A GNSS high-precision differential positioning solution platform with a domestic operating system

Abstract

The present invention discloses a GNSS high-precision differential positioning and solving platform of a domestic operating system, the platform comprising an application service layer, a GNSS positioning and solving algorithm layer and a middleware layer; the application service layer is used to provide high-precision displacement monitoring station management and configure a corresponding solving engine, and visually display the positioning and solving results; the GNSS positioning and solving algorithm layer performs GNSS positioning and solving according to the solving engine configuration, and writes the solving results into the middleware layer; the middleware layer is deployed on the domestic operating system and is used to store the GNSS positioning and solving results; the positioning and solving platform of the present invention is based on RTKLIB, a positioning and solving algorithm library adapted to the operating system is developed based on the Kylinv10 operating system, and the GNSS high-precision differential positioning and solving platform is deployed based on the domestic operating system, so as to realize that the GNSS positioning and solving software is domestically produced and controllable, and has the characteristics of high security and high reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of GNSS navigation positioning and solving, and in particular to a GNSS high-precision differential positioning and solving platform with a domestic operating system. Background Art

[0002] Since its inception, GNSS has played a very important role in the fields of national defense, military industry, scientific research, and daily life. Scientists and engineers are constantly pursuing more accurate calculations of the receiver's position. From pseudo-range ranging to carrier phase ranging, from single-point positioning technology to differential positioning technology, GNSS positioning accuracy is also constantly improving. At the same time, with the continuous improvement of computer computing power, more positioning solution software has been developed accordingly, such as RTKLIB. The currently widely-watched network adjustment algorithm has also been widely used in the development of high-precision positioning solution software. On the other hand, the fields of navigation positioning, surveying and mapping involve national security, so the demand for safe, autonomous and controllable positioning solution software is constantly increasing. The domestically produced operating system represented by Kylin has high security and high reliability, and also has the advantages of domestic independence.

[0003] At present, the commonly used GNSS network adjustment generally adopts the method of constructing the normal equation first and then solving the normal equation to obtain the solution of the model problem when solving the model problem. The construction of the normal equation here involves the product of matrices and matrices, and its computational complexity is For more complex networks, this method has a large computational overhead, which has a certain impact on the positioning solution efficiency. At the same time, the currently commonly used GNSS solution software lacks sufficient mathematical model theoretical support for static solution data processing. Summary of the invention

[0004] The purpose of the present invention is to provide a GNSS high-precision differential positioning solution platform with a domestic operating system, so as to solve the problem that the currently commonly used GNSS solution software lacks sufficient mathematical model theoretical support for static solution data processing, and can alleviate the problem of high computational overhead in complex networking conditions.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A GNSS high-precision differential positioning solution platform with a domestic operating system, the platform comprising an application service layer, a GNSS positioning solution algorithm layer and a middleware layer;

[0007] The application service layer is used to provide high-precision displacement monitoring station management and configure the corresponding solution engine, while visually displaying the positioning solution results;

[0008] The GNSS positioning solution algorithm layer performs GNSS positioning solution according to the solution engine configuration, and writes the solution result into the middleware layer;

[0009] The middleware layer is deployed on a domestic operating system and is used to store GNSS positioning solution results.

[0010] As a further solution of the present invention: the application service layer includes a remote sensing image module, a Beidou monitoring station module, a displacement solution engine module, a system management module and an operation status module.

[0011] As a further solution of the present invention: the remote sensing image module marks and displays the location of the Beidou monitoring station on the remote sensing map, so that the location of the Beidou monitoring station can be viewed intuitively;

[0012] The Beidou monitoring station module includes a monitoring station number list, and performs operations of adding monitoring stations, deleting existing monitoring stations, editing and modifying existing station information, and querying information of existing stations in the list;

[0013] The displacement solution engine module includes a real-time positioning solution engine with centimeter-level accuracy and a static positioning solution engine with millimeter-level accuracy. Different positioning solution engines are selected in the solution engine list according to different application scenarios.

[0014] The system management module is used to manage the rights of software users;

[0015] The operation status module includes setting scheduled tasks and software performance monitoring.

