A system and method for improving the positioning accuracy of a satellite positioning terminal

Abstract

The present invention discloses a system for improving the positioning accuracy of a satellite positioning terminal, including a positioning terminal: a high-precision antenna is used in the terminal to receive Beidou dual-frequency signals and GPS dual-frequency signals. The terminal extracts measurement information such as satellite navigation messages, time, pseudo-range, and carrier phase in real time, and transmits this information to a data processing unit through a network; a data processing unit: used for receiving positioning information, uploading and processing data, which is internally composed of a power supply module, a calculation module, a main control chip, a router and its communication interfaces. It summarizes and analyzes the received position information uploaded by the positioning terminal, calculates the positioning deviation through a processing algorithm, and sends the latest position of the corrected terminal to a background server; The present invention utilizes the principle of big data, based on network interconnection and data calculation, corrects the positioning error of the positioning terminal by statistically analyzing the positioning errors in a certain area, so as to achieve the purpose of improving the positioning accuracy and reducing the cost.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite positioning, and specifically to a system and method for improving the positioning accuracy of satellite positioning terminals. Background Art

[0002] Currently, the main satellite positioning systems are the GPS system, the Beidou navigation system, the GLONASS system, and the Galileo system. Most of the current positioning accuracies of all civilian positioning terminals are generally about 5 meters. The principle is mainly based on the positioning terminal receiving the signals of geostationary satellites, calculating the distance from the satellite according to the signal phase difference or time delay, and then calculating the position of the terminal on the earth through multiple satellites.

[0003] Another method for improving positioning accuracy mainly uses the differential station method. By deploying differential reference stations on the ground to correct the positioning errors in the positioning area, thereby improving the positioning accuracy. This method requires the ground reference stations to be fixedly installed, with a relatively high price. At the same time, it requires the positioning terminal to support the differential mode, and its final economic cost is relatively high. Summary of the Invention

[0004] The purpose of the present invention is to provide a system and method for improving the positioning accuracy of satellite positioning terminals to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A system for improving the positioning accuracy of satellite positioning terminals, including

[0007] Positioning terminal: A high-precision antenna is used inside the terminal to receive Beidou dual-frequency signals and GPS dual-frequency signals. The terminal extracts measurement information such as satellite navigation messages, time, pseudorange, and carrier phase in real time, and transmits this information to the data processing unit through the network; the antenna uses a high-precision measurement antenna to meet the meter-level measurement accuracy.

[0008] Data processing unit: Used for receiving positioning information, uploading and processing data. It consists of a power module, a calculation module, a main control chip, a router, and its communication interfaces inside. It summarizes and analyzes the position information uploaded by the received positioning terminal, calculates the positioning deviation through a processing algorithm, and sends the latest corrected position of the terminal to the background server;

[0009] Background server; Receives the corrected position of the terminal calculated by the data processing unit, converts the longitude and latitude information into a coordinate system, and sends the result to the display platform;

[0010] Display platform: Summarizes all the position information of the positioning terminal and displays it on the map.

[0011] A method for improving the positioning accuracy of a satellite positioning terminal, using the system described in claim 1, comprising the following steps:

[0012] Step 1: Assume that the radius of the positioning correction area is R, and the position of the positioning terminal to be corrected is Dn;

[0013] Step 2: All positioning terminals within the radius R of the positioning area that have not moved within a certain time T report their measured positions through the network. The positioning includes the position group within time T and the latest real-time positioning.

[0014] Step 3: The data processing unit calculates the correction error separately according to the data of the terminal, which is equal to the vector difference between the calculation center of the positions obtained by the positioning terminal within a certain past time T and the real-time positioning value.

[0015] Step 4: The data processing unit summarizes all the reports within the area, and then calculates the weighted average within the area. The weight of each positioning terminal is calculated according to its position relative to the center of the positioning area, and the weight is inversely proportional to the distance L from it to the positioning center point.

[0016] Step 5: The correction of the terminal position information within the positioning area is based on its measured real-time position and the vector correction value returned by the data processing unit, and finally calculates its corrected final position.

