Satellite-based augmentation positioning device and fast start method

Abstract

The application discloses a satellite-based augmentation positioning device and a rapid starting method. After starting, the power supply is started by a button, and then the power inspection reference station PPP mode is automatically started. Satellite observation data of GNSS multi-system is received. It is judged whether the root mean square (RMS) of the precision index of the GNSS receiver of the user end is greater than a first set value. When RMS>the first set value, the fixed solution based on the PPP-AR / RTK algorithm continues to converge the error source of the satellite observation data, or when RMS≤the first set value, the station coordinates are solved based on the fuzzy adaptive Kalman filtering algorithm. The reference station coordinates of the first time and the Nth time are recorded. The reference station coordinates obtained through N times are used for average value calculation once again, accurate station coordinate data is obtained, and the differential data with the station coordinate message and the constellation frequency point message are sent to the corresponding signal receiving end, so that the differential data acquisition and broadcasting of high-precision absolute coordinates are realized, and the starting speed of the satellite-based augmentation positioning device is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite positioning and navigation, in particular to a satellite-based augmented positioning device and a rapid starting method. BACKGROUND

[0002] The existing conventional GNSS positioning device can only achieve centimeter-level positioning through RTK positioning technology in a public network environment, and needs to be connected to a notebook computer before starting the positioning function, and professional settings are required, which is cumbersome and not conducive to industry application popularization.

[0003] Unmanned aerial vehicles (UAVs) have been widely used in power grid inspection in recent years, but there is currently no positioning device that can cover the positioning in areas without public network coverage. The autonomous inspection operation of UAVs strongly depends on RTK signals to provide centimeter-level positioning signals for the UAVs, and the inspection operation is carried out by following fixed shooting points and shooting actions. The existing GNSS receiver cannot meet the positioning requirements of UAV autonomous inspection in all areas, especially in areas without public network coverage.

[0004] Patent CN202211269687.X proposes a power grid UAV inspection real-time positioning method and system, which proposes a method of using PPP-RTK combined with an inertial navigation system (INS) tight combination model and using PPP-RTK, INS, and camera sensor vision (Vision) tight combination model to realize real-time positioning of the UAV. However, this method has insufficient positioning accuracy, and it is difficult to achieve high-precision positioning in all areas during base station switching and visual recognition under occlusion conditions, and the safety is insufficient.

[0005] The present application proposes a satellite-based augmented positioning device and a rapid starting method, which can improve the starting speed of the satellite-based augmented positioning device, ensure one-key starting application under the premise of high-precision positioning, and improve the efficiency of industry applications such as UAV inspection positioning and surveying. SUMMARY

[0006] The present application aims to provide a satellite-based augmented positioning device and a rapid starting method to solve the problems raised in the background.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0008] A satellite-based augmented positioning rapid starting method, comprising the following steps:

[0009] S1, after starting the power supply by pressing the key, automatically starting the power inspection reference station PPP mode to receive satellite observation data of GNSS multi-system;

[0010] S2, judging whether the precision index root mean square (RMS) of the GNSS receiver of the user terminal is greater than a first set value; when RMS>the first set value, the fixed solution based on the PPP-AR / PPP-RTK algorithm continues to converge on the satellite observation data, and step S3 is entered; when RMS≤the first set value, step S3 is directly entered;

[0011] S3, calculating the base station coordinate data based on the fuzzy adaptive Kalman filtering algorithm;

[0012] S4, recording the first base station coordinate;

[0013] S5, recording the Nth base station coordinate, N>2;

[0014] S6, obtaining the average value according to the base station coordinates obtained in steps S3, S4 and S5, and broadcasting the message data containing the base station coordinates and the constellation frequency points. The accurate base station coordinate data is obtained, the differential data with the base station coordinate message and the constellation frequency point message is sent to the corresponding signal receiving terminal, so that the differential data acquisition and broadcasting of the high-precision absolute coordinate are realized, and the starting speed of the satellite-based augmentation positioning equipment is improved.

[0015] Preferably, the first set value is between 0.001 m and 0.2 m; and specifically, a typical value of 0.05 m is adopted.

