Random number-added high-precision differential positioning position deflection method, device and equipment

Abstract

The invention discloses a random number-added high-precision differential positioning position deflection method, device and equipment, and the method comprises the steps: receiving a first data stream from a user side, applying random number deflection to the user position to obtain a second data stream, and transmitting the second data stream to a CORS service center; receiving a third data stream from the CORS service center, applying a position deflection amount to the third data stream to obtain a fourth data stream, and sending the fourth data stream to the user side; the third data stream includes virtual reference station coordinates of the second data stream. According to the method, safe acquisition of high-precision position information of a user side and fusion application of the high-precision position information and an electronic map are achieved through concentrated position deflection, the leakage risk of a position deflection algorithm is effectively solved by means of random numbers, and the application range of high-precision satellite differential positioning surveying and mapping reference services can be effectively expanded.

Description

Technical Field

[0001] The present invention relates to a high-precision differential positioning service technology, and in particular to a high-precision differential positioning position deflection method, device and equipment with additional random numbers. Background Art

[0002] The Continuously Operating Reference Stations (CORS) network is an important national space infrastructure. CORS usually uses Virtual Reference Station (VRS) technology to provide network RTK (Real-time kinematic) services, which can achieve real-time acquisition of high-precision three-dimensional position information. The result is the coordinate result at a certain epoch time based on the International Terrestrial Reference Frame (ITRF). Based on the CORS network RTK service, the accuracy of satellite navigation positioning is greatly improved, which effectively promotes the transformation and upgrading of land, surveying and mapping, transportation and other industries.

[0003] However, the results of network RTK services are ITRF coordinate frames, which cannot directly meet the needs of high-precision practical applications in most cases. In surveying and mapping and other related industry applications, the conversion relationship between the ITRF coordinate frame and the application coordinate system, the quasi-geoid refined model, etc. is usually established, so that after obtaining the ITRF coordinate frame results, the coordinate results under the application coordinate system or elevation benchmark are obtained through conversion to meet the needs of various projects, and these conversion methods are basically limited to the application of industry-related qualifications or management units.

[0004] At present, due to equipment costs, positioning technology limitations and other reasons, the positioning mode in most navigation applications (such as map navigation used by ordinary mobile phones) is only standard single point positioning (Standard Point Positioning, SPP), with a positioning accuracy of ±5 to ±10 meters. Moreover, the navigation electronic map (accuracy ±5 meters) is a public version serving the public, and it is also necessary to perform spatial position technology processing (i.e. non-linear position deflection, hereinafter referred to as "position deflection") in accordance with the "Basic Requirements for Safety Processing Technology of Navigation Electronic Maps (GB 20263-2006)". The difference between the navigation map position after position deflection and the actual coordinate position reaches tens to hundreds of meters. Therefore, the current common mode based on navigation electronic map applications is: users obtain location information through SPP positioning, map software deflects the position through the cloud or local end, and the deflected coordinates are used in conjunction with the navigation electronic map (which has been deflected), and the location information is discarded as it is used.

[0005] In recent years, with the comprehensive application of CORS services and the further reduction of the cost of navigation and positioning equipment, more mass applications based on location services have flourished, such as shared travel, drone inspections, lane-level navigation, etc. The further development of these industries is eager to be supported by high-precision location information. However, when the centimeter-level network RTK service based on CORS is applied to high-precision mass navigation applications, if the existing "ordinary navigation map deflection + user SPP positioning" mode is continued to be used, the following problems will be faced: First, the user end will first obtain high-precision location information, which poses a security risk of storage leakage; second, high-precision location deflection is generally limited to applications from map vendors, car manufacturers and other companies. For mass users, the application is difficult due to the large amount; third, the user end will have high-precision coordinate values ​​before and after the position deflection at the same time. After obtaining a large amount of user-end coordinate location information, the coordinate difference before and after the position deflection can be simply calculated, and the discrete or grid difference sequence can be further inferred. The position deflection algorithm has a risk of leakage. Therefore, there is an urgent need for a safe application mode of "high-precision differential positioning + high-precision navigation map". Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a high-precision differential positioning deflection method and system with additional random numbers, aiming to solve the problems of low positioning accuracy at the mass user end, insufficient application of high-precision differential positioning (currently mostly limited to applications in industries such as surveying and mapping), inconsistency between the coordinate reference of existing high-precision differential positioning and high-precision electronic maps (which require position deflection), and insufficient protection measures such as mass user end positioning information.

[0007] To achieve the above object, the technical solution of the present invention is:

[0008] In a first aspect, the present invention provides a high-precision differential positioning position deflection method with additional random numbers, which is used at a network end and includes:

[0009] Receive a first data stream from a user terminal, the first data stream including a user location, apply a random number deflection to the user location to obtain a second data stream, and send the second data stream to a CORS service center;

[0010] Receive a third data stream from a CORS service center, apply a position deflection to the third data stream to obtain a fourth data stream, and send the fourth data stream to a user end; the third data stream includes the virtual reference station coordinates of the second data stream.

