Optimal Selection Method for GNSS Reference Stations and High-Precision Positioning System
Through the collaborative work of multiple reference station groups and remote servers, the reference station with the least comprehensive accuracy is selected for binding, and switch to other reference stations in the event of a failure, solving the problem of positioning interruptions and accuracy reduction caused by reference station failure, and achieving high-precision and reliable GNSS positioning.
Patent Information
- Application Number
- CN202210101710.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-01-27
- Publication Date
- 2025-08-01
- Estimated Expiration
- 2042-01-27
AI Technical Summary
The existing GNSS reference station cannot be monitored when there is a failure, and signal occlusion leads to a reduced positioning accuracy.
Multiple reference station groups are used to calculate the horizontal accuracy and elevation accuracy of each reference station through the remote server, select the reference station with the smallest comprehensive accuracy to bind to the monitoring station, and switch to other reference stations when the optimal reference station fails to ensure positioning accuracy.
It realizes rapid switching and continuous monitoring in the event of a reference station failure, ensures high-precision positioning of the monitored objects, and improves the reliability and stability of the system.
Smart Images
Figure CN114706107B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of GNSS millimeter-level positioning, in particular to an optimal selection method for GNSS reference stations and a high-precision positioning system. Background Art
[0002] Based on the positions of millimeter-level positioning monitoring stations (monitored objects) of the Global Navigation Satellite System (GNSS), it is widely used to monitor the deformations of buildings such as bridges, dams, high-rise buildings, and landslide bodies, so as to make danger warnings based on the deformations and reduce personnel and property losses. Currently, for the positioning of the monitoring stations (monitored objects), the corresponding positioning system generally includes multiple satellites, at least one monitoring station, and one reference station. The disadvantage of using one reference station is that when the reference station fails, it is necessary to wait for repair or replace the reference station again to restart the positioning. Therefore, it is impossible to monitor the deformation during the failure period. In addition, when the reference station has poor received signal due to being blocked by obstacles or other reasons, the positioning accuracy of the GNSS monitoring station position will be reduced. Summary of the Invention
[0003] The main purpose of the present invention is to overcome the above-mentioned defects in the prior art, and propose an optimal selection method for GNSS reference stations and a high-precision positioning system, which can obtain the optimal reference station from multiple reference stations and ensure the positioning accuracy of the monitored object.
[0004] The present invention adopts the following technical solutions:
[0005] On the one hand, an optimal selection method for GNSS reference stations includes:
[0006] Obtain the baseline distances between each reference station in the reference station group and the monitoring station; the number of reference stations in the reference station group is greater than or equal to 3; the monitoring station is set on the monitored object;
[0007] Based on the baseline distances between each reference station and the monitoring station, the GNSS data obtained by each reference station, and the GNSS data obtained by the monitoring station, calculate the horizontal accuracy and elevation accuracy of each reference station within a preset time through calculation;
[0008] Obtain the comprehensive accuracy of each reference station based on the horizontal accuracy and elevation accuracy;
[0009] Select the reference station with the minimum comprehensive accuracy as the optimal reference station and bind it to the monitoring station to position the object to be measured through GNSS satellites.
[0010] Preferably, based on the GNSS data obtained by each reference station and the GNSS data obtained by the monitoring station, calculating the horizontal accuracy and elevation accuracy of each reference station within a preset time through calculation specifically includes:
[0011] Based on the GNSS data obtained from each reference station and the GNSS data obtained from the monitoring station, the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station are calculated through solution.
[0012] The instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station within a preset time are respectively accumulated to obtain the horizontal accuracy and elevation accuracy of each reference station within the preset time.
[0013] Preferably, based on the GNSS data obtained from each reference station and the GNSS data obtained from the monitoring station, the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station are calculated through solution, specifically including:
[0014] Obtain the pseudorange formula of the reference station as follows:
[0015]
[0016] Among them, represents the pseudorange from the receiver of the reference station to the i-th satellite; C represents a constant coefficient; △t m represents the receiver clock error; △t i represents the i-th satellite clock error; represents the ephemeris error; represents the ionospheric error; represents the atmospheric error; T e represents the environmental temperature error; represents the true distance from the satellite to the reference station, and the true distance from the satellite to the reference station is obtained according to the satellite ephemeris and the coordinates of the reference station
[0017] Let the pseudorange correction be expressed as follows:
[0018]
[0019] Obtain the pseudorange formula of the monitoring station as follows:
[0020]
[0021] Among them, represents the true distance from the receiver of the monitoring station to the i-th satellite; △t n represents the receiver clock error; △t i represents the i-th satellite clock error; represents the ephemeris error; represents the ionospheric error; represents the atmospheric error; represents T e environmental temperature error;
[0022] By adding the pseudorange measurement value of the monitoring station and the pseudorange correction of the reference station Eliminate ionospheric, atmospheric and ephemeris errors as follows:
[0023]
[0024]
[0025] Wherein, x i represents the true distance of the i-th satellite in the east direction; x n represents the average value of the true distances of n satellites in the east direction; y i represents the true distance of the i-th satellite in the north direction; y n represents the average value of the true distances of n satellites in the north direction; z i represents the true distance of the i-th satellite in the elevation direction; z n represents the average value of the true distances of n satellites in the elevation direction; △D represents the distance error between the reference station and the monitoring station;
[0026] After solving the satellite ephemeris, obtain the satellite coordinates, get the reference station antenna coordinates from the reference station information, and find out and Combined with the above formulas (1) to (4) for positioning calculation, calculate the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station.