[0016] Preferably, the power inspection reference station PPP mode comprises:

[0017] In addition to receiving the satellite observation data of the GNSS multi-system in real time, the user terminal also acquires the precise satellite orbit and clock error information and fixes it. Considering each error source in the satellite terminal, the receiver terminal and the transmission path and performing fine processing, the user terminal simultaneously solves the parameters of the user coordinate, the receiver clock error, the troposphere delay, the ionosphere delay and the phase ambiguity, and can obtain high-precision position information in the global range.

[0018] Preferably, the power inspection reference station PPP mode further comprises: when the satellite-based augmentation system is used, the user terminal acquires the real-time state space SSR correction number of the error source which is difficult to accurately model.

[0019] Preferably, the convergence of the fixed solution based on the PPP-AR on the satellite observation data comprises: real-time correction of the satellite carrier phase bias, the vertical ionosphere delay, the satellite orbit, the satellite clock error and the satellite pseudorange bias.

[0020] The convergence of the fixed solution based on the PPP-RTK on the satellite observation data comprises: correction of the error items after the convergence of the PPP-AR fixed solution.

[0021] Preferably, the step S6 calculates the base station data based on the base station coordinates obtained from the steps S3, S4 and S5 according to the base station coordinate calculation algorithm based on fuzzy adaptive Kalman filter, comprising: establishing an error observation equation according to the base station coordinates obtained from the steps S4 and S5 and the correction array obtained from the step S2, and obtaining the coordinate parameters and the floating ambiguity by using the Kalman filter, so as to obtain the base station data.

[0022] Preferably, the fuzzy adaptive Kalman filter algorithm comprises the following steps:

[0023] The system noise and the observation noise weight of the k epoch observation value adjusted by the ambiguity are updated, the new features after the update are added to the fuzzy controller for recalculation, and the k epoch prediction value is obtained, and the difference between the k epoch prediction value and the k epoch system observation value is obtained to obtain the k epoch innovation, which reflects the relative change of the system to the previous model. The change of the k epoch innovation and the change of the Kalman filter gain are used to change the stability of the statistical filter, and the k epoch observation is adjusted when the stability is insufficient, so as to improve the filter performance.

[0024] The phase smoothing pseudo-range algorithm based on fuzzy adaptive Kalman filter combines the traditional carrier phase difference with fuzzy adaptive Kalman filter, optimally estimates the weight of the system noise and the observation noise according to the change of the innovation mean and the covariance, and reduces the influence of the time-varying noise on the stability of the Kalman filter. The specific process is as follows:

[0025] The k epoch observation value is obtained, and the variance estimation of the k epoch smoothing pseudo-range and the measurement error is calculated:

[0026]

[0027] The filter obtains the k epoch innovation e by adjusting the observation value and the prediction value k :

[0028] e k =ρ k -ρ -(k) -r +(k-1)

[0029] Wherein r +(k-1) is the observation noise mean of the k-1 epoch;

[0030] The optimal estimation value of the k epoch carrier phase difference value variance is:

[0031]

[0032] Wherein λ is the wavelength, ρ k is the carrier phase smoothing pseudo-range at k, ρ is the carrier phase value at k, and the variance of the pseudo-range observation error is denoted as The carrier phase observation error variance is ρ -(k) For the prediction of the k-epoch carrier phase smoothing pseudorange, ρ +(k-1) d is the pseudo-range after smoothing at epoch k-1. k It is the forgetting factor and 0 < d k <1; Q +(k-1) This is the optimal estimate of the variance of the carrier phase difference in the (k-1)th epoch; K k This represents the filter gain.