[0017] As a further calculation scheme of the present invention, the process of determining the radius R of the solution area is as follows: Assume that the number of positioning terminals in the area is N (N≥3), and the longitude and latitude of any 3 terminals D returned in real time are D 1 (x 1 , y 1 ), D 2 (x 2 , y 2 ), D 3 (x 3 , y 3 ), and an initial coordinate system is constructed and the initial origin O 1 is calculated. Then O 1 (x 0 , y 0 ) Among them Find the maximum x and y values of all the remaining terminals in the four quadrants of the coordinate system 0, calculate an enclosing rectangle, and use the center point of the rectangle as the final origin O r (x r , y r ), and use the length of the diagonal of the rectangle as the radius of the correction area, denoted as R.

[0018] As a further technical solution of the present invention, the process of calculating the correction error Δd of each positioning terminal is as follows: Calculate the terminal devices within the radius R of the positioning area to report their measured positioning center O through the network within a certain time T n (x no ,y no ), the calculation method is the same as that in step 1. Then calculate the real-time measured position D n (x nd ,y nd ) and the distance from the center point O n is recorded as the correction error Δd n , the acquisition of Δd n is equal to the vector difference between the mathematical statistical value of the position obtained by the positioning terminal in the past certain time T and the current real-time positioning value obtained: Calculate the real-time reported position D of the terminal device n and the center point O n The included angle between According to the obtained Calculate the probability of each angle, and finally obtain its expected value where x k is value:

[0019] As a further technical solution of the present invention, the process of obtaining the final error d after calculating the error weight of each terminal is as follows: The network server collects all reported Δd in this area k(k＝1，2，3) , and then calculates the weighted average value in this area according to the weight calculated based on its actual position D k (x k ,y k ) and the position of the center O of the positioning area r (x r ,y r ). The weight is inversely proportional to the distance l from it to the positioning center point, and finally determines the final error d in the area:

[0020] As a further technical solution of the present invention, recalculating the actual position of each terminal according to the calculated correction error is specifically: Correct all the positioning terminals D in the area, and finally calculate its corrected final position according to its measured real-time position and the vector correction value returned by the server

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: By utilizing the principle of big data, based on network interconnection and data calculation, the positioning error in a certain area is statistically analyzed, and then the positioning error of the positioning terminal is corrected, so as to achieve the purpose of improving the positioning accuracy and reducing the cost. This method requires the positioning terminal to have network intercommunication. At the same time, in a certain positioning area, the more positioning terminals there are, the more obvious the effect of improving the positioning accuracy will be. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the schematic diagram of the present invention.

[0023] Figure 2 is the system structure diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] Please refer to Figure 1-2 shown in Embodiment 1: A method for improving the positioning accuracy of a satellite positioning terminal, using the system described in Claim 1, comprising the following steps:

[0026] Step 1: Assume that the radius of the positioning correction area is R, and the position of the positioning terminal to be corrected is Dn;

[0027] Step 2: All positioning terminals within the radius R of the positioning area that have not moved within a certain time T report their measured positions through the network. The positions include the position group within time T and the latest real-time position.

[0028] Step 3: The data processing unit calculates the correction error separately according to the data of the terminal, which is equal to the vector difference between the calculation center of the positions obtained by the positioning terminal in the past certain time T and the real-time positioning value.

[0029] Step 4: The data processing unit aggregates all the reports within the area, and then calculates the weighted average within the area. The weight of each positioning terminal is calculated according to its position relative to the center of the positioning area, and the weight is inversely proportional to the distance L from it to the positioning center point.

[0030] Step 5: Correct the position information of the terminal within the positioning area. According to the measured real-time position and the calculation correction value returned by the data processing unit, the final corrected position is finally calculated.

[0031] Example 2: The details of each algorithm in Example 1 are as follows:

[0032] The process of determining the radius R of the solution area is as follows: Assume that the number of positioning terminals in the area is N (N≥3), and the longitude and latitude returned in real time by any 3 terminals D are D 1 (x 1 , y 1 ), D 2 (x 2 , y 2 ), D 3 (x 3 , y 3 ), and an initial coordinate system is constructed and the initial origin O 1 is calculated. Then O 1 (x 0 , y 0 ). Among them Find the maximum x and y values of all the remaining terminals in the four quadrants of the coordinate system 0, calculate a circumscribed rectangle, and use the center point of the rectangle as the final origin O r (x r , y r ). Use the length of the diagonal of the rectangle as the corrected area radius and denote it as R