[0016] As a further solution of the present invention: the solving engine list performs operations of adding a new solving engine, deleting an existing solving engine, editing and modifying the information of an existing solving engine, and querying the information of an existing solving engine in the list.

[0017] As a further solution of the present invention: the GNSS positioning solution algorithm layer includes a differential positioning real-time solution function and a differential positioning static solution function, and the solution function is used to solve the corresponding differential positioning baseline solution, carry out network adjustment calculation according to the networking form and obtain the coordinates of the monitoring station.

[0018] As a further solution of the present invention: the network adjustment calculation specifically includes the following steps:

[0019] Establish GNSS network information configuration, including the number of sites in the network, the number of base stations, the number of monitoring stations, the coordinates of the base stations, the base station numbers, the monitoring station numbers, and the number of baseline solutions in the network;

[0020] Establish GNSS baseline solution data, including baseline station number and baseline coordinates;

[0021] Based on the GNSS networking information and GNSS baseline solution data, network adjustment is carried out, and the coordinates of the monitoring stations after network adjustment are output.

[0022] As a further solution of the present invention: carrying out network adjustment solution requires processing the solution result data within the observation time period, specifically, constructing an optimization model to fuse the data within the observation time period, and obtaining the positioning result within the time period by solving the optimization problem.

[0023] As a further solution of the present invention: the method of data fusion processing is: by minimizing the error between the effective baseline solution data and the actual position within the observation time period, all the effective baseline solution information within the observation time period is fused, and the information of all the effective observation data within the time period is used to obtain the baseline solution data within the observation time period.

[0024] As a further solution of the present invention: the solution engine information includes a solution engine number, a solution engine name, reference station and monitoring station numbers, and a solution engine working state; the solution engine working state includes a solution state and an enabled state;

[0025] The information of the millimeter-level precision static positioning solution engine also includes the solution engine start time, the last solution start time, the last solution end time and the solution window size.

[0026] As a further solution of the present invention: the site information includes the site number, site name, site IP address, port number and communication mode of the site.

[0027] Beneficial effects of the present invention:

[0028] A GNSS high-precision differential positioning solution platform is deployed based on the domestic operating system to realize domestically produced, independent and controllable GNSS positioning solution software with high security and reliability.

[0029] This GNSS positioning solution platform is based on RTKLIB. Based on the Kylinv10 operating system, a positioning solution algorithm library adapted to the operating system is developed. At the same time, an application service layer is developed based on the operating system to realize the GNSS positioning solution function on the domestic operating system.

[0030] For the network adjustment model problem, QR decomposition is used to solve it, where the matrix is ​​an orthogonal matrix and the matrix is ​​an upper triangular matrix. The complexity of using this method to solve the network adjustment model problem is , which can improve the efficiency of high-precision positioning solution. At the same time, based on the Kylinv10 operating system, a network adjustment solution library adapted to the operating system is developed. The application layer realizes high-precision network adjustment positioning solution by calling the algorithm library. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] Figure 1 It is a structural schematic diagram of the platform of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1 As shown, the present invention is a GNSS high-precision differential positioning solution platform with a domestic operating system, and the platform includes an application service layer, a GNSS positioning solution algorithm layer and a middleware layer;

[0035] The application service layer is used to provide high-precision displacement monitoring station management and configure the corresponding solution engine, while visually displaying the positioning solution results;

[0036] The GNSS positioning solution algorithm layer performs GNSS positioning solution according to the solution engine configuration, and writes the solution result into the middleware layer;

[0037] The middleware layer is deployed on a domestic operating system and is used to store GNSS positioning solution results, where the domestic operating system is the Kylin v10 operating system.

[0038] The application service layer includes a remote sensing image module, a Beidou monitoring station module, a displacement solution engine module, a system management module and an operation status module.