[0027] Preferably, based on the horizontal accuracy and elevation accuracy, obtain the comprehensive accuracy of each reference station, specifically including:
[0028] Take the average of the horizontal accuracy and elevation accuracy of each reference station to obtain the comprehensive accuracy of each reference station.
[0029] Preferably, the optimal selection method of the GNSS reference station further includes: monitoring the optimal reference station, and when the optimal reference station fails, select the reference station with the second smallest comprehensive accuracy to bind with the monitoring station.
[0030] Preferably, the optimal selection method of the GNSS reference station further includes: when there are two or more reference stations with the second smallest comprehensive accuracy, obtain the baseline quality of each reference station with the second smallest comprehensive accuracy, and use the reference station with the largest baseline quality as the optimal reference station.
[0031] Preferably, the optimal selection method of the GNSS reference station further includes: monitoring the optimal reference station, and when the optimal reference station fails, obtain the reference station with the smallest reference distance from the remaining reference stations to the monitoring station as the optimal reference station, and bind it with the monitoring station.
[0032] Preferably, the optimal selection method of the GNSS reference station further includes: when there are two or more reference stations with the minimum baseline distance, obtaining the baseline quality of each reference station, and taking the reference station with the maximum baseline quality as the optimal reference station and binding it to the monitoring station.
[0033] Preferably, there are three reference stations, namely the first reference station, the second reference station, and the third reference station; the baseline distances between the second reference station and the third reference station and the monitoring station are equal; the baseline distance between the first reference station and the monitoring station is less than the baseline distances between the second reference station and the third reference station and the monitoring station; the first reference station is the optimal reference station; monitoring the first reference station, when the first reference station fails, respectively obtaining the baseline quality of the second reference station and the third reference station, and taking the reference station with the maximum baseline quality as the optimal reference station and binding it to the monitoring station.
[0034] On the other hand, a GNSS high-precision positioning system includes: multiple satellites, a monitoring station arranged on the object to be monitored, a remote server, and multiple reference stations; the remote server selects the optimal reference station based on the reference station selection method and binds the optimal reference station to the monitoring station.
[0035] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following beneficial effects:
[0036] (1) The present invention is provided with a reference station group including three or more reference stations. The remote server respectively obtains the horizontal accuracy and elevation accuracy of each reference station to obtain the comprehensive accuracy, and selects the reference station with the minimum comprehensive accuracy as the optimal reference station and binds it to the monitoring station, so as to realize the precise positioning of the object to be measured through GNSS satellites;
[0037] (2) The remote server of the present invention monitors the optimal reference station. When the optimal reference station fails, it selects the reference station with the second smallest comprehensive accuracy and binds it to the monitoring station; or, selects other reference stations to bind to the monitoring station according to the baseline distance; ensuring that when the optimal reference station fails, it can quickly switch to other reference stations to realize continuous monitoring;
[0038] (3) When there are multiple reference stations with the second smallest comprehensive accuracy in the present invention, or when there are multiple reference stations with the minimum reference distance from the monitoring station among the remaining reference stations, the reference station bound to the monitoring station is further selected by judging the baseline quality to select the optimal reference station and ensure the positioning accuracy. Description of the Drawings
[0039] Figure 1 It is a flowchart of the optimal selection method of the GNSS reference station in this embodiment;
[0040] Figure 2 It is a detailed flowchart of the optimal selection method of the GNSS reference station in this embodiment;
[0041] Figure 3 It is a schematic diagram of the horizontal accuracy and elevation accuracy of the three reference stations in this embodiment; among them, (a) represents the schematic diagram of the horizontal accuracy and elevation accuracy of the first reference station; (b) represents the schematic diagram of the horizontal accuracy and elevation accuracy of the second reference station; (c) represents the schematic diagram of the horizontal accuracy and elevation accuracy of the third reference station;
[0042] Figure 4 It is a schematic diagram of the baseline quality of the two reference stations in this embodiment; among them, (a) represents the schematic diagram of the baseline quality of the second reference station; (b) represents the schematic diagram of the baseline quality of the third reference station;
[0043] Figure 5 It represents a schematic diagram of the structure of the GNSS high-precision positioning system in this embodiment. Detailed implementation manners
[0044] The present invention will be further described below through specific implementation manners.
