxiliary reference station C is received and the continuous missing time of the observation data of the main reference station A is T, then: such as t₁≤T≤t₂Generation of virtual reference station observation data phi 'from observation data derivation of auxiliary reference station C'_VA(ii) a Such as t₂If the number of the auxiliary reference stations C is less than T, the auxiliary reference station C is used as a new main reference station, and observation data phi of the virtual reference station are generated_VC；

The storage unit is used for data storage.

Preferably, the generation unit derives generation of virtual reference station observation data Φ'_VA: generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t); generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t); calculating delta phi (t) to phi_VA(t)-Φ_VC(t); calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t+n)+ΔΦ(t)。

Preferably, the aforementioned n selected values are set as: n is more than or equal to 1 and less than or equal to 15.

The technical scheme provided by one aspect of the invention can at least improve the positioning stability of the VRS.

Drawings

For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:

FIG. 1 is a schematic diagram of a method for generating observation data of a virtual reference station in some embodiments.

Fig. 2 is a schematic diagram of a reference station in some embodiments.

Detailed Description

The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.

On the general idea, the invention discloses a method for generating observation data of a virtual reference station on one hand, which comprises the following steps: generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t); generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t); calculating delta phi (t) to phi_VA(t)-Φ_VC(t); calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t + n) + Δ Φ (t). Correspondingly, on the basis, a method and a system for generating the text data with the VRS stability are provided.

Some technical effects of the invention are as follows: when the main reference station associated with the VRS is in a certain time of missing data, the terminal user can still be ensured to stably obtain a high-precision positioning result.

GNSS herein refers to global satellite navigation system, i.e., autonomously utilized space-based positioning satellite system covering the world; including the GPS (Global Positioning System); GLONASS, GLONASS system; BDS is the Beidou satellite navigation system; galileo is the Galileo positioning system. The observation data refers to satellite observation quantity directly or indirectly acquired by a receiver and mainly comprises pseudo range, carrier phase and the like. Phi_VXRepresents the observed data of the virtual reference station with which the master reference station X is associated. Phi_VX(t)Representing the observed data of the virtual reference station associated with the master reference station X at the time of the t epoch.

In some embodiments, as shown in fig. 1, the method for generating the observation data of the virtual reference station includes the following steps: to be provided withThe reference station A is a main reference station, and observation data phi of the t epoch virtual reference station is generated_VA(t); generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t); calculating delta phi (t) to phi_VA(t)-Φ_VC(t); calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t+n)+ΔΦ(t)。

As shown in FIG. 2, A, B, C, D is a physical reference station and V is a virtual reference station. When the main reference station associated with V is A, the associated baselines are AB, AC and AD; when V is associated with a main reference station of C, the associated baselines have CB, CA and CD.

And at epoch time t, the virtual reference station V respectively takes A as a main reference station to generate satellite measurement data as follows:

Φ_VA(t)＝Φ_A(t)+Δρ_VA(t)+U_VA(t)；

the satellite observation data generated by taking C as a main reference is as follows:

Φ_VC(t)＝Φ_C(t)+Δρ_VC(t)+U_VC(t)

wherein phi_A(t) is the observation data of the reference station A at epoch time t, ρ_VA(t) is the single difference of the satellite-to-ground distance between the virtual reference V and the reference station A at epoch time t, U_VAFor the error correction of the virtual reference V relative to the reference station A at epoch time t, phi_C(t) is the observed data of the reference station C at epoch time t, ρ_VC(t) is the single difference of the satellite-to-ground distances of the virtual reference V and the reference station C at epoch time t, U_VCIs the number of error corrections of the virtual reference V relative to the reference station C at epoch time t.

Therefore, the difference between the observation data generated by the virtual reference station V at the epoch time t and the observation data generated by the reference station a and the reference station C as the main reference stations is Δ Φ (t):

ΔΦ_V(t)＝Φ_VA(t)-Φ_VC(t)。

the difference does not change greatly in a short time, and is considered to be constant for a certain time.

In the case that the data of the reference station A is not missing, the observation data of the virtual reference station is generated by taking the reference station A as a main reference. When the data of the reference station A is missing, the virtual reference station observation data of the reference station A serving as the main reference station needs to be derived.

Assuming that data of the reference station a is missing at epoch time t + n, the observed data of the virtual reference station at epoch time t + n is:

Φ′_VA(t+n)＝Φ_VC(t+1)+ΔΦ(t)。

in some embodiments, n can range from 1 ≦ n ≦ 15.

In some embodiments, a method of textual data generation to improve VRS stability is disclosed, comprising: s1 receiving observation data of the main reference station A and the auxiliary reference station C; s2.1 when the observation data of the main reference station A is received, the observation data of the A is used for generating the observation data phi of the virtual reference station_VA(ii) a S2.2 when only the observation data of the auxiliary reference station C is received, the continuous missing time of the observation data of the main reference station A is T; s2.2.1 such as t₁≤T≤t₂Generation of virtual reference station observation data phi 'from observation data derivation of auxiliary reference station C'_VA(ii) a S2.2.1 such as t₂If the number of the auxiliary reference stations C is less than T, the auxiliary reference station C is used as a new main reference station, and observation data phi of the virtual reference station are generated_VC。

In some embodiments, the primary reference station a and the secondary reference station C receive and broadcast the satellite data. The system receives observation data of a primary reference station a and a secondary reference station C via a communication unit.