[0039] The remote sensing image module marks and displays the location of the Beidou monitoring station on the remote sensing map, allowing the location of the Beidou monitoring station to be viewed intuitively;

[0040] The Beidou monitoring station module includes a monitoring station number list, which performs operations such as adding monitoring stations, deleting existing monitoring stations, editing and modifying existing station information, and querying the information of existing stations in the list; the station information includes the station number, site name, site IP address, port number and communication method of the station; the monitoring station number list can display the working status of the station, which includes the link status and enabled status, and the station can be enabled and disabled at the same time; the station receiving signal can be monitored, including the received satellite signal and signal-to-noise ratio.

[0041] The displacement solution engine module is the core module of the GNSS positioning solution platform, which includes a real-time positioning solution engine with centimeter-level accuracy and a static positioning solution engine with millimeter-level accuracy. Different positioning solution engines are selected in the solution engine list according to different application scenarios; the solution engine information includes the solution engine number, solution engine name, base station and monitoring station numbers, and solution engine working status; the solution engine working status includes solution status and enabled status; the information of the millimeter-level accuracy static positioning solution engine also includes the solution engine start time, the last solution start time, the last solution end time, and the solution window size.

[0042] The displacement solution engine module can bind the measurement stations of the solution engine, select the base station and monitoring station in the differential positioning, and configure the solution parameters of the solution engine, mainly including the selection of navigation satellite system and network adjustment. After completing the solution engine configuration, you can view the solution results, including the baseline solution, the station's position fluctuation curve, the station's position scatter plot and the station's coordinates.

[0043] The system management module is used to manage the rights of software users;

[0044] The operation status module includes two parts: one is to set scheduled tasks, which is convenient for users to manage positioning and solving tasks; the other is performance monitoring, which is convenient for users to monitor software performance.

[0045] The solving engine list performs operations of adding a new solving engine, deleting an existing solving engine, editing and modifying the information of an existing solving engine, and querying the information of an existing solving engine in the list.

[0046] The GNSS positioning solution algorithm layer reads the solution engine configuration file and calls the corresponding GNSS positioning solution function, which specifically includes a differential positioning real-time solution function and a differential positioning static solution function. The solution function is used to solve the corresponding differential positioning baseline solution, carry out network adjustment calculation according to the networking form, and obtain the coordinates of the monitoring station.

[0047] The network adjustment calculation specifically comprises the following steps:

[0048] Establish GNSS network information configuration, including the total number of stations in the network, the number of base stations, the number of monitoring stations, base station coordinates, base station numbers, monitoring station numbers, and the number of baseline solutions in the network;

[0049] Establish GNSS baseline solution data, including baseline station number and baseline coordinates;

[0050] Based on the GNSS networking information and GNSS baseline solution data, network adjustment is carried out, and the coordinates of the monitoring stations after network adjustment are output.

[0051] To carry out network adjustment solution, it is necessary to process the real-time solution result data within the observation period. Specifically, an optimization model is constructed to fuse the data within the observation period, and the positioning results within the period are obtained by solving the optimization problem. The specific processing method is as follows:

[0052] Based on RTKLIB, develop basic positioning solution algorithm library files adapted to Kylin v10 domestic operating system, and develop application software with basic solution functions such as single-point positioning solution and differential positioning solution on this domestic system;

[0053] In order to improve the accuracy of positioning solution, network adjustment solution is added to the basic positioning solution algorithm library. At the same time, different from the traditional algorithm for solving network adjustment by normal equation, the solution method of network adjustment problem is optimized to reduce the complexity of the algorithm and improve the solution efficiency.

[0054] Assume that there are n sites in the network, and their coordinates are ;

[0055] Baseline Marker ;

[0056] Baseline error symbol ;

[0057] The local baseline error observation equation is: ,in is the third-order identity matrix;

[0058] Constructing the global baseline error observation equation , where p is the vector composed of the coordinates of the monitoring stations in the network, and b is the vector composed of the baseline observation data;

[0059] Constructing the optimization problem , since the matrix A has a strong sparse property, it can be decomposed into a block matrix representation, and the non-zero block is a third-order unit matrix. Givens rotation is used for QR decomposition, and its computational complexity is , the QR decomposition of matrix A is recorded as , where the matrix Q satisfies ,matrix It is the conjugate transpose of matrix Q, matrix I is the unit matrix, matrix R is the upper triangular matrix, and the specific matrix decomposition is as follows:

[0060] ;

[0061] Since the matrix R is an upper triangular matrix, we can solve This optimization problem;

[0062] Develop a GNSS network adjustment algorithm library adapted to Kylin v10 to facilitate the application layer to implement network adjustment solution functions based on this algorithm library.

