A coordinate measurement method and system based on RTK and an RTK receiver

Abstract

The application discloses a coordinate measurement method based on RTK, relates to the technical field of satellite navigation, and particularly relates to a coordinate measurement method based on RTK, a system and an RTK receiver. A reference station acquires first observation data in real time, and generates second observation data in combination with time sequence information to be stored. When a mobile station enters a radio signal blind area and cannot receive the first observation data, the mobile station continuously collects third observation data, and forms fourth observation data in combination with the time sequence information. When the mobile station is connected with the reference station through a wireless network, corresponding time sequence information is matched to obtain corresponding data of the fourth observation data in the second observation data, fifth observation data is formed, and RTK solving is performed according to the fourth observation data and the fifth observation data. When the mobile station is used for measurement, the mobile station is not affected by the working distance of the radio signal, and can continuously perform field measurement in the case that the radio signal is interrupted, so that the working efficiency of field measurement is improved.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation technology, and in particular to an RTK-based coordinate measurement method, system, and RTK receiver. Background Technology

[0002] GNSS (Global Navigation Satellite System) refers to the four major global navigation and positioning systems, including the US GPS, Russia's GLONASS, Europe's Galileo, and my country's Beidou. It provides users with uninterrupted, high-precision, globally covered navigation signal resources, enabling all-weather real-time positioning, velocity measurement, and time synchronization. Currently, GNSS is widely used for RTK (Real-time kinematic) surveying, implementing horizontal and vertical control surveying, topographic surveying, and other similar activities.

[0003] In existing technologies, when using RTK for field surveying, a base station is typically set up at a certain location. Then, a wireless data transmitter broadcasts differential correction data to the rover station in real time. After receiving the differential correction data from the base station, the rover station can obtain high-precision position coordinates relative to the base station's position through RTK calculations. Using a data transmitter for differential correction data transmission is a typical operational scenario in RTK use. However, due to limitations in the operating distance of the data transmitter itself and the influence of surrounding environmental factors, situations often arise where the rover station cannot receive the base station's radio signal during actual field surveying. When encountering such scenarios, the traditional solution is to re-establish the base station, usually by moving it closer to the rover station. This method causes significant inconvenience to users and severely impacts their operational efficiency. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a coordinate measurement method that can continue field measurements even when radio signals are interrupted.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] According to one aspect of the present invention, an RTK-based coordinate measurement method is provided for a coordinate measurement system, the coordinate measurement system including a base station and at least one rover station, the coordinate measurement method comprising the following steps:

[0007] S1: The base station collects the first observation data and the corresponding time series information in real time, generates the second observation data based on the first observation data and the corresponding time series information, and stores it.

[0008] S2: If the mobile station does not receive data from the base station within the set time threshold, the mobile station collects the third observation data and the corresponding time series information at the collection point, generates the fourth observation data based on the third observation data and the corresponding time series information, and stores it.

[0009] S3: Match the second and fourth observation data, and find the observation data in the second observation data that has the same time series information as the fourth observation data, and use it as the fifth observation data.

[0010] S4: The rover station performs RTK calculations based on the fourth and fifth observation data.

[0011] Specifically, before step S1, the following steps are also included:

[0012] S0: Perform timing calibration on the base station and the rover.

[0013] More specifically, the acquisition frequency for both the first and third observation data is 1 second.

[0014] The above step S1 also includes the following steps:

[0015] The base station generates differential correction data based on the first observation data collected, and transmits the differential correction data in real time via radio signals.

[0016] More specifically, step S2 also includes the following steps:

[0017] S21: The mobile station determines whether it has received differential correction data sent by the base station. If yes, proceed to step S22; otherwise, proceed to step S23.

[0018] S22: The mobile station continuously collects the third observation data at the collection point. The mobile station performs RTK calculation based on the collected third observation data and the received differential correction data.

[0019] S23: The mobile station continuously collects the third observation data at the collection point, and generates the fourth observation data based on the collected third observation data and the corresponding time series information.

[0020] More specifically, the continuous data collection time is 30 seconds.

[0021] Another specific step, S3, includes the following steps:

[0022] S31: The mobile station connects to the base station via a wireless network;

[0023] S32: The mobile station determines whether fourth observation data is stored. If so, it matches the second and fourth observation data.

[0024] More specifically, after step S4, the following steps are also included:

[0025] S5: The rover station deletes the fourth observation data that has already been solved using RTK.

[0026] According to another aspect of the present invention, an RTK-based coordinate measurement system is provided: the coordinate measurement system is used to implement the above-described RTK-based coordinate measurement method, and the coordinate measurement system includes a base station and at least one rover station.

[0027] According to another aspect of the present invention, an RTK receiver is provided, characterized in that: the RTK receiver is used as a base station and / or a rover station in the coordinate measurement system described above.