[0011] Furthermore, applying random number deflection to the user location information to obtain a second data stream, and forwarding the second data stream to a CORS service center, comprises the following steps:

[0012] Network connection establishment steps to establish a network connection between the user end and the CORS service center;

[0013] User location information decoding step: decoding the location information sent by the user terminal and calculating the location field longitude and latitude L, B and geodetic height H, and recording them as Ld_user, Bd_user, and H_user respectively;

[0014] Random number generation step: to generate random numbers dr1 and dr2;

[0015] Random number deflection and sending step: applying the generated random number to the longitude and latitude Ld_user, Bd_user to obtain the deflected longitude and latitude Ld_user+dr1, Bd_user+dr2, replacing the original location field longitude and latitude L, B, to obtain a second data stream, and re-encoding the second data stream to obtain a re-encoded data packet;

[0016] Send the re-encoded data packet to the CORS service center.

[0017] Furthermore, the random number is generated as follows:

[0018] The random number range is 10 meters to 50 meters, which is converted to an angle of about 9.0×10 -5 Degree to 45.0×10 -5 degree, symbol random;

[0019] Use the random function Random to generate two random integers d1 and d2 in [9,45];

[0020] Define the symbolic function f(d), d is an integer,

[0021] Then the random numbers are: dr1=d1*f(d2)*10e-5, dr2=d2*f(d1)*10e-5.

[0022] Further, the receiving a third data stream from the CORS service center, applying a position deflection amount to the third data stream to generate a fourth data stream, and sending the fourth data stream to the user end includes:

[0023] A receiving and judging step is to receive the third data stream from the CORS service center, decode the data header, and judge whether it contains the virtual reference station coordinate message of the second data stream; if the virtual reference station coordinate message of the second data stream is not contained, the third data stream is directly sent to the user end; if the virtual reference station coordinate message of the second data stream is contained, the third data stream performs the position deflection calculation and deflection steps;

[0024] Position deflection calculation and deflection steps:

[0025] Taking the user position coordinates Ld_user+dr1, Bd_user+dr2, H_user as input, the position deflection plug-in is used to calculate the position deflection dL, dB;

[0026] Calculate the coordinates of the virtual reference station after deflection: Ld_user+dr1+dL, Bd_user+dr2+dB, H_user, and convert them into spatial rectangular coordinates: X, Y, Z;

[0027] Encoding and sending steps:

[0028] Re-encode the spatial rectangular coordinates X, Y, and Z according to the telegram format, and replace the corresponding telegram in the virtual reference station coordinate data packet of the fourth data stream;

[0029] The re-encoded virtual reference station coordinate data packet is sent to the user end.

[0030] In a second aspect, the present invention provides a high-precision differential positioning position deflection device with additional random numbers, comprising:

[0031] A network module is used to establish a network connection between a user terminal and a CORS service center, receive a first data stream from the user terminal, the first data stream includes a user position, apply a random number deflection to the user position to obtain a second data stream, and forward the second data stream to the CORS service center; receive a third data stream from the CORS service center, apply a position deflection to the third data stream to obtain a fourth data stream, and send the fourth data stream to the user terminal; the third data stream includes the virtual reference station coordinates of the second data stream.

[0032] Furthermore, the high-precision differential positioning position deflection device with additional random numbers also includes:

[0033] The random number generation and deflection module is used to generate a random number and apply it to the user position to obtain a second data stream.

[0034] Furthermore, the high-precision differential positioning position deflection device with additional random numbers also includes

[0035] The position deflection calculation and deflection module is used to apply a position deflection amount to the third data stream to obtain a fourth data stream.

[0036] Furthermore, the high-precision differential positioning position deflection device with additional random numbers also includes:

[0037] The encoding and decoding module is used to decode the first data stream, encode the second data stream, decode the third data stream, and encode the fourth data stream.

[0038] Furthermore, the random number is generated as follows:

[0039] The random number range is 10 meters to 50 meters, which is converted to an angle of about 9.0×10 -5 Degree to 45.0×10 -5 degree, symbol random;

[0040] Use the random function Random to generate two random integers d1 and d2 in [9,45];

[0041] Define the symbolic function f(d), d is an integer,

[0042] Then the random numbers are: dr1=d1*f(d2)*10e-5, dr2=d2*f(d1)*10e-5.