[0063] The data fusion processing method is: adopt a reduced rank extrapolation (RRE) strategy to fuse the data, by minimizing the error between the effective baseline solution data and the true position in the observation time period, fusing all the effective baseline solution information in the observation time period, and using the information of all the effective observation data in the time period to obtain the baseline solution data in the observation time period. The specific processing method is as follows:

[0064] For the effective baseline solution data within an observation period, the linear combination of the baseline effective solution within the observation period is minimized to obtain the calculation result of the effective baseline solution information within the fusion observation period;

[0065] Assume that the true position during the observation period is , the effective baseline solution sequence is

[0066] ;

[0067] There is a set of numbers The following conditions are met:

[0068] ;

[0069] Going further, we establish the following optimization problem:

[0070] ;

[0071] in, By solving this optimization problem, we can get the parameter set , so that the effective solution can be integrated to obtain the baseline result within this time period ;

[0072] ;

[0073] Transform the above problem into an unconstrained optimization problem for solution, then there exists a set of parameters The following conditions are met:

[0074] ;

[0075] At this time, the following formula is established:

[0076] ;

[0077] in, , so we can get the equivalent unconstrained optimization problem ;

[0078] ;

[0079] To facilitate subsequent calculations, , when the parameter set is obtained by solving the above unconstrained optimization problem , the corresponding result after data fusion is:

[0080] ;

[0081] Constructing Lagrange functions , and accordingly we can solve ;

[0082] ;

[0083] Develop a data fusion algorithm library adapted to Kylin v10 to facilitate the application layer to implement RRE data fusion function based on this algorithm library.

[0084] The GNSS positioning and solving platform of the present invention is based on RTKLIB, and develops a positioning and solving algorithm library adapted to the Kylin v10 operating system. At the same time, an application service layer is developed based on the operating system to realize the GNSS positioning and solving function on the domestic operating system.

