A cellular network cooperative rtk positioning method and system

A positioning method and cellular network technology, applied in the field of cellular network cooperative RTK positioning and systems, can solve the problems of CORS stations paying a lot of maintenance costs, high CORS station construction costs, and limitations of high-precision positioning.

CN106814380BActive Publication Date: 2019-07-05湖南北云科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2019-07-05

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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.
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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 ...

Examples

Embodiment Construction

[0070] Such as figure 2 Shown is the working diagram of the positioning system of the present invention: the positioning system provided by the present invention using the cellular network cooperative RTK positioning method includes a centralized control center, several RTK cells, and the centralized control center and RTK cells Cell carries out the communication link of data interaction; Described one RTK cellular cell comprises a reference station dispatching center, several fixed reference stations and several mobile stations, and carries out data exchange between the reference station dispatching center, fixed reference stations and mobile stations communication link; the centralized control center is used for receiving the position information of the fixed reference station, judging the positional relationship between the rover and the reference station dispatching center, assigning the reference station dispatching center to which the rover belongs, and updating the rove...