[0043] In a third aspect, the present invention provides an electronic device including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0044] Memory, used to store computer programs;

[0045] The processor is used to implement any one of the steps of the high-precision differential positioning position deflection method with additional random numbers described above when executing the program stored in the memory.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The position deflection method with additional random numbers proposed in the present invention not only realizes the secure acquisition of high-precision position information on the user side and its integrated application with electronic maps through centralized position deflection, but also effectively solves the leakage risk of the position deflection algorithm with the help of random numbers, and can effectively expand the application scope of high-precision satellite differential positioning and mapping benchmark services. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Implement a flow chart for SPP positioning + map navigation application for general users;

[0049] Figure 2 Provide a general implementation flow chart for high-precision differential positioning map applications for users;

[0050] Figure 3 It is a flow chart for centralized position deflection (Scheme 1) and map application;

[0051] Figure 4 It is a flow chart for centralized position deflection (Scheme 2) and map application;

[0052] Figure 5It is a flow chart for centralized position deflection (Scheme 3) and map application;

[0053] Figure 6 It is a flow chart for centralized position deflection (Scheme 4) and map application;

[0054] Figure 7 A flow chart of a high-precision differential positioning position deflection method with additional random numbers provided in an embodiment of the present application;

[0055] Figure 8 A flowchart for applying a random number to the user's location information and then forwarding it to the CORS service center;

[0056] Fig. 9 A flowchart for receiving a third data stream from a CORS service center, applying a position deflection amount to the third data stream to obtain a fourth data stream, and sending the fourth data stream to a user end;

[0057] Fig.10 A schematic diagram of a high-precision differential positioning position deflection device with additional random numbers provided in an embodiment of the present application;

[0058] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] Example:

[0060] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0061] In general public navigation applications, the user end obtains the user position coordinates through SPP positioning (with an accuracy of about ±5 to ±10 meters, and the user position coordinates are referred to as the user position). The map cloud center or map application APP deflects the user position and performs related applications based on the navigation electronic map. The implementation process is as follows: Figure 1 shown.

[0062] When the user device supports the CORS system network RTK service, the user SPP positioning can be upgraded to high-precision differential positioning. According to the traditional position deflection mode, the implementation process is as follows: Figure 2 As shown, the specific steps are as follows.

[0063] ①The user sends the SPP positioning result (i.e. user location) to the CORS service center;

[0064] ②The CORS service center generates virtual reference station data based on the user's location and sends it to the user;

[0065] ③ The user end uses the received virtual reference station data and its own GNSS receiver observation data to perform high-precision differential positioning to obtain accurate coordinate position results;

[0066] ④ The map cloud center or map application APP deflects the user's location and performs related applications based on the navigation electronic map.

[0067] Depend on Figure 2 It can be seen that the user end will obtain the high-precision coordinate position calculated by differential positioning without deflection (the positioning accuracy is ±3 to ±5 cm, and the specific accuracy is related to the GNSS receiver antenna, etc.), as well as the high-precision coordinates after position deflection. If this service is used for mass applications, it will face two problems:

[0068] ① The user end can directly obtain centimeter-level high-precision coordinates, which is not allowed in the management of geographic information. According to the relevant safety management regulations for satellite navigation and positioning, satellite navigation and positioning services with an accuracy better than 1 meter are subject to controlled management; high-precision differential positioning applications are important surveying and mapping methods. my country implements surveying and mapping qualification management. If the general user end is allowed to directly obtain high-precision coordinates, it is easy to lead to illegal surveying and mapping, and even endanger national security.

[0069] ② The user end obtains high-precision original position coordinates and position deflection coordinates at the same time, and can directly calculate the position deflection of the point; after large-scale application, the position deflection of each discrete point in the application area can be calculated. Therefore, there is a risk of leakage of the position deflection algorithm.

[0070] In order to solve the above two outstanding problems of the "general process of high-precision differential positioning map application", the inventor of the present application proposed a high-precision differential positioning position deflection method with additional random numbers, and its specific theoretical derivation and process are as follows:

[0071] When CORS provides high-precision differential services, it mostly uses VRS technology (or similar technology). The basic principle is as follows: the CORS service center performs an overall baseline solution for the satellite navigation and positioning base station network, and estimates various distance-related error models; when the CORS service center receives the user's location information (after identity authentication), it simulates and generates virtual reference station observation data at the user's location; after the user end receives the virtual reference station data (including virtual reference station coordinates and virtual reference station observation data) from the CORS service center, it performs an ultra-short baseline solution with its own GNSS observation data. Since the influence of system errors is basically eliminated, the centimeter-level baseline vector can be quickly obtained. The virtual reference station coordinates plus the baseline vector can obtain the user's own precise position coordinates.

[0072] Assume the location coordinates sent by the user (preliminary SPP positioning results) is X u , the virtual reference station coordinates are Xr1 , the baseline vector calculated by the user end is ΔX, then the precise coordinate X obtained by the user end u1 As shown in formula (1).

[0073] X u1 =X r1 +ΔX (1)

[0074] Based on the above theoretical process, the inventor tried four solutions in total in the process of practicing the present invention, as follows:

[0075] Solution 1: Virtual reference station coordinate centralized deflection

[0076] Faced with the trouble of users directly obtaining high-precision location coordinates, technical personnel in this field can easily think of deploying location deflection in the CORS service process, so that users can obtain safe, deflected location coordinates, ensure the integrated application with the navigation electronic map, and avoid the trouble of general users applying for location deflection.

