Cellular network collaboration real time kinematic (RTK) positioning method and system

Abstract

A cellular network collaboration RTK positioning method disclosed by the present invention comprises the steps of selecting a fixed reference station, setting the standard coordinates, and obtaining the observation data and sending to a centralized control center; distributing a reference station scheduling center to which the fixed reference station belongs; using the fixed reference station to calculate a pseudo-range residual error and a carrier phase residual error and send to the reference station scheduling center; carrying out the coarse positioning on a moving station and transmitting the coarse positioning result to the centralized control center; distributing a reference station scheduling center to which the moving station belongs; matching a candidate reference station group with which the moving station is paired, and sending to the moving station; using the moving station to receive data and selecting a reference station; using the moving station to carry out the self-positioning. The present invention also discloses a system of applying the positioning method to position. The system comprises the centralized control center, a plurality of reference station scheduling center, the fixed reference station, the moving station and a communication link. The cellular network collaboration RTK positioning method of the present invention is rapid in positioning speed, high in precision and low in cost, and when the positioning method is applied on a large scale, the data processing stress is small.

Description

technical field [0001] The invention specifically relates to a cellular network cooperative RTK positioning method and system. Background technique [0002] In recent years, the application of high-precision satellite positioning and navigation systems has extended from the traditional surveying and mapping field to driving test, intelligent control, unmanned driving, unmanned aerial vehicles, remote sensing and other fields, resulting in the number of high-precision satellite navigation terminals (rovers) is increasing. The increasing number of high-precision satellite positioning and navigation applications and positioning terminals makes the demand for high-precision network RTK technology more and more obvious. [0003] RTK (Real Time Kinematic) technology is a real-time dynamic positioning technology based on carrier phase difference. It is based on real-time processing of carrier phase observations of two stations, and provides 3D positioning results in the specified ...

AI Technical Summary

Problems solved by technology

In some remote areas, there is no mobile communication network for the time being or when the communication rate cannot meet the transmission rate requirements of RTK observation data, the network RTK technology cannot be used

(2) Secondly, because the network RTK technology mainly proposes solutions to the problems of long-baseline RTK, the network RTK technology cannot be realized by means of short-distance radio stations, and can only be realized through wired networks, wireless cellular networks or wireless local area networks. The observation information of the reference station is aggregated to the network RTK data center through the Internet network. There is a certain transmission delay and processing delay in the observation data, which has certain limitations for high-precision positioning in a dynamic environment.

(3) Then, the network RTK technology needs to build a large number of reference stations (also called CORS stations), the construction cost of CORS stations is extremely high, and CORS stations need to pay a lot of maintenance costs every year

Moreover, the complexity of the network RTK technology algorithm and the virtual reference observation value increase with the increase of the number of rover stations, which in turn brings great burden and pressure to the data center server processing and communication network transmission

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