In some embodiments, the received observation data is monitored: and judging whether the observation data of the main reference station A is received or not. Here, whether the received observation data is the observation data of the main reference station a can be determined by monitoring whether there is a corresponding reference station tag or a corresponding data unit in the received reference station observation data.

In some embodiments, when the observation data of the main reference station A is received, the observation data of the virtual reference station is generated by the observation data of A_VA。

In some embodiments, when only secondary reference stations are receivedC, the continuous missing time of the observation data of the main reference station A is T; s2.2.1 such as t₁≤T≤t₂Generation of virtual reference station observation data phi 'from observation data derivation of auxiliary reference station C'_VA(ii) a S2.2.1 such as t₂If the number of the auxiliary reference stations C is less than T, the auxiliary reference station C is used as a new main reference station, and observation data phi of the virtual reference station are generated_VC。

In some embodiments, when T < T₁Then, the data of the reference station continues to be received again, and whether the observation data of the reference station a and the continuous missing time length T of the observation data of the main reference station a are received or not is monitored.

In some embodiments, the derivation generates virtual reference station observation data Φ'_VA: generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t); generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t); calculating delta phi (t) to phi_VA(t)-Φ_VC(t); calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t+n)+ΔΦ(t)。

In some embodiments, the aforementioned n-select value is set as: n is more than or equal to 1 and less than or equal to 15.

In some embodiments, t₁And t₂The selection values are set as: t is not more than 0s₁≤3s，3s≤t₂≤15s。

It should be understood that n, t are described above₁And t₂When setting the selected value, the data age and the requirements of the technical scheme on the positioning frequency and precision in a specific application scene need to be considered.

In some embodiments, observations of reference station a and reference station C are received and Δ Φ (t) is calculated. The resulting difference is stored in the system and the replacement old value is updated accordingly.

In some embodiments, the observation data for reference station a and reference station C need to be synchronized because there is a time difference between the receipt of the observation data for different reference stations at the same epoch time.

In another aspect, in some embodiments, a textual data generation system to improve VRS stability includes: communication unit, generation unit, storage unit.

The communication unit is used for communicating with the reference station data, receiving observation data of the reference station and broadcasting the generated observation data. Depending on the communication link (e.g., analog telephone line, ISDN, DDN, wireless spread spectrum, etc.), the communication unit may be equipped with different communication devices, typically including wired or wireless modem, DDN dedicated line, wireless spread spectrum amplifier, directional or omnidirectional antenna. The communication unit is also responsible for sending differential data and the like to users through a wired or wireless network, and relevant devices comprise a network communication computer, an FM coder, an UHF/VHF transmitter, a GSM mobile phone and the like. The broadcast method includes internet, radio, mobile phone, FM carrier wave, etc. Internet: the method is mainly used for data transmission of users with fast and post-precision positioning and precision timing. UHF/VHF station: in an area with high user density in a city, a radio station is directly installed on a reference station, RTK positioning data is sent, and RTK positioning of a local area is achieved. GSM mobile phone: the system is one of effective channels for transmitting positioning and navigation data to a user by a monitoring center, and the user acquires positioning data through a GSM mobile phone to realize real-time and quasi-real-time positioning.

The generation unit is used for calculating and generating observation data: when the observation data of the main reference station A is received, the observation data of A is used for generating the observation data phi of the virtual reference station_VA(ii) a When only the observation data of the auxiliary reference station C is received and the continuous missing time of the observation data of the main reference station A is T, then: such as t₁≤T≤t₂Generation of virtual reference station observation data phi 'from observation data derivation of auxiliary reference station C'_VA(ii) a Such as t₂If the number of the auxiliary reference stations C is less than T, the auxiliary reference station C is used as a new main reference station, and observation data phi of the virtual reference station are generated_Vc。

The storage unit is used for data storage. The data may be observation data of the reference station of the received historical epoch, observation data of the virtual reference station generated by the system operation, or intermediate data generated in the system operation.

In some embodiments, the generation unit pushesDeriving virtual reference station observation data phi'_VA: generating observation data phi of t epoch virtual reference station by taking the reference station A as a main reference station_VA(t); generating observation data phi of t epoch virtual reference station by taking the reference station C as a main reference station_VC(t); calculating delta phi (t) to phi_VA(t)-Φ_VC(t); calculating observation data phi 'of t + n epoch virtual reference station by taking the reference station A as a main reference station'_VA(t+n)＝Φ_VC(t+n)+ΔΦ(t)。

In some embodiments, the aforementioned n-select value is set as: n is more than or equal to 1 and less than or equal to 15.

In another aspect, in some embodiments, a readable storage medium is also disclosed. The readable storage medium stores a computer program that is executed by a processor to perform all of the methods described above. It should be understood that the storage medium can be a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), a usb disk, a removable hard disk, or the like.

The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.

Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.

Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.