[0045] See Figure 1 As shown, an optimal selection method for a GNSS reference station includes:
[0046] S101, obtaining the baseline distances between each reference station in the reference station group and the monitoring station; the number of reference stations in the reference station group is greater than or equal to 3; the monitoring station is arranged on the object to be monitored;
[0047] S102, based on the baseline distances between each reference station and the monitoring station, the GNSS data obtained by each reference station, and the GNSS data obtained by the monitoring station, calculating the horizontal accuracy and elevation accuracy of each reference station within a preset time through calculation;
[0048] S103, obtaining the comprehensive accuracy of each reference station based on the horizontal accuracy and elevation accuracy;
[0049] S104, selecting the reference station with the minimum comprehensive accuracy as the optimal reference station, and binding it to the monitoring station to position the object to be measured through GNSS satellites.
[0050] Specifically, the optimal selection method of the GNSS reference station can be implemented on a remote server, and the remote server can be a cloud server. Further, the presentation of the monitoring station, the reference station, the selection result, and the horizontal accuracy and elevation accuracy of each reference station can also be implemented through a terminal; the terminal can include the remote server, or can also be other client terminals, such as a computer terminal or a mobile terminal, etc.
[0051] In this embodiment, each reference station is deployed in a different area.
[0052] It should be noted that the so-called optimal reference station is relative. The remote server periodically monitors the horizontal accuracy and elevation accuracy of each reference station to obtain the optimal reference station.
[0053] In this embodiment, based on the GNSS data obtained by each reference station and the GNSS data obtained by the monitoring station, the horizontal accuracy and elevation accuracy of each reference station within a preset time are calculated through solution, specifically including:
[0054] Based on the GNSS data obtained by each reference station and the GNSS data obtained by the monitoring station, the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station are calculated through solution;
[0055] The instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station within the preset time are respectively accumulated to obtain the horizontal accuracy and elevation accuracy of each reference station within the preset time.
[0056] Based on the GNSS data obtained by each reference station and the GNSS data obtained by the monitoring station, the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station are calculated through solution, specifically including:
[0057] Obtain the reference station pseudorange formula as follows:
[0058] [[ID=2"]]
[0059] Among them, represents the pseudorange from the receiver of the reference station to the i-th satellite; C represents a constant coefficient; △t m represents the receiver clock error; △t i represents the i-th satellite clock error; represents the ephemeris error; represents the ionospheric error; represents the atmospheric error; T e represents the environmental temperature error; represents the true distance from the receiver to the i-th satellite, and the true distance from the satellite to the reference station is obtained according to the satellite ephemeris and the coordinates of the reference station
[0060] Let the pseudorange correction be expressed as follows:
[0061]
[0062] Obtain the monitoring station pseudorange formula as follows:
[0063]
[0064] Among them, Denote the true distance from the receiver of the monitoring station to the i-th satellite; △t n Denote the receiver clock error; △t i Denote the clock error of the i-th satellite; Denote the ephemeris error; Denote the ionospheric error; Denote the atmospheric error; Denote T e Environmental temperature error;
[0065] By adding the pseudorange measurement value of the monitoring station and the pseudorange correction number of the reference station Eliminate the ionospheric, atmospheric and ephemeris errors as follows:
[0066]
[0067]
[0068] Where, x i Denote the true distance of the i-th satellite in the east direction; x n Denote the average value of the true distances of n satellites in the east direction; y i Denote the true distance of the i-th satellite in the north direction; y n Denote the average value of the true distances of n satellites in the north direction; z i Denote the true distance of the i-th satellite in the elevation; z n Denote the average value of the true distances of n satellites in the elevation; △D denotes the distance error between the reference station and the monitoring station;
[0069] After solving the satellite ephemeris, obtain the satellite coordinates, obtain the reference station antenna coordinates from the reference station information, and calculate and Combined with the above formulas (1) to (4) for positioning calculation, calculate the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station.
