Grouped RTK positioning method and system

Abstract

The invention discloses a grouped RTK positioning method which comprises the steps of selecting a reference station, setting a high-precision-standard coordinate position of the reference station, and acquiring observing data required for positioning; transmitting the observing data and the standard coordinate position to a main flow station by the reference station; receiving a satellite navigation signal from the flow station and transmitting to the main flow station; performing combined positioning resolving by the main flow station from itself and the flow station; and receiving positioning information from the flow station for finishing positioning, wherein the positioning information is transmitted from the main flow station. The invention further discloses a system for positioning according to the positioning method. The system comprises the reference station, the main flow station, a plurality of auxiliary flow stations and a communication link. According to the positioning method and the system, a grouped main-and-auxiliary coordinated positioning manner is used, thereby greatly reducing power consumption of a positioning terminal and prolonging service life of the positioning terminal. Furthermore the relative position of the positioning terminal in the group can be tracked in time. The grouped RTK positioning method and the system are quite suitable for large-scale intensive application in high-precision positioning navigation.

Description

technical field [0001] The invention specifically relates to a grouped 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 station th...

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; 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 not low, so it is not an ultra-low power consumption satellite navigation receiver

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