[0033] A satellite-based augmentation positioning device, comprising:

[0034] The GPS module has satellite-based augmentation service capabilities;

[0035] The microcontroller board contains a chip including: a satellite position determination algorithm, a target point positioning and timing algorithm, and a satellite-based augmentation positioning fast start method as described in any one of claims 1-7. It also outputs positioning and timing information and PPS second pulses via an RS232 serial port, and can receive user RS232 communication configuration information via the RS232 serial port. Furthermore, it initializes the GPS module and sets various information according to instructions sent by the handheld device, identifies and extracts GPS information data output by the satellite-based module, saves the data required for post-processing to FLASH or sends it to the handheld device for calculation via Bluetooth or serial port, and simultaneously monitors the working status and power supply voltage of each module, outputting the results to the indicator panel in a timely manner.

[0036] The data link is used to send and receive satellite-based differential data via antennas;

[0037] The indicator panel is used to display the data transmitted by the microcontroller board;

[0038] The power supply is used to power the satellite-based augmentation positioning equipment and can be powered by an external voltage.

[0039] The button is used to control the power on or off.

[0040] A computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform a satellite-based augmentation positioning fast start method.

[0041] A processor for running a program, wherein the program executes the aforementioned satellite-based augmentation positioning fast startup method during runtime.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] Through the device's internal automatic startup program and a fuzzy adaptive Kalman filter algorithm, it can quickly converge and broadcast centimeter-level high-precision position information within 2 minutes, enabling centimeter-level positioning of drones in outdoor environments without public networks, and assisting industry applications such as drone autonomous inspection and 3D modeling.

[0044] It features millimeter-level carrier phase measurement accuracy, an integrated ground-based RTK algorithm engine, centimeter-level RTK positioning accuracy, a built-in satellite-based PPP algorithm engine, and integrated positioning with ground-based RTK algorithms. By acquiring high-quality raw data, it can withstand broadband and narrowband electromagnetic interference, suppress the effects of multipath effects, support 5 satellites and 16 frequency points, is compatible with BDS-3, and supports L-Band satellite communication.

[0045] It features high precision, with baseline accuracy as follows: horizontal: 2.5mm +0.3ppm; vertical: 5.0mm +0.3ppm.

[0046] A satellite-based augmentation positioning device and a rapid start-up method are applied to the ground station software of the remote controller required for high-precision positioning of UAVs. This corrects the position of the UAV and enables centimeter-level positioning of the UAV in all outdoor areas, thus enabling autonomous inspection operations.

[0047] By initiating the PPP mode for power line inspection reference stations and employing satellite-based augmentation algorithms and global orbital clock offset estimation technology, the dependence on the status of individual regional base stations can be effectively avoided, solving the "anytime, anywhere" problem. Relying on globally unified orbital clock and satellite offset data, various errors at the regional reference station side are separated, establishing a rigorous non-differential error separation scheme to calculate satellite errors, ionospheric errors, environmental errors, etc., within the coverage area of ​​a single station. Simultaneously, at the PPP ambiguity fixing level, ambiguity confirmation is achieved by combining the accuracy and delay of satellite-based corrections, the randomness of observations, and observation residuals, including empirical model optimization and machine learning. This forms a PPP ambiguity fixing model adapted to satellite link broadcasting of satellite-based corrections, ensuring that the terminal can still obtain reliable positioning results even during brief periods of satellite link signal obstruction.

[0048] Applying the research results of this invention can rapidly improve the level of large-scale application of UAV autonomous inspection and increase inspection efficiency; it can also serve as a one-click start base station for high-precision power inspection UAVs based on satellite-based augmented RTK positioning and broadcasting services, enabling data communication between the base station and the UAV, and can be applied to autonomous flight and precise data collection for power grid overhead line operations. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a flowchart of the present invention;

[0051] Figure 2 This is a schematic diagram of the system structure of the present invention;

[0052] Figure 3 This is a schematic diagram of the serial port connection of the microcontroller board, data link, and GPS module of the present invention;

[0053] Figure 4 This is a circuit diagram of the system of the present invention;

[0054] Figure 5 This is a schematic diagram of the power management module of the present invention;

[0055] Figure 6 This is a schematic diagram of the fuzzy adaptive Kalman filter model structure of the present invention;

[0056] Figure 7 This is a schematic diagram of the convergence initialization process in Embodiment 3 of the present invention;

[0057] Figure 8 This is a schematic diagram of testing at CEP95 accuracy according to Embodiment 3 of the present invention. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] like Figures 1-6 As shown:

[0060] Example 1:

[0061] According to an embodiment of the present invention, a method for rapid initiation of satellite-based augmentation positioning is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0062] likeFigure 1 This is a flowchart of a rapid startup method for satellite-based augmentation positioning according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0063] S1. After powering on via button, the power inspection reference station automatically starts in PPP mode to receive satellite observation data from GNSS multi-systems.

