A method for determining the site of network RTK reference stations based on terrain and atmospheric information

Abstract

The present invention relates to a method for determining the site of a network RTK reference station based on terrain and atmospheric information. At present, the determination of the site of a network RTK reference station is too dependent on manual experience, resulting in poor service quality. The method divides the station construction area into regions according to the terrain conditions; calculates the terrain coefficient and the guarantee coefficient according to each region after the regional division; obtains the historical atmospheric data of the station construction area; grids the station construction area, and interpolates and calculates the atmospheric activity of the grid points in combination with the historical atmospheric data; sets weight coefficients for each region after the regional division in combination with the terrain coefficient and the guarantee coefficient; calculates the fitness function value of each grid point in combination with the weight coefficient and the atmospheric activity; and judges and selects the recommended site and the alternative site according to the fitness function value of each grid point. The present invention avoids the influence of subjective factors, has a higher degree of automation and efficiency, and takes the atmospheric information of the site into consideration, thereby improving the quality of high-precision location services.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning and measurement, and in particular to a method for determining the site of a network RTK reference station based on terrain and atmospheric information. Background Art

[0002] The network RTK (Real-time kinematic) satellite navigation and positioning base station is a ground fixed observation station that conducts long-term continuous observation of satellite navigation signals, obtains observation data, and transmits the observation data in real time or regularly to the network RTK data center through communication facilities. Base stations with good observation data quality can not only greatly improve the success rate of ambiguity fixation between base stations and improve the high-precision positioning service quality of network RTK, but also provide high-precision time and space benchmarks for the country, region, and the world, and provide important support for precision satellite orbit determination, geological disaster monitoring, engineering construction, and scientific research.

[0003] In addition to the quality of the base station hardware equipment, the observation environment of the base station site is also an important factor affecting the quality of observation data. At present, the site determination method generally relies on professionals to make a preliminary selection based on national standards and specifications, combined with natural geographical conditions, artificial buildings, power communications and traffic conditions, and finally combine on-site field surveys to determine the final location. This method relies too much on manual experience in the preliminary selection stage, which often takes too much time, and the judgment of different professionals may be affected by subjective factors, resulting in low work efficiency. In addition, the base station observation data is often used in network RTK data processing to extract real-time regional atmospheric information. Therefore, the base station should be built in an area with active atmosphere to provide sufficient observation data and atmospheric enhancement for the area, which is more conducive to the network RTK server to establish a high-precision real-time atmospheric model, thereby improving the service quality of network RTK.

[0004] Therefore, it is necessary to propose new measures to overcome the above-mentioned defects. Summary of the invention

[0005] The purpose of the present invention is to provide a method for determining the site of a network RTK reference station based on terrain and atmospheric information, so as to solve the problem that the current determination of the site of a network RTK reference station relies too much on manual experience, resulting in poor quality of network RTK service.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A method for determining the site of a network RTK reference station based on terrain and atmospheric information, the method comprising:

[0008] Divide the station construction area according to the terrain conditions;

[0009] Calculate the terrain coefficient and security coefficient according to each area after regional division;

[0010] Obtain historical atmospheric data for the station construction area;

[0011] The station area is gridded, and the atmospheric activity of the grid points is calculated by interpolation based on historical atmospheric data.

[0012] Combine the terrain coefficient and security coefficient to set the weight coefficient for each area after the area division;

[0013] Combine the weight coefficient and the atmospheric activity level to calculate the adaptability function value of each grid point;

[0014] According to the adaptability function value of each grid point, the recommended site and alternative site are selected.

[0015] Furthermore, the site construction area is divided into regions according to the terrain conditions, including:

[0016] Divide the construction area into areas where construction is possible based on the objects that hinder construction and non-site building areas ;

[0017] According to the power, transportation and communication security features, the station construction area is divided into power, transportation and communication security areas and non-protected areas .

[0018] Furthermore, the terrain coefficients are calculated according to the divided regions, including:

[0019] Expand the distance outward from the location or boundary of the object that hinders the site construction , forming a new coverage area as , the remaining area is , any point The terrain coefficient for:

[0020] .

[0021] Furthermore, the security factor is calculated according to each area after the area division, including:

[0022] Use power, transportation and communication to ensure the location or boundary of the object and expand the distance outward , and obtain the influence range as , the remaining area is , any point The security factor for:

[0023] , .

[0024] Furthermore, historical atmospheric data of the station construction area is obtained, including:

[0025] The historical atmospheric data of the station construction area are obtained using GIM data and ERA5 data.

[0026] Furthermore, the station area is gridded, and the atmospheric activity of the grid points is calculated by interpolation based on historical atmospheric data, including:

[0027