[0077] The simplest way to realize the deflection of user positioning results is to centrally deflect the virtual reference station coordinates. The implementation process is as follows: Figure 3 shown.

[0078] The specific implementation steps of the virtual reference station coordinate centralized position deflection are as follows: First, decode the virtual reference station X in the virtual reference station data r1 , and calculate X through the position deflection plugin r1 The position deflection ΔX G ; Calculate the coordinates of the virtual reference station after deflection as X r2 =X r1 +ΔX G , and re-encode the virtual reference station data (the virtual reference station observation data remains unchanged) and then send it to the user end; when ΔX G When the value of is within a certain range, the baseline vector solved by the user end will remain basically unchanged, and the solved coordinates are shown in formula (2).

[0079] X u2 =X r2 +ΔX (2)

[0080] X r2 =X r1 +ΔX G Substituting into formula (2) we can get:

[0081] X u2 =(X r1 +ΔX G )+ΔX=(X r1 +ΔX)+ΔX G =X u1 +Δ XG (3)

[0082] It can be seen from formula (3) that the user end directly obtains the coordinate results after position deflection.

[0083] At this point, the user end has obtained the virtual reference station data and the coordinate results after position deflection X u2 .

[0084] However, it is worth noting that the virtual reference station data contains the virtual reference station coordinates after deflection as X r2 , and usually X u =X r1 (i.e. the CORS service center is at user location X u =X r1 The user end calculates X r2 -X r1 The user location X is obtained u The position deflection ΔX G !

[0085] Scheme 2: Centralized position deflection after virtual reference station observation data generation

[0086] In solution 1, the user end directly obtains the coordinate results after the position deflection, but at the same time, the user end also obtains the position deflection amount at the user's position through simple calculation. In order to avoid this situation, two ideas can be adopted. One idea is to deflect the virtual reference station data while keeping the virtual reference station coordinates unchanged, that is, the user end cannot feel the change of the virtual reference station coordinates, and naturally there is no way to calculate the position deflection amount; the other idea is to apply a random number to the virtual reference station coordinates and then deflect the position, so that the position deflection amount calculated by the user end is wrong.

[0087] In scheme 1, for X in formula (1), r1 Apply deflection ΔX G , achieving X u1 Deflect to X u2 If the virtual reference station coordinates X are maintained r1 When the value is constant, we only need to apply a deflection ΔX to ΔX in equation (1): G , that is, the virtual reference station observation data in the virtual reference station data is deflected by ΔX G The deflection is as follows.

[0088] Virtual reference station observation data Generally, it is as shown in formula (4).

[0089]

[0090] In the formula Observation data for physical reference stations; Correction for ionosphericity; Corrected for the troposphere; Correction for spatial geometry.

[0091] From formula (4), we can see that the observation data of the virtual reference station has taken into account the influence of ionosphere correction and troposphere correction. The deflection ΔX G Usually, it is only tens to hundreds of meters. In the deflection of the observed data, no relevant error correction is required. It is only necessary to superimpose the spatial geometric correction on the virtual reference station observation data, as shown in formula (5).

[0092]

[0093] There are two solutions for the deflection process of virtual reference station observation data: one is to deflect the virtual reference station observation data generated by the CORS service center; the other is to deflect when the CORS service center generates the virtual reference station data and keep the virtual reference station coordinates unchanged.

[0094] The specific implementation steps of centralized position deflection after the virtual reference station observation data is generated are as follows: When the forwarding service agent (the forwarding service agent is implemented by the network end, the same below) performs position deflection, it first decodes the virtual reference station observation data in the virtual reference station data And calculate X through the position deflection plugin r1 The position deflection ΔX G ; Deflect the observation data of the virtual reference station according to formula (5) (note that the deflection direction should be opposite to the change direction of the baseline vector), re-encode (the coordinates of the virtual reference station remain unchanged) and send it to the user end; the baseline vector solved by the user end becomes ΔX2, and the solved coordinate result is shown in formula (7). Figure 4 shown.

[0095] ΔX2=ΔX+ΔX G (6)

[0096] X u3 =X r1 +ΔX+ΔX G =X u1 +ΔX G (7)

[0097] It can be seen from formula (7) that the user end directly obtains the coordinate results after position deflection.

[0098] Solution 3: Centralized position deflection when generating virtual reference station observation data

[0099] The specific implementation steps of centralized position deflection when generating virtual reference station observation data are as follows: When the forwarding service agent performs position deflection, it first decodes the user position sent by the user end as Xr1 , and calculate X through the position deflection plugin r1 The position deflection ΔX G , the virtual reference station coordinates after deflection X r1 -ΔX G Sent to the CORS service center; the CORS service center generates virtual reference station observation data As shown in formula (5), the forwarding service agent resets the virtual reference station coordinates in the virtual reference station data to X r1 , and encoded; the baseline vector solved by the user end becomes ΔX2, and the solved coordinate result is shown in formula (7). The user end directly obtains the coordinate result after position deflection. Figure 5 shown.