[0028] The beneficial effects of this invention are as follows: A coordinate measurement method based on RTK allows the base station to acquire first observation data in real time and generate second observation data by combining it with timing information for storage. When the rover enters a radio signal dead zone and cannot receive the first observation data, it continuously acquires third observation data and combines it with timing information to form fourth observation data. When the rover connects to the base station via a wireless network, it matches the data in the second observation data that corresponds to the fourth observation data with the corresponding timing information to form fifth observation data. RTK calculation is then performed based on the fourth and fifth observation data. This allows the rover to continue field measurements even when the radio signal is interrupted, regardless of the operating distance of the radio signal, thus improving the efficiency of field measurements. Attached Figure Description

[0029] The invention can be better understood by describing exemplary embodiments disclosed herein in conjunction with the accompanying drawings, in which:

[0030] Figure 1 The diagram shown is a schematic flowchart of a coordinate measurement method based on RTK according to Embodiment 1 of the present invention;

[0031] Figure 2 The diagram shown is a block diagram of a coordinate measurement system based on RTK according to Embodiment 1 of the present invention. Detailed Implementation

[0032] The following describes specific embodiments of the present invention. It should be noted that, in order to provide a concise description, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, some design, manufacturing, or production modifications based on the technical content disclosed in this invention are merely conventional technical means and should not be construed as insufficient content of this invention.

[0033] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the patent application description and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the element or object preceding "comprising" or "including" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0034] Example 1

[0035] Please see Figure 2 This paper illustrates an RTK-based coordinate measurement system, which includes a base station and at least one mobile station. The base station includes a first RTK receiver and a radio transmitting antenna. The mobile station includes a second RTK receiver. The second RTK receiver includes a GNSS antenna, an acquisition module, a data processing module, an RTK calculation module, storage, and a radio.

[0036] The data processing module is connected separately to the acquisition module, RTK calculation module, storage and radio station. The RTK calculation module is connected to the storage module. The acquisition module is connected to the GNSS antenna to acquire satellite positioning signals in real time.

[0037] In this embodiment, the first RTK receiver and the second RTK receiver use the same RTK receiver. Therefore, the first RTK receiver also includes a GNSS antenna, an acquisition module, a data processing module, an RTK calculation module, a storage module, and a radio.

[0038] The base station (first RTK receiver) stores specific station coordinate information. In conventional measurement mode, the base station acquires corresponding first observation data through its GNSS antenna, generates differential correction data based on the station coordinate information, and transmits it in real time through a radio transmitting antenna. The rover (second RTK receiver) acquires corresponding third observation data through its GNSS antenna, performs RTK calculations based on the received differential correction data, and calculates the coordinate data of the acquisition point.

[0039] In this application, both the base station and the rover station are enabled in automatic blind zone measurement mode. Automatic blind zone measurement function can only be achieved after both the base station and the rover station are enabled in automatic blind zone measurement mode.

[0040] After the base station activates the automatic blind zone measurement mode, it acquires the corresponding time series information while collecting the first observation data, generates the second observation data, and stores it. The second observation data includes the first observation data and the time series information corresponding to each data point in the first observation data.

[0041] The rover determines whether to enter the automatic blind zone measurement mode based on the real-time radio signal conditions. When it fails to receive differential correction data from the base station for 30 consecutive seconds, the rover enters the automatic blind zone measurement mode. While collecting the third observation data, it acquires the corresponding time series information, generates the fourth observation data, and stores it. The fourth observation data includes the third observation data and the time series information corresponding to each data point in the third observation data.

[0042] Furthermore, the mobile station's storage module includes a first storage module and a second storage module, which are used to store the coordinate data of the acquisition points and the fourth observation data, respectively.

[0043] For the specific coordinate measurement method described in this embodiment, please refer to [link / reference]. Figure 1 This paper proposes an RTK-based coordinate measurement method for a coordinate measurement system, which includes a base station and at least one rover station. The coordinate measurement method includes the following steps:

[0044] S0: Perform timing calibration on the base station and rover station;

[0045] S1: The base station collects first observation data and corresponding time series information in real time, generates second observation data based on the first observation data and corresponding time series information, and stores it; at the same time, it generates differential correction data based on the collected first observation data and transmits the differential correction data in real time through radio signals; wherein, the differential correction data includes the first observation data and the determined station coordinate information of the base station;

[0046] S21: The mobile station determines whether it has received differential correction data sent by the base station. If yes, proceed to step S22; otherwise, proceed to step S23.

[0047] Specifically, if the mobile station does not receive differential correction data within 30 consecutive seconds, proceed to step S23;

[0048] S22: The mobile station continuously collects the third observation data at the collection point. Based on the collected third observation data and the received first differential correction data, the mobile station performs RTK calculation to calculate the coordinate data corresponding to the collection point.

[0049] S23: The mobile station continuously collects the third observation data and the corresponding time series information at the collection point, and generates the fourth observation data based on the third observation data and the corresponding time series information, and stores it.