[0033] The process of calculating the correction error Δd of each positioning terminal is as follows: Calculate the distance between the terminal devices within the positioning area radius R reporting their measured positioning center O n (x no , y no ) to the network within a certain time T. The calculation method is the same as that in step 1. Then calculate the distance between the real-time measured position D n (x nd , y nd ) and the center point O n and denote it as the correction error Δd n . The acquisition of Δd n is equal to the vector difference between the mathematical statistical value of the position obtained by the positioning terminal in the past certain time T and the current real-time positioning value Calculate the angle between the real-time reported position D of the terminal device n and the center point O n According to the obtained Calculate the probability of each angle and finally obtain its expected value Among them, x k is value

[0034] ​The process of obtaining the final error d after calculating the error weights of each terminal is as follows: The network server collects all the reported Δd in this area k(k=1，2，3) , and then based on its actual position D k (x k , y k ) and the center O of the positioning area r (x r , y r ) to calculate the weighted average value in this area. Its weight is inversely proportional to the distance l from it to the positioning center point, and finally determine the final error d in the area:

[0035] Recalculate the actual positions of each terminal according to the calculated correction error. Specifically: Correct all the positioning terminals D in the area. According to their measured real-time positions and the vector correction values returned by the server, finally calculate their corrected final positions

[0036] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed claims.

[0037] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method for improving the positioning accuracy of a satellite positioning terminal, characterized in that, it includes the following steps: Step 1: Assume that the radius of the positioning correction area is R, and the position of the positioning terminal to be corrected is Dn; Step 2: All positioning terminals within the radius R of the positioning area that have not moved within a certain time T report their measured positions through the network. The positioning includes the position group within time T and the latest real-time positioning; Step 3: The data processing unit calculates the correction error separately according to the data of the terminal, which is equal to the vector difference between the calculation center of the positions obtained by the positioning terminal in the past certain time T and the real-time positioning value; Step 4: The data processing unit summarizes all the reports within the area, and then calculates the weighted average within the area. The weight of each positioning terminal is calculated according to its position relative to the center of the positioning area, and its weight is inversely proportional to the distance L from it to the positioning center point; Step 5: The correction of the terminal position information within the positioning area is based on the measured real-time position and the vector correction value returned by the data processing unit, and finally calculates its corrected final position.

2. The method for improving the positioning accuracy of a satellite positioning terminal according to claim 1, characterized in that, Determine the radius of the calculation area R The process is as follows: Assume that the number of positioning terminals in the area is N, N≥3. Take the longitude and latitude returned in real time by any 3 terminals D, which are respectively ( , ), ( , ), ( , ), and construct the initial coordinate system and calculate the initial origin . Then ( , ) in , . Find the maximum x and y values of all the remaining terminals in the four quadrants of the coordinate system O, calculate a circumscribed rectangle, and use the center point of the rectangle as the final origin , and use the length of the diagonal of the rectangle as the corrected area radius, denoted as R .

3. The method for improving the positioning accuracy of a satellite positioning terminal according to claim 1, characterized in that, Calculate the correction error of each positioning terminal The process is as follows: Calculate the radius of the positioning area respectively R The terminal devices within report the measured positioning center through the network within a certain time T , , and its calculation method is the same as that in step 1. Then calculate the real-time measured position , and the center point , and record the distance as the correction error , The acquisition of is equal to the vector difference between the mathematical statistical value of the position obtained by the positioning terminal in the past certain time T and the current real-time positioning value: , calculate the real-time reported position of the terminal device and the center point The included angle between : , according to the obtained Calculate the probability of each angle, and finally obtain its expected value , where is value: .

4. The method for improving the positioning accuracy of a satellite positioning terminal according to claim 1, characterized in that, The final error is obtained after calculating the error weights of each terminal. d The process is as follows: The network server collects all the reports within the area. and then, based on its actual position , calculate the weighted average within the area by calculating the weight based on the position of the center of the positioning area . The weight is inversely proportional to the distance from it to the center of the positioning point, and finally determine the final error within the area. l d :​ 。 5. The method for improving the positioning accuracy of a satellite positioning terminal according to claim 4, characterized in that, Recalculating the actual positions of each terminal according to the calculated correction error specifically involves: correcting the positioning terminals D in all regions, and finally calculating their corrected final positions based on their measured real-time positions and the vector correction values returned by the server. .

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