[0064] S2. Determine whether the root mean square (RMS) accuracy index of the GNSS receiver at the user end is greater than the first set value. When the RMS is greater than the first set value, continue to perform fixed deconvergence on the satellite observation data based on the PPP-AR / PPP-RTK algorithm and proceed to step S3. When RMS is less than or equal to the first set value, proceed directly to step S3.

[0065] S3. Calculate base station coordinate data based on fuzzy adaptive Kalman filter algorithm;

[0066] S4. Record the coordinates of the base station once;

[0067] S5. Record the coordinates of the base station for the Nth iteration, where N > 2;

[0068] S6. Calculate the average value of the base station coordinates obtained in steps S3, S4 and S5, and broadcast the message data containing the base station coordinates and constellation frequency points.

[0069] After powering on, the system automatically starts the PPP mode of the power inspection base station by pressing the button. It receives satellite observation data from multiple GNSS systems and determines whether the RMS accuracy of the user's GNSS receiver is greater than a first set value. When RMS > the first set value, the satellite observation data is further converged based on the PPP-AR / PPP-RTK algorithm. When RMS ≤ the first set value, the base station coordinates are calculated based on the fuzzy adaptive Kalman filter algorithm, and the base station coordinates are recorded for the first and Nth times. The average value is calculated based on the 120 base station coordinates, thereby achieving high-precision absolute coordinate acquisition and broadcasting message data containing base station coordinates and constellation frequency points.

[0070] As an optional embodiment, in step S1, the PPP mode of the power inspection reference station includes: in addition to receiving satellite observation data from GNSS multi-systems in real time, the user terminal also acquires and fixes precise satellite orbit and clock bias information, considers and performs fine processing on various error sources in the satellite end, receiver end, and transmission path, and solves for parameters such as user coordinates, receiver clock bias, tropospheric delay, ionospheric delay, and phase ambiguity, so as to obtain high-precision location information globally.

[0071] As an optional embodiment, in step S1, the PPP mode of the power line inspection reference station further includes: when using the satellite-based augmentation system, the user terminal obtains real-time state domain spatial SSR corrections for error sources that are difficult to model accurately. Specifically, depending on the SSR service level, in addition to the orbital clock error correction, the user can selectively correct the UPD, DCB, and atmospheric correction parameters directly in the state domain to quickly obtain centimeter-level positioning accuracy.

[0072] As an optional embodiment, the first set value is a typical value of 0.05m; N = 120.

[0073] As an optional implementation, the convergence of satellite observation data based on the fixed solution of PPP-AR includes: real-time correction of satellite carrier phase deviation, vertical ionospheric delay, satellite orbit, satellite clock error, and satellite pseudorange deviation.

[0074] As an optional implementation, the convergence of satellite observation data based on the fixed solution of PPP-RTK includes: correcting the error terms after convergence of the fixed solution other than PPP-AR. The error terms after convergence of the fixed solution other than PPP-AR are error terms other than those in the real-time correction analysis module, including: satellite phase winding error, satellite and receiver antenna phase center correction (including phase center deviation and phase center correction), relativistic error, Earth rotation error, Earth solid tide and ocean load tide correction, etc.

[0075] As an optional embodiment, step S6 calculates base station data based on the base station coordinates obtained in steps S3, S4 and S5, using fuzzy adaptive Kalman filtering. This includes: establishing an error observation equation based on the base station coordinates obtained in steps S4 and S5 and the correction array obtained in step S2; using Kalman filtering to obtain coordinate parameters and floating-point ambiguity; and thus obtaining base station data.