[0050] Furthermore, once the mobile station completes data collection at the collection point, it will generate a notification sound to inform the user that the data collection is complete and the user can move to the next measurement point to continue the work.

[0051] S24: Determine whether the measurement of each collection point has been completed. If not, return to step S21; if yes, proceed to the next step.

[0052] This allows the mobile station to operate without being affected by the radio signal's operating distance, enabling continuous field measurements even when the radio signal is interrupted, thus improving the efficiency of field measurements.

[0053] In this process, the acquisition frequency for both the first and third observation data is 1 second; in step S23, the continuous acquisition time of the mobile station at the acquisition point is 30 seconds.

[0054] When using a mobile station in automatic blind zone measurement mode, the number of points that can be collected is unlimited. After completing the data collection, the user can bring the mobile station back to the vicinity of the base station and restart it. After restarting, the mobile station will automatically determine whether there is fourth observation data (i.e., data collected using automatic blind zone measurement mode but not yet processed by RTK). If so, the mobile station will set its WiFi working mode to Client mode and then automatically connect to the base station's WiFi. After successful connection, the mobile station will perform data matching based on time series information, download the corresponding observation data file from the base station, and then use RTK to calculate the coordinate data of the collected points. The specific steps are as follows:

[0055] S31: The mobile station connects to the base station via a wireless network (such as WiFi);

[0056] S32: The rover station determines whether the fourth observation data is stored. If so, proceed to step S33.

[0057] S33: Match the second and fourth observation data, and find the observation data in the second observation data that have the same time series information as the fourth observation data, and use them as the fifth observation data.

[0058] S4: The rover station performs RTK calculations based on the fourth and fifth observation data;

[0059] S5: The rover station deletes the fourth observation data that has already been solved using RTK.

[0060] In summary, the RTK-based coordinate measurement method of this application enables the mobile station to continue field measurements even when the radio signal is interrupted, regardless of the operating distance of the radio signal. After completing the field measurement, the mobile station downloads the corresponding data from the base station to complete the RTK calculation, which can effectively improve the work efficiency of field measurement.

[0061] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0062] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0063] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0064] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0065] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method.

[0066] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A RTK-based coordinate measurement method for a coordinate measurement system, characterized by, The coordinate measurement system comprises a reference station and at least one mobile station, and the coordinate measurement method comprises the following steps: S1: The reference station collects first observation data and corresponding time sequence information in real time, generates second observation data according to the first observation data and the corresponding time sequence information, and stores the second observation data; S2: If the mobile station does not receive data sent by the reference station within a set time threshold, the mobile station collects third observation data and corresponding time sequence information at a collection point, generates fourth observation data according to the third observation data and the corresponding time sequence information, and stores the fourth observation data; S3: Matching is performed on the second observation data and the fourth observation data, and observation data corresponding to the fourth observation data with the same time sequence information in the second observation data is matched out as fifth observation data; S4: The mobile station performs RTK calculation according to the fourth observation data and the fifth observation data.

2. The RTK-based coordinate measurement method according to claim 1, wherein, Before the step S1, the following step is further included: S0: Time sequence calibration is performed on the reference station and the mobile station.

3. The RTK-based coordinate measurement method according to claim 2, characterized in that: The collection frequency of the first observation data and the third observation data is 1 second.

4. The RTK-based coordinate measurement method according to claim 1 or 2 or 3, characterized in that, The step S1 further comprises the following step: The reference station generates differential correction data according to the collected first observation data, and sends the differential correction data in real time through a radio signal.

5. The RTK-based coordinate measurement method of claim 4, wherein, The step S2 further comprises the following step: S21: The mobile station judges whether the differential correction data sent by the reference station is received, and if yes, step S22 is entered; if no, step S23 is entered; S22: The mobile station continuously collects third observation data at a collection point, and performs RTK calculation according to the collected third observation data and the received differential correction data; S23: The mobile station continuously collects third observation data at a collection point, and generates fourth observation data according to the collected third observation data and the corresponding time sequence information.

6. The RTK-based coordinate measurement method according to claim 5, characterized in that: The continuous collection has a collection duration of 30 seconds.

7. A method of RTK-based coordinate measurement according to claim 5, characterised in that, The step S3 comprises the following steps: S31: The mobile station is connected to the reference station through a wireless network; S32: The mobile station judges whether the fourth observation data is stored, and if yes, matching is performed on the second observation data and the fourth observation data.

8. The RTK-based coordinate measurement method of claim 7, wherein, After the step S4, the following step is further included: S5: The mobile station deletes the fourth observation data on which the RTK calculation has been performed.

9. An RTK-based coordinate measurement system, characterized by: The coordinate measurement system is used to implement the RTK-based coordinate measurement method according to any one of claims 1 to 8, and the coordinate measurement system comprises a reference station and at least one mobile station.

10. An RTK receiver, characterized by: The RTK receiver is used for the reference station and / or the mobile station in the coordinate measurement system according to claim 9.

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