[0070] Furthermore, based on the horizontal accuracy and elevation accuracy, obtain the comprehensive accuracy of each reference station, specifically including:
[0071] Take the average value of the horizontal accuracy and elevation accuracy of each reference station to obtain the comprehensive accuracy of each reference station.
[0072] In one embodiment, the optimal selection method of the GNSS reference station further includes: monitoring the optimal reference station, and when the optimal reference station fails, selecting the reference station with the second smallest comprehensive accuracy to be bound to the monitoring station.
[0073] Specifically, when there are two or more reference stations with the second smallest comprehensive accuracy, it is also necessary to obtain the baseline quality of each reference station with the second smallest comprehensive accuracy, and use the reference station with the largest baseline quality as the optimal reference station.
[0074] The acquisition of the baseline quality can use a data quality analysis tool. Specifically, the original data in RINEX format can be input, and the input original data includes pseudorange, ephemeris, carrier phase limit data, etc.
[0075] In another embodiment, the optimal selection method of the GNSS reference station further includes: monitoring the optimal reference station, and when the optimal reference station fails, obtaining the reference station with the smallest reference distance from the monitoring station among the remaining reference stations as the optimal reference station, and binding it to the monitoring station.
[0076] Specifically, the optimal selection method of the GNSS reference station further includes: when there are two or more reference stations with the smallest baseline distance, obtaining the baseline quality of each reference station, and taking the reference station with the largest baseline quality as the optimal reference station, and binding it to the monitoring station.
[0077] As described above, the acquisition of the baseline quality can use a data quality analysis tool. Specifically, the original data in RINEX format can be input, and the input original data includes pseudorange, ephemeris, carrier phase limit data, etc.
[0078] In this embodiment, referring to Figure 2 as shown, there are three reference stations, namely the first reference station (i.e., reference station 1 in the figure), the second reference station (i.e., reference station 2 in the figure), and the third reference station (i.e., reference station 3 in the figure); the baseline distances between the second reference station and the third reference station and the monitoring station are equal; the baseline distance between the first reference station and the monitoring station is less than the baseline distances between the second reference station and the third reference station and the monitoring station; the first reference station is the optimal reference station; monitoring the first reference station, and when the first reference station fails, respectively obtaining the baseline quality of the second reference station and the third reference station, and taking the reference station with the largest baseline quality as the optimal reference station, and binding it to the monitoring station.
[0079] Referring to Figure 3 as shown, the horizontal accuracy and elevation accuracy of the three reference stations are calculated respectively; among them, Figure 3 (a) represents the schematic diagram of the horizontal accuracy and elevation accuracy of the first reference station; Figure 3 (b) represents the schematic diagram of the horizontal accuracy and elevation accuracy of the second reference station; Figure 3 (c) represents the schematic diagram of the horizontal accuracy and elevation accuracy of the third reference station. Based on Figure 3 the horizontal accuracy and elevation accuracy in, the comprehensive accuracy can be calculated. It can be seen that the comprehensive accuracy of the first reference station is the smallest, and the second reference station and the third reference station are larger, that is, the first reference station is selected as the optimal reference station.
[0080] Referring to Figure 4As shown, when the first reference station fails, the baseline quality diagrams of the second reference station and the third reference station are calculated respectively; among them, Figure 4 (a) represents the baseline quality diagram of the second reference station; Figure 4 (b) represents the baseline quality diagram of the third reference station. It can be seen from Figure 4 that the baseline quality of the second reference station is better, so the second reference station is selected as the optimal reference station.
[0081] See Figure 5 As shown, a GNSS high-precision positioning system includes: a plurality of GNSS satellites 501, a monitoring station 502 provided on the object to be monitored, a remote server 503, and a plurality of reference stations 504; the remote server 503 selects the optimal reference station based on the above reference station selection method, and binds the optimal reference station to the monitoring station.
[0082] The above is only the specific implementation manner of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantive modification of the present invention using this concept shall fall within the scope of infringement of the protection scope of the present invention.
Claims
1. An optimal selection method for GNSS reference stations, characterized in that, Including: Obtaining the baseline distances between each reference station in the reference station group and the monitoring station; The number of reference stations in the reference station group is greater than or equal to 3; The monitoring station is arranged on the object to be monitored; Based on the baseline distances between each reference station and the monitoring station, the GNSS data obtained by each reference station, and the GNSS data obtained by the monitoring station, calculating the horizontal accuracy and elevation accuracy of each reference station within a preset time through solution; Obtaining the comprehensive accuracy of each reference station based on the horizontal accuracy and elevation accuracy; Selecting the reference station with the minimum comprehensive accuracy as the optimal reference station and binding it to the monitoring station to position the object to be measured through GNSS satellites; Based on the GNSS data obtained by each reference station and the GNSS data obtained by the monitoring station, calculating the horizontal accuracy and elevation accuracy of each reference station within a preset time through solution, specifically including: Based on the GNSS data obtained by each reference station and the GNSS data obtained by the monitoring station, calculating the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station through solution; Accumulating the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station within a preset time respectively to obtain the horizontal accuracy and elevation accuracy of each reference station within a preset time.