[0076] Example 2: Includes all the content of Example 1:

[0077] Figure 2 This is a schematic diagram of the structure of a satellite-based augmentation positioning device according to an embodiment of the present invention, comprising:

[0078] The GPS module has satellite-based augmentation service capabilities, and its advantages are mainly reflected in the use of a higher-performance processor and storage system.

[0079] The microcontroller board contains chips including: channel correlation algorithms, satellite position determination algorithms, target point positioning and timing algorithms, and a satellite-based augmentation positioning fast start method mentioned above. It also outputs positioning and timing information and PPS pulses once per second via an RS232 serial port, and is an integrated receiving module capable of receiving user RS232 communication configuration information via the RS232 serial port. Furthermore, it initializes the GPS module and sets various information according to instructions sent from the handheld device, identifies and extracts GPS information data output by the GPS module (satellite-based module), saves the data required for post-processing to FLASH or sends it to the handheld device for calculation via Bluetooth or serial port; simultaneously, it monitors the working status and power supply voltage of each module and outputs the results to the indicator panel in a timely manner.

[0080] The data link is used to send and receive satellite-based differential data via antennas;

[0081] The indicator panel is used to display the data transmitted by the microcontroller board. The content and format of the display can be set as needed.

[0082] The power supply is used to power the satellite-based augmentation positioning equipment and can be powered by an external voltage.

[0083] The button is used to control the power on or off.

[0084] As an optional implementation, the microcontroller board uses an OEM board, with additional signal processing circuitry, level conversion circuitry, interface circuitry, and power supply circuitry added. The signal processing circuitry, primarily used for secondary processing of the raw data from the OEM board, is implemented using a microcontroller. The power supply circuitry employs a switching power supply to convert DC voltage. These circuits are integrated onto a single microcontroller board, which connects to the OEM board via a specific interface.

[0085] As an optional implementation, the microcontroller board is controlled by an industrial-grade handheld computer with WINCE or POCKET PC and control software, and its working mode is set via Bluetooth or serial port, displaying various required data information.

[0086] As an alternative implementation, the power supply is converted on the OEM board to enable a wide range of external voltage input from 4.5V to 18V, with a 20% reduction in power consumption.

[0087] As an optional embodiment, the power storage compartment adopts a dual battery compartment design. The battery compartment must be equipped with a safety lock. Once locked, the battery compartment will not accidentally fall off under any circumstances, ensuring sturdiness and stability.

[0088] As an optional embodiment, the power supply uses a removable smart lithium battery and has a built-in power detection chip, allowing users to check the remaining power level with a single button and indicator light.

[0089] As an optional embodiment, the system also includes a power management module, such as Figure 5 As shown, the power management module can convert the voltage required by each module from the built-in battery pack or external power supply through the low-dropout power supply module, and provide sufficient driving capability. To ensure system uptime, the built-in battery pack should be a rechargeable battery pack of 4Ah or higher, while the external power supply can typically be a maintenance-free battery of 17Ah or higher. Since the base station requires a lot of energy to transmit differential data, the data link is generally powered directly by an external power supply, while the built-in lithium battery pack maintains the normal operation of the GPS module (including its antenna) and the microcontroller board. At the same time, the microcontroller board monitors the power supply periodically, and if an abnormality occurs, the microcontroller board can provide protection for the satellite-based modules, data link, etc.

[0090] As an optional embodiment, the system also includes three communication serial ports, one of which can be configured as RS-232 or RS-422 according to user needs; one of the communication serial ports supports firmware version 2.1.0 or higher, supports USB data transmission, and supports programmable pulse output.

[0091] As an optional embodiment, the data link includes a data radio and its antenna, which transmits satellite-based differential data from a stationary base station. Due to the high transmit power, the transmitting antenna is externally mounted separately. A mobile station conducting real-time observations receives the satellite-based differential data transmitted from the base station via the data link, processes it through a GPS module, and obtains centimeter-level accuracy location information. Due to the low receive power, the receiving antenna is built into the main unit.