[0085] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A GNSS high-precision differential positioning solution platform with a domestic operating system, characterized in that: The platform includes an application service layer, a GNSS positioning solution algorithm layer and a middleware layer; The application service layer is used to provide high-precision displacement monitoring station management and configure the corresponding solution engine, while visually displaying the positioning solution results; The GNSS positioning solution algorithm layer performs GNSS positioning solution according to the solution engine configuration, and writes the solution result into the middleware layer; The middleware layer is deployed on a domestic operating system and is used to store GNSS positioning solution results; The GNSS positioning solution algorithm layer includes a differential positioning real-time solution function and a differential positioning static solution function, and the solution function is used to solve and obtain the corresponding differential positioning baseline solution, carry out network adjustment calculation according to the networking form and obtain the coordinates of the monitoring station; The network adjustment calculation specifically comprises the following steps: Establish GNSS network information configuration, including the total number of stations in the network, the number of base stations, the number of monitoring stations, base station coordinates, base station numbers, monitoring station numbers, and the number of baseline solutions in the network; Establish GNSS baseline solution data, including baseline station number and baseline coordinates; According to the GNSS networking information and GNSS baseline solution data, network adjustment is carried out, and the coordinates of the monitoring stations after network adjustment are output; To carry out network adjustment solution, it is necessary to process the real-time solution result data within the observation period. Specifically, an optimization model is constructed to fuse the data within the observation period, and the positioning result within the period is obtained by solving the optimization problem. The data fusion processing method is: by minimizing the error between the effective baseline solution data and the true position in the observation time period, all the effective baseline solution information in the observation time period is integrated, and the baseline solution data in the observation time period is obtained by using the information of all the effective observation data in the time period; The network adjustment solution is added to the basic positioning solution algorithm library. Different from the traditional algorithm for solving network adjustment by normal equation, the solution method of network adjustment problem is optimized to reduce the algorithm complexity and improve the solution efficiency. Assume that there are n sites in the network, and their coordinates are ; Baseline Marker ; Baseline error symbol ; The local baseline error observation equation is: ,in is the third-order identity matrix; Constructing the global baseline error observation equation , where p is the vector composed of the coordinates of the monitoring stations in the network, and b is the vector composed of the baseline observation data; Constructing the optimization problem , since the matrix A has a strong sparse property, it can be decomposed into a block matrix representation, and the non-zero block is a third-order unit matrix. Givens rotation is used for QR decomposition, and its computational complexity is , the QR decomposition of matrix A is recorded as , where the matrix Q satisfies ,matrix It is the conjugate transpose of matrix Q, matrix I is the unit matrix, matrix R is the upper triangular matrix, and the specific matrix decomposition is as follows: ； Develop a GNSS network adjustment algorithm library adapted to Kylin v10, so that the application layer can implement the network adjustment solution function based on this algorithm library; The data fusion processing method is: adopt a reduced rank extrapolation (RRE) strategy to fuse the data, by minimizing the error between the effective baseline solution data and the true position in the observation time period, fusing all the effective baseline solution information in the observation time period, and using the information of all the effective observation data in the time period to obtain the baseline solution data in the observation time period. The specific processing method is as follows: For the effective baseline solution data within an observation period, the linear combination of the baseline effective solution within the observation period is minimized to obtain the calculation result of the effective baseline solution information within the fusion observation period; Assume that the true position during the observation period is , the effective baseline solution sequence is ; There is a set of numbers The following conditions are met: ； Going further, we establish the following optimization problem ； in, By solving this optimization problem, we can get the parameter set , so that the effective solution can be integrated to obtain the baseline result within this time period ; ； Transform the above problem into an unconstrained optimization problem for solution, then there is a set of parameters The following conditions are met: ； At this time, the following formula holds ； in, , so we can get the equivalent unconstrained optimization problem ; ； To facilitate subsequent calculations, , when the parameter set is obtained by solving the above unconstrained optimization problem , the corresponding result after data fusion is: ； Constructing Lagrange functions , and accordingly we can solve ; ； Develop a data fusion algorithm library adapted to Kylin v10 to facilitate the application layer to implement RRE data fusion function based on this algorithm library.

2. According to the GNSS high-precision differential positioning solution platform with a domestic operating system as described in claim 1, it is characterized in that: The application service layer includes a remote sensing image module, a Beidou monitoring station module, a displacement solution engine module, a system management module and an operation status module.

3. According to the GNSS high-precision differential positioning solution platform with a domestic operating system as described in claim 2, it is characterized in that: The remote sensing image module marks and displays the location of the Beidou monitoring station on the remote sensing map, allowing the location of the Beidou monitoring station to be viewed intuitively; The Beidou monitoring station module includes a monitoring station number list, and performs operations of adding monitoring stations, deleting existing monitoring stations, editing and modifying existing station information, and querying information of existing stations in the list; The displacement solution engine module includes a real-time positioning solution engine with centimeter-level accuracy and a static positioning solution engine with millimeter-level accuracy. Different positioning solution engines are selected from the solution engine list according to different application scenarios. The system management module is used to manage the rights of software users; The operation status module includes setting scheduled tasks and software performance monitoring.

4. According to the GNSS high-precision differential positioning solution platform with a domestic operating system as described in claim 3, it is characterized in that: The solving engine list performs operations of adding a new solving engine, deleting an existing solving engine, editing and modifying the information of an existing solving engine, and querying the information of an existing solving engine in the list.

5. The GNSS high-precision differential positioning solution platform with a domestic operating system according to claim 4, characterized in that: The solution engine information includes the solution engine number, the solution engine name, the reference station and monitoring station numbers, and the solution engine working status; the solution engine working status includes the solution status and the activation status; The information of the millimeter-level precision static positioning solution engine also includes the solution engine start time, the last solution start time, the last solution end time and the solution window size.

6. The GNSS high-precision differential positioning solution platform with a domestic operating system according to claim 3, characterized in that: The site information includes the site number, site name, site IP address, port number and communication mode of the site.

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