[0100] Comparing Scheme 2 and Scheme 3, both schemes use virtual reference station observation data deflection (position deflection ΔX G ) realizes the real-time position deflection of the original high-precision differential position, and it is difficult for the user end to directly restore and calculate the position deflection. However, since Scheme 2 involves the deflection of virtual reference station observation data, the amount of data is large and the implementation technology is highly complex; while Scheme 3 only deflects the virtual reference station coordinates, involves a small amount of data, and the calculation is only coordinate addition and subtraction, which is less difficult to implement. Therefore, on the whole, Scheme 3 is better than Scheme 2.

[0101] Solution 4: Centralized position deflection with additional random number deflection

[0102] The idea of ​​centralized position deflection with additional random number deflection is to apply a random number deflection to the user position, generate virtual reference station data with additional random number deflection equivalent to the original virtual reference station data (without affecting the user's positioning result); at the same time, apply position deflection to the virtual reference station data after random number deflection to realize the position deflection correction of the user's positioning result. The implementation process is as follows: Figure 6 shown.

[0103] The specific steps of the centralized position deflection with additional random number deflection are as follows: First, a random number ΔX is applied to the user position R , CORS service center is in "X r1 -ΔX R " generates virtual reference station observation data, that is, the virtual reference station coordinates are "X r1 -ΔX R ”, virtual reference station observation data As shown in formula (8), the forwarding service agent calculates the position deflection ΔX G , and then maintain the observation data of the virtual reference station unchanged, and correct the virtual reference station coordinate deflection to "X r1 -ΔX R +ΔX G"; then the baseline vector solved by the user end is ΔX3 as shown in formula (9), and the solved coordinate result X u4 As shown in formula (10).

[0104]

[0105] ΔX3=ΔX+ΔX R (9)

[0106] X u4 =(X r1 -ΔX R +ΔX G )+(ΔX+ΔX R )=(X r1 +ΔX)+ΔX G (10)

[0107] It can be seen from formula (10) that the user end directly obtains the coordinate results after position deflection.

[0108] The following explains the accuracy impact caused by the virtual reference station coordinate deflection:

[0109] The position deviation of the starting point in the baseline solution will cause a systematic deviation in the solved baseline vector value. The magnitude of the systematic deviation is proportional to the magnitude of the starting point position deviation and to the tangent function value of the baseline average latitude. In order to make the influence of the starting point position deviation on the relative accuracy of calculating the arc length of the ellipsoid surface no more than 1×10e-6, for regions with different latitudes, the starting point position deviation should not be greater than the values ​​listed in Table 1.

[0110] Table 1 The relative accuracy of arc length is not less than 1×10 -6 Requirements for starting point position deviation

[0111]

[0112] As can be seen from Table 1, the impact of high-latitude regions is greater than that of low-latitude regions.

[0113] The following is a comprehensive comparison of the above schemes 1 to 4:

[0114] Solution 1 is the simplest to implement, but the user has the virtual reference station coordinates X before and after the deflection. r1 , X r2 , the position deflection ΔX at the user's position is obtained through simple calculation G , excluding option 1.

[0115] Comparing Schemes 2, 3, and 4, the user end can obtain the high-precision differential position after the position deflection, and it is difficult for the user to restore and calculate the position deflection ΔX at the user position. GConsidering that both Schemes 3 and 4 only involve the addition and subtraction of virtual reference station coordinates, and Scheme 2 involves the deflection of virtual reference station observation data, which has a large amount of data and high technical complexity, Scheme 2 is excluded.

[0116] Comparison of Schemes 3 and 4: The implementation process and technical complexity of Schemes 3 and 4 are basically the same, and the implementation effects are basically the same. The following is an evaluation of the accuracy of the user-side solution results: Take the initial baseline length ΔX = 50m, ΔR = 50m, and the position deflection ΔX G =500m, calculated based on the geographical latitude of 70°, which has the greatest impact, when the deviation of the starting point is less than 2.2m, the relative accuracy of the baseline solution is better than 1×10e-6. The baseline solution accuracies of Schemes 3 and 4 are: (1×10e-6×500 / 2.2)×550=0.125m, (1×10e-6×500 / 2.2)×100=0.023m, as shown in Table 2.

[0117] Table 2: Baseline solution accuracy estimation table for schemes 3 and 4

[0118]

[0119] As shown in Table 2, for the user-side baseline solution of Schemes 3 and 4, the starting point deviation is ΔX G However, due to the existence of the random number ΔR, scheme 4 can limit the length of the baseline vector solved on the user side to a certain range to a certain extent. In extreme cases, the baseline accuracy can be better than 0.023m, which is better than 0.125m of scheme 3.