[0092] As an optional implementation, the antenna is a key component of the base station equipment. When selecting a satellite signal receiving antenna, it is essential to consider both appropriate signal gain and its shape and size. For satellite signal receiving antennas used in fixed locations, high-gain, large-volume canopy antennas can be selected; for satellite receiving antennas in portable mobile devices, miniature planar antennas and quadrupedal spiral antennas can be used. A common miniature planar antenna is the ceramic microwave antenna. Ceramic microwave antennas are economical and practical, and quadrupedal spiral antennas perform better than planar antennas and have no azimuth requirements; however, they are expensive and have a long mast, limiting their application. This system uses an L1 / L2 dual-frequency GPS antenna.

[0093] As an optional embodiment, the system also includes a housing for mounting the microcontroller board, data link, and GPS module. Specifically, the housing is made of magnesium alloy.

[0094] As an optional embodiment, such as Figure 3 As shown, the microcontroller board, data link, and GPS module are connected via serial port. The specific models used and their connection relationships are as follows: Figure 4 As shown.

[0095] By integrating the satellite-based chip with the base station hardware system, and using satellite-based broadcasting technology, drones can obtain near real-time precise positioning, speed measurement, and time synchronization results throughout the entire area. By combining satellite-based broadcasting PPP with communication signal relay stations, mobile internet from operators, and other means, this system can be mounted on drones to solve the problem of drone inspection operations in complex scenarios such as remote areas, areas with no network coverage, areas with intermittent network coverage, and areas with good operator network coverage.

[0096] It enables data communication between base stations and drones, and is applied to the precise collection of autonomous flight and inspection data for power grid overhead line operations.

[0097] Example 3: Includes all the content of Example 2:

[0098] The system has the following main parameters:

[0099] 1. Functional Requirements: Equipment required for high-precision positioning of UAVs, performing position correction on the global satellite navigation system, supporting centimeter-level positioning of UAVs in all outdoor areas, and enabling autonomous inspection operations;

[0100] 2. Satellite signals: Supports the following satellite signals:

[0101] BDS: B1I, B2I, B3I, B1C, B2a, B2b, ACEBOC;

[0102] GPS:L1C / A,L1P,L1C,L2P,L2C,L5;

[0103] GLONASS: G1, G2, G3;

[0104] Galileo: E1BC, E5a, E5b, ALTBOC, E6;

[0105] QZSS:L1C / A,L2C,L5,L1C,LEX;

[0106] SBAS:L1C / A,L5;

[0107] Supports L-Band satellite station differential functionality;

[0108] 3. RTK accuracy: Horizontal: ±(8+1×10⁻⁶D)mm; Vertical: ±(15+1×10⁻⁶D)mm

[0109] 4. Satellite-based augmentation accuracy: Performance indicators meet the requirement of positioning accuracy ≤10 cm;

[0110] 5. Convergence time ≤ 5 minutes;

[0111] 6. Protection rating, dustproof and waterproof: IP67 and above;

[0112] 7. Data record output format: At least NAME-0183 is supported;

[0113] Simply set up the RTK terminal on a tripod in an open environment, press the power button, and wait 5 to 10 minutes (typical time). The data link indicator light will flash at 1-second intervals to indicate that differential data has been successfully broadcast.

[0114] Notice:

[0115] 1) Powering on will automatically activate satellite and eSIM services and start the timer;

[0116] 2) The waiting time after powering on is related to the terrain, environment and location of the site, and may be longer.

[0117] Currently, it supports most RTK aircraft, such as: Phantom 4 RTK, M300, Mavic 2 Enterprise Edition, etc.

[0118] The following are the drone configuration steps:

[0119] Step 1: Open the drone inspection operation app, connect to the RTK receiver device's WIFI hotspot, select RTK mode, and use the custom network RTK service mode;

[0120] Step 2: Enter the following configuration information:

[0121] IP address: 192.168.10.1 (RTK device IP address) Port: 9010;

[0122] Username (required): Any username. If multiple drones need to connect to the same RTK inspection base station, each drone must use a different username;

[0123] Password (required): Any mount point (required): Any;

[0124] Step 3: After clicking Settings, connect the RTK device and obtain differential data. Once successful, the fixed solution will be displayed.

