Self-organizing RTK positioning method and system

Abstract

The invention discloses a self-organizing RTK positioning method. The method comprises the steps that working modes of moving stations are selected; a reference station is selected, a high-precision standard coordinate position is set, and observation data needed by RTK positioning is obtained and transmitted to the main moving station; the slave moving station receives a satellite navigation signal and transmits the signal to the main moving station; the main moving station performs high-precision combination positioning and calculation on the main and slave moving stations, and a positioning result is sent to the slave moving station. The invention further discloses a positioning system applying the positioning method. By considering switching of the main and slave moving stations, the main and slave modes of the moving stations are determined according a certain cooperation rule; the main and slave cooperative positioning mode is adopted, power consumption of a positioning terminal can be greatly lowered, the service life of the positioning terminal can be prolonged, the relative position of the positioning terminal inside a set can be tracked in time, and the method is quite applicable to large-scale intensive application of high-precision positioning navigation; the method is low in positioning power consumption, high in positioning precision and small in data processing pressure during large-scale intensive application.

Description

technical field [0001] The invention specifically relates to a self-organizing RTK positioning method and system. Background technique [0002] 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 coordinate system. The real-time positioning accuracy can reach the centimeter level, and has the advantages of good real-time performance and fast speed. The basic principle of RTK is that the reference station and the rover receive satellite signals at the same time, and the reference station transmits the observation data (mainly carrier phase, pseudo-range) and the standard coordinate position of the reference station to the rover through a data link (modem, radio or communication network). Station, the mobile station uses software to reduce the observation error of the mobile st...

AI Technical Summary

Problems solved by technology

However, this method has certain limitations in large-scale intensive high-precision positioning fields such as intelligent control, unmanned driving, and drones.

First of all, this method requires a cloud server. The cloud server needs to be connected to the internet with each terminal module, and it is no longer applicable to the situation where there is no network; secondly, the data is returned to the cloud server for calculation, and then to the data return. The delay is large, and there are great limitations for intelligent control, drones, unmanned driving and other applications that are sensitive to delay; finally, the receiving module of the satellite navigation terminal needs to transmit the sampled data through the wireless network To the cloud, the power consumption of its wireless data transmission module is relatively high

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