[0120] Therefore, in the present invention, scheme 4 is finally adopted: centralized position deflection with additional random number deflection, and the implementation technical process is as follows: Figure 7 As shown, the "forwarding service agent" is the implementation part of the present invention, which is used in the network end, and its implementation process includes:

[0121] 110. Receive a first data stream from a user terminal, wherein the first data stream includes a user location (user location information, i.e., X r1 ), applying a random number to the user position (the random number is ΔX R ), and obtain the second data stream (X r1 -ΔX R ), forwarding the second data stream to the CORS service center;

[0122] 120. Receive a third data stream from the CORS service center, and apply a position deflection amount (i.e., the position deflection amount ΔX) to the third data stream. G ) to generate a fourth data stream (the fourth data stream is X r1 -ΔX R +ΔX G), and sends the fourth data stream to the user end; the third data stream is the virtual reference station coordinates after random number deflection (i.e., the CORS service center is in "X r1 -ΔX R " generates virtual reference station observation data, that is, the virtual reference station coordinates are "X r1 -ΔX R ”) and observational data.

[0123] Finally, the user end can directly obtain the coordinate results after position deflection through the above formula (10).

[0124] It can be seen that the implementation process of Scheme 4 adopted in this application includes the following two major steps: user location information decoding and random number deflection, virtual reference station coordinate position deflection; the operation of the user terminal, CORS service center and map cloud center maintains the existing mode unchanged.

[0125] The "forwarding service proxy" needs to establish a network connection between the user end and the CORS service center at the same time, forward the data stream sent by the user (the initial user location information needs to be subject to random number deflection) to the CORS service center, and forward the data stream sent back by the CORS service center (mainly the virtual reference station data stream, the virtual reference station coordinates need to be subject to position deflection) to the user end, so it is called a "forwarding service proxy".

[0126] The forwarding service proxy (network side) can be deployed flexibly, either independently or in the intranet of the CORS service center or the map cloud center.

[0127] It can be seen that the centralized position deflection method with additional random number deflection adopted in the present application not only realizes the secure acquisition of high-precision position information on the user side and its integrated application with electronic maps through centralized position deflection, but also effectively solves the leakage risk of the position deflection algorithm with the help of random numbers, and can effectively expand the application scope of high-precision satellite differential positioning and mapping benchmark services.

[0128] The forwarding service proxy (network end) implementing the present invention can exist independently or be placed in the CORS center end or the map cloud center end, and has good versatility; at the same time, the relevant network and protocol are not added or modified, and the user-side software and hardware and the original CORS service center can maintain the existing operating mode without any changes. Therefore, the implementation of the present invention has the characteristics of versatility and low application cost.

[0129] The implementation of the present invention can provide a safe application service mode for lane-level navigation and other high-precision electronic map applications. Moreover, the present invention is a technical process, and the deflection applied can be not only position deflection, but also superimposed with elevation deflection or depth deflection, so as to be quickly applied to low-altitude, ocean and other precise navigation services.

[0130] For example, the specific process of applying a random number to the location information of a single user user1 and then forwarding it to the CORS service center is described by taking the example of applying a random number to the location information of the user and then forwarding it to the CORS service center. Figure 8 As shown, specifically including:

[0131] Steps to establish a network connection:

[0132] Receive the data stream containing the user's location information from the user (other data streams are directly forwarded to the CORS service center), and record the user's ServerSocketID1 (the number 1 represents user 1, and the same applies to the following ClientSockerID1, Ld_user1, Bd_user1, H_user1, etc.);

[0133] Establish a connection thread with the CORS service center and record ClientSockerID1;

[0134] ServerSocketID1 and ClientSockerID1 are bound.

[0135] User location information decoding steps:

[0136] The location information format sent by the user end is GGA format. The location fields of longitude and latitude L, B and geodetic height H are decoded and calculated. The units are degree minute (dddmm.mmmm), degree minute (ddmm.mmmm), and meter respectively. L and B are converted to degree form and recorded as Ld_user1, Bd_user1, and H_user1.

[0137] Random number generation steps:

[0138] The random number (also called correction number) should not be too large or too small. The correction number of the present invention is designed to range from 10 meters to 50 meters, which is converted into an angle of about 9.0×10 -5 Degree to 45.0×10 -5 Degrees, symbols are random, as follows.

[0139] Use the random function Random to generate two random integers d1 and d2 in [9,45];

[0140] Define the symbolic function f(d), d is an integer,

[0141] Then the random numbers are: dr1=d1*f(d2)*10e-5, dr2=d2*f(d1)*10e-5.

[0142] Of course, more complex and better algorithms can be used to generate random numbers, and their value range can also be set separately as needed. Random number deflection and sending steps:

[0143] The deflected longitude and latitude are: Ld_user1+dr1, Bd_user1+dr2, which are converted to degree-minute format and replace the location fields longitude and latitude L and B in the GGA statement;

[0144] Regenerate the checksum value of the GGA data message and replace the original checksum value.

[0145] The re-encoded GGA data packet is sent to the CORS service center through the established ClientSockerID1 end.