[0125] Once the drone displays the RTK fixed solution, it can begin flight.

[0126] This invention is not limited to the specific embodiments described above. The above are merely preferred embodiments of this invention and are not intended to limit the invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

[0127] This invention verifies the actual convergence effect by connecting multiple monitoring stations to the acceptance environment data, using a 9-minute test followed by a 1-minute interruption. The following indicators are statistically analyzed:

[0128] Using a 120s sliding window, the convergence time is determined when the first occurrence of 95% horizontal accuracy <= 0.2m and 95% elevation accuracy <= 0.4m occurs within a 1s sliding window.

[0129] After removing convergence time, the statistical level / elevation accuracy is CEP68 CEP95.

[0130] Convergence initialization case as follows Figure 7 As shown, the convergence time can reach 45 seconds, and tests were conducted at CEP95 accuracy.

[0131] like Figure 8 As shown, the accuracy of CEP95 can reach 0.027m.

[0132] Example 4: Includes all the content of Example 3:

[0133] A computer-readable storage medium is also provided, comprising a stored program, wherein, when the program is executed, the device on which the computer-readable storage medium is located executes any one of the above-described methods for rapid startup of satellite-based augmentation positioning.

[0134] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals, and the computer-readable storage medium includes a stored program.

[0135] Optionally, during program execution, the device containing the computer-readable storage medium performs the following functions: S1. After powering on via a button, automatically activate the PPP mode of the power inspection base station and receive satellite observation data from the GNSS multi-system; S2. Determine whether the RMS accuracy of the user's GNSS receiver is greater than a first set value; when RMS > the first set value, converge the satellite observation data based on the fixed solution of PPP-AR / RTK and proceed to step S3; when RMS ≤ the first set value, directly proceed to step S3; S3. Record the base station coordinates for the first time; S4. Record the base station coordinates for the Nth time, where N > 1; S5. Calculate base station data based on the base station coordinates obtained in steps S3 and S4, using the base station coordinates obtained from fuzzy adaptive Kalman filtering.

[0136] Example 5: Includes all the content of Example 4:

[0137] According to another aspect of the present invention, a processor is also provided for running a program, wherein the program executes any of the above-described satellite-based augmentation positioning fast startup methods.

[0138] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of a method for a fast startup of a satellite-based augmentation positioning system.

[0139] 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.

[0140] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interface, and the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0144] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0145] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," 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, 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.

[0146] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for rapid startup of satellite-based augmentation positioning, characterized in that, Includes the following steps: S1. After powering on via button, the power inspection reference station automatically starts in PPP mode to receive satellite observation data from GNSS multi-systems. S2. Determine whether the root mean square (RMS) accuracy index of the GNSS receiver at the user end is greater than the first set value. When the RMS is greater than the first set value, continue to perform fixed deconvergence on the satellite observation data based on the PPP-AR / PPP-RTK algorithm and proceed to step S3. When RMS is less than or equal to the first set value, proceed directly to step S3. S3. Calculate the coordinate data of the base station based on the fuzzy adaptive Kalman filter algorithm; S4. Record the coordinates of the base station once; S5. Record the coordinates of the base station for the Nth iteration, where N > 2; S6. Calculate the average value of the base station coordinates obtained in steps S3, S4 and S5, and broadcast the message data containing the base station coordinates and constellation frequency points. The PPP model for the power inspection benchmark station includes: In addition to receiving satellite observation data from multiple GNSS systems in real time, the user terminal also acquires and fixes precise satellite orbit and clock bias information, considers and performs fine processing on various error sources in the satellite end, receiver end, and transmission path, and solves for parameters such as user coordinates, receiver clock bias, tropospheric delay, ionospheric delay, and phase ambiguity, enabling high-precision location information to be obtained globally. The PPP model for power inspection reference stations also includes: when using the satellite-based augmentation system, the user terminal obtains the real-time state domain space SSR correction number for error sources that are difficult to model accurately; Convergence of satellite observation data based on fixed solutions of PPP-AR includes: real-time correction of satellite carrier phase deviation, vertical ionospheric delay, satellite orbit, satellite clock error, and satellite pseudorange deviation; Converging satellite observation data using the fixed solution based on PPP-RTK includes correcting the error terms after convergence of the fixed solution other than PPP-AR.