2. The optimal selection method of the GNSS reference station according to claim 1, wherein Based on the GNSS data obtained by each reference station and the GNSS data obtained by the monitoring station, calculating the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station through solution, specifically including: Obtaining the reference station pseudorange formula as follows: Among them, represents the pseudorange from the receiver of the reference station to the i-th satellite; C represents a constant coefficient; Δt m represents the receiver clock error; Δt i represents the clock error of the i-th satellite; represents the ephemeris error; represents the ionospheric error; represents the atmospheric error; T e represents the environmental temperature error; represents the true distance from the receiver to the i-th satellite, and the true distance from the satellite to the reference station is obtained according to the satellite ephemeris and the coordinates of the reference station Let the pseudorange correction number be expressed as follows: Obtaining the monitoring station pseudorange formula as follows: Among them, represents the true distance from the receiver of the monitoring station to the i-th satellite; Δt n represents the receiver clock error; Δt i represents the clock error of the i-th satellite; represents the ephemeris error; represents the ionospheric error; represents the atmospheric error; represents T e environmental temperature error; By adding the pseudorange measurement value of the monitoring station to the pseudorange correction of the reference station Ionospheric, atmospheric, and ephemeris errors are eliminated as follows: where x i represents the true distance of the i-th satellite in the east direction; x n represents the average value of the true distances of n satellites in the east direction; y i represents the true distance of the i-th satellite in the north direction; y n represents the average value of the true distances of n satellites in the north direction; z i represents the true distance of the i-th satellite in the elevation direction; z n represents the average value of the true distances of n satellites in the elevation direction; ΔD represents the distance error between the reference station and the monitoring station; After solving the satellite ephemeris, the satellite coordinates are obtained. The antenna coordinates of the reference station are obtained from the reference station information, and then and Combined with the above formulas (1) to (4), positioning calculations are carried out to calculate the instantaneous horizontal accuracy and instantaneous elevation accuracy of each reference station.
3. The optimal selection method of the GNSS reference station according to claim 1, wherein Obtaining the comprehensive accuracy of each reference station based on the horizontal accuracy and elevation accuracy, specifically including: Calculating the average value of the horizontal accuracy and elevation accuracy of each reference station to obtain the comprehensive accuracy of each reference station.
4. The optimal selection method of GNSS reference stations according to claim 1, wherein Also including: Monitoring the optimal reference station, and when the optimal reference station fails, selecting the reference station with the second smallest comprehensive accuracy and binding it to the monitoring station.
5. The GNSS reference station optimal selection method according to claim 4, wherein Also including: When there are two or more reference stations with the second smallest comprehensive accuracy, obtaining the baseline quality of each reference station with the second smallest comprehensive accuracy, and taking the reference station with the largest baseline quality as the optimal reference station.
6. The optimal selection method of GNSS reference station according to claim 1, characterized in that Also including: Monitoring the optimal reference station, and when the optimal reference station fails, obtaining the reference station with the smallest baseline distance from the monitoring station among the remaining reference stations as the optimal reference station and binding it to the monitoring station.
7. The GNSS reference station optimal selection method according to claim 6, characterized in that, Also including: When there are two or more reference stations with the smallest baseline distance, obtaining the baseline quality of each reference station, taking the reference station with the largest baseline quality as the optimal reference station, and binding it to the monitoring station.
8. The optimal GNSS reference station selection method according to claim 6, characterized in that, The reference stations include three, namely the first reference station, the second reference station, and the third reference station; the baseline distances between the second reference station and the third reference station and the monitoring station are equal; the baseline distance between the first reference station and the monitoring station is less than the baseline distances between the second reference station and the third reference station and the monitoring station; the first reference station is the optimal reference station; Monitoring the first reference station, and when the first reference station fails, respectively obtaining the baseline quality of the second reference station and the third reference station, and taking the reference station with the largest baseline quality as the optimal reference station and binding it to the monitoring station.
9. A GNSS high-precision positioning system, characterized in that, Including: Multiple satellites, a monitoring station disposed on the object to be monitored, a remote server, and multiple reference stations; The remote server selects an optimal reference station based on the method described in any one of claims 1 to 8, and binds the optimal reference station to the monitoring station.