[0146] Exemplarily, the coordinate position deflection of a single user user1 virtual reference station is taken as an example to illustrate the specific process of receiving the third data stream from the CORS service center, applying the position deflection amount, generating the fourth data stream, and sending the fourth data stream to the user end, such as Fig. 9 As shown, including:

[0147] Steps to receive virtual reference station data:

[0148] The ClientSockerID1 thread of user user1 receives the third data stream from the CORS service center in real time, decodes the data header, and determines whether it contains the virtual reference station coordinate message of the second data stream; if the virtual reference station coordinate message of the second data stream is not contained, the third data stream is sent to the user end through the ServerSocketID1 end corresponding to user1; if the virtual reference station coordinate message of the second data stream is contained, the third data stream is pending and is ready to perform position deflection calculation and deflection.

[0149] Position deflection calculation and deflection steps:

[0150] Taking the user position coordinates Ld_user1+dr1, Bd_user1+dr2, H_user1 as input, use the position deflection plug-in to calculate the position deflection (here it is assumed that only the longitude and latitude are deflected): dL1, dB1;

[0151] Calculate the coordinates of the virtual reference station after deflection: Ld_user1+dr1+dL1, Bd_user1+dr2+dB1, H_user1, and convert them into spatial rectangular coordinates (the form in the virtual reference station coordinate message): X1, Y1, Z1.

[0152] Encoding and sending steps:

[0153] Encode the spatial rectangular coordinates X1, Y1, and Z1 in a telegram format, and replace the corresponding telegrams in the virtual reference station coordinate data packet of the fourth data stream;

[0154] Regenerate the check value of the virtual reference station coordinate data message and replace the original check value.

[0155] The re-encoded virtual reference station coordinate data packet is sent to the user end through the established ServerSocketID1 thread.

[0156] Finally, the user end receives the virtual reference station data (including virtual reference station observation data and virtual reference station coordinates, etc.) forwarded by the "forwarding service agent" and combines it with its own GNSS observation data to achieve real-time high-precision differential positioning.

[0157] It should be noted that in Figure 1-6 In order to clearly explain the principle flow of the scheme, the numbers "1-4" appearing in the figure represent the sequential flow. Fig.10 The numbers "1-3" appearing in the figure represent the number of users. For the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited to the described action sequence, because according to the embodiments of the present application, some steps can be performed in other sequences or simultaneously.

[0158] like Fig.10 As shown, the embodiment of the present application also provides a high-precision differential positioning and deflection device with additional random numbers, including:

[0159] A network module is used to establish a network connection between a user terminal and a CORS service center, receive a first data stream from the user terminal, the first data stream includes a user position, apply a random number deflection to the user position to obtain a second data stream, and forward the second data stream to the CORS service center; receive a third data stream from the CORS service center, apply a position deflection to the third data stream to obtain a fourth data stream, and send the fourth data stream to the user terminal; the third data stream includes the virtual reference station coordinates of the second data stream.

[0160] Preferably, the high-precision differential positioning and deflection device with additional random numbers further comprises:

[0161] The random number generation and deflection module is used to generate a random number and apply it to the user position to obtain a second data stream.

[0162] Preferably, the high-precision differential positioning position deflection device with additional random numbers is characterized by further comprising:

[0163] The position deflection calculation and deflection module is used to apply a position deflection amount to the third data stream to obtain a fourth data stream.

[0164] Preferably, the high-precision differential positioning position deflection device with additional random numbers is characterized by further comprising:

[0165] The encoding and decoding module is used to decode the first data stream, encode the second data stream, decode the third data stream, and encode the fourth data stream.

[0166] It should be noted that the high-precision differential positioning and deflection device with additional random numbers provided in the embodiments of the present application can execute the high-precision differential positioning and deflection method with additional random numbers provided in any embodiment of the present application, and has the corresponding functions and beneficial effects of the execution method.

[0167] like Fig.11 As shown, an embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 complete mutual communication through the communication bus 114; the memory 113 is used to store computer programs; the processor 111 is used to implement the steps of the high-precision differential positioning deflection method with additional random numbers provided by any of the above-mentioned method embodiments when executing the program stored in the memory 113. Exemplarily, the steps of the high-precision differential positioning deflection method with additional random numbers may include the following steps: receiving a first data stream from a user end, the first data stream including a user position, applying a random number deflection to the user position to obtain a second data stream, and forwarding the second data stream to a CORS service center; receiving a third data stream from a CORS service center, applying a position deflection amount to the third data stream to obtain a fourth data stream, and sending the fourth data stream to the user end; the third data stream includes the virtual reference station coordinates of the second data stream.

[0168] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the intelligent patrol behavior detection method based on spatiotemporal motion detection as provided in any of the aforementioned method embodiments are implemented.

[0169] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises a..." does not exclude the existence of other identical elements in the process, method, article or device that includes the elements.