2. The rapid start-up method for satellite-based augmentation positioning as described in claim 1, characterized in that: The first set value is between 0.001m and 0.2m.

3. The rapid start-up method for satellite-based augmentation positioning as described in claim 1, characterized in that: Step S6 calculates the base station coordinate data based on the base station coordinates obtained in steps S3, S4 and S5, using fuzzy adaptive Kalman filtering. This includes: establishing an error observation equation based on the base station coordinates obtained in steps S4 and S5 and the correction array obtained in step S2; using Kalman filtering to obtain coordinate parameters and floating-point ambiguity; and thus obtaining the base station coordinate data.

4. The rapid start-up method for satellite-based augmentation positioning as described in claim 1, characterized in that: The fuzzy adaptive Kalman filter algorithm includes the following steps: The k-epoch observations are updated by weighting the system noise and observation noise after fuzzy adjustment. The updated new features are added to the fuzzy controller for recalculation, and the k-epoch predictions are obtained. The differences between the k-epoch predictions and the system observations are compared to obtain the k-epoch information, which reflects the relative changes of the system to the previous model. By utilizing the changes in the k-epoch information and the changes in the statistical stability of the Kalman filter gain, if the stability is insufficient, online adjustments are made to adjust the k-epoch observations, thereby ultimately improving the filtering performance. The phase smoothing pseudorange algorithm based on fuzzy adaptive Kalman filtering combines the traditional carrier phase differential method with fuzzy adaptive Kalman filtering. It uses changes in the mean and covariance of the innovation to optimally estimate the weights of system noise and observation noise, reducing the impact of time-varying noise on the stability of the Kalman filter. The specific process is as follows: Calculate the variance estimator of the smoothed pseudorange and measurement error at the k-th epoch: The filtering process obtains the k-epoch information by adjusting the observed and predicted values. : in It is the mean noise of observations at epoch k-1; The optimal estimate of the variance of the carrier phase difference in the k-th epoch is: Where λ is the wavelength. Carrier phase smoothing pseudorange at k, Let be the carrier phase value at epoch k, and let the variance of the pseudorange observation error be denoted as . The variance of carrier phase observation error is , For the prediction of the smoothed pseudorange of the carrier phase at epoch k, The pseudo-range after smoothing at epoch k-1. It is the forgetting factor and 0 < < 1; This is the optimal estimate of the variance of the carrier phase difference in the (k-1)th epoch; K k This represents the filter gain.

5. A satellite-based augmentation positioning device, characterized in that: include: The GPS module has satellite-based augmentation service capabilities; The microcontroller board contains chips including: a satellite position determination algorithm, a target point positioning and timing algorithm, and a satellite-based augmentation positioning fast start method as described in any one of claims 1-4. It also outputs positioning and timing information and PPS second pulses via an RS232 serial port, and can receive user RS232 communication configuration information via the RS232 serial port. Furthermore, it initializes the GPS module and sets various information according to instructions sent by the handheld device, identifies and extracts GPS information data output by the satellite-based module, saves the data required for post-processing to FLASH or sends it to the handheld device for calculation via Bluetooth or serial port, and simultaneously monitors the working status and power supply voltage of each module, outputting the results to the indicator panel in a timely manner. The data link is used to send and receive satellite-based differential data via antennas; The indicator panel is used to display the data transmitted by the microcontroller board; The power supply is used to power the satellite-based augmentation positioning equipment and can be powered by an external voltage. The button is used to control the power on or off.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform a satellite-based augmentation positioning fast start method as described in any one of claims 1 to 4.

7. A processor, characterized in that, The processor is used to run a program, wherein the program executes a satellite-based augmentation positioning fast start method according to any one of claims 1 to 4.

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