[0170] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable ordinary technicians in the field to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made based on the essence of the content of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision differential positioning position deflection method with additional random numbers, used in a network terminal, characterized in that: include: Receive a first data stream from a user terminal, the first data stream including a user location, apply a random number deflection to the user location to obtain a second data stream, and send the second data stream to a CORS service center; Receive a third data stream from a CORS service center, apply a position deflection to the third data stream to obtain a fourth data stream, and send the fourth data stream to a user end; the third data stream includes the virtual reference station coordinates of the second data stream.

2. The high-precision differential positioning position deflection method with additional random numbers as claimed in claim 1, characterized in that: The applying random number deflection to the user location information to obtain a second data stream, and forwarding the second data stream to the CORS service center, includes: The network connection establishment step is to establish the network connection between the user end and the CORS service center; User location information decoding step: decode the location information sent by the user end and calculate the location field longitude and latitude L, B and geodetic height H, and record them as Ld_user, Bd_user, H_user respectively; Random number generation steps: Generate random numbers dr1 and dr2; Random number deflection and sending step: applying the generated random number to the longitude and latitude Ld_user, Bd_user, obtaining the deflected longitude and latitude Ld_user+dr1, Bd_user+dr2, replacing the original location field longitude and latitude L, B, obtaining a second data stream, and re-encoding the second data stream to obtain a re-encoded data packet; Send the re-encoded data packet to the CORS service center.

3. The high-precision differential positioning position deflection method with additional random numbers as claimed in claim 1, characterized in that: The random number is generated as follows: The random number range is 10 meters to 50 meters, which is converted to an angle of about 9.0×10 -5 Degree to 45.0×10 -5 degree, symbol random; Use the random function Random to generate two random integers d1 and d2 in [9,45]; Define the symbolic function f(d), d is an integer, Then the random numbers are: dr1=d1*f(d2)*10e-5, dr2=d2*f(d1)*10e-5.

4. The high-precision differential positioning position deflection method with additional random numbers as claimed in claim 2, characterized in that: The receiving a third data stream from a CORS service center, applying a position deflection amount to the third data stream to generate a fourth data stream, and sending the fourth data stream to a user end includes: A receiving and judging step is to receive the third data stream from the CORS service center, decode the data header, and judge whether it contains the virtual reference station coordinates of the second data stream; if the virtual reference station coordinates of the second data stream are not contained, the third data stream is directly sent to the user end; if the virtual reference station coordinate message of the second data stream is contained, the third data stream performs the position deflection calculation and deflection steps; Position deflection calculation and deflection steps: Taking the user position coordinates Ld_user+dr1, Bd_user+dr2, H_user as input, the position deflection plug-in is used to calculate the position deflection dL, dB; Calculate the coordinates of the virtual reference station after deflection: Ld_user+dr1+dL, Bd_user+dr2+dB, H_user, and convert them into spatial rectangular coordinates: X, Y, Z; Encoding and sending steps: Re-encode the spatial rectangular coordinates X, Y, and Z according to the telegram format, and replace the corresponding telegram in the virtual reference station coordinate data packet of the fourth data stream; The re-encoded virtual reference station coordinate data packet is sent to the user end.

5. A high-precision differential positioning position deflection device with additional random numbers, characterized in that: include: A network module is used to establish a network connection between a user terminal and a CORS service center, receive a first data stream from the user terminal, the first data stream includes a user position, apply a random number deflection to the user position to obtain a second data stream, and send the second data stream to the CORS service center; receive a third data stream from the CORS service center, apply a position deflection to the third data stream to obtain a fourth data stream, and send the fourth data stream to the user terminal; the third data stream includes the virtual reference station coordinates of the second data stream.

6. The high-precision differential positioning position deflection device with additional random numbers as claimed in claim 5, characterized in that: Also includes: The random number generation and deflection module is used to generate a random number and apply it to the user position to obtain a second data stream.

7. The high-precision differential positioning position deflection device with additional random numbers as claimed in claim 5 or 6, characterized in that: Also includes The position deflection calculation and deflection module is used to apply a position deflection amount to the third data stream to obtain a fourth data stream.

8. The high-precision differential positioning and deflection device with additional random numbers as claimed in claim 5, characterized in that: Also includes: The encoding and decoding module is used to decode the first data stream, encode the second data stream, decode the third data stream, and encode the fourth data stream.

9. The high-precision differential positioning position deflection device with additional random numbers as claimed in claim 5 or 6, characterized in that: The random number is generated as follows: The random number range is 10 meters to 50 meters, which is converted to an angle of about 9.0×10 -5 Degree to 45.0×10 -5 degree, symbol random; Use the random function Random to generate two random integers d1 and d2 in [9,45]; Define the symbolic function f(d), d is an integer, Then the random numbers are: dr1=d1*f(d2)*10e-5, dr2=d2*f(d1)*10e-5.

10. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the steps of the high-precision differential positioning position deflection method with additional random numbers as described in any one of claims 1-4 when executing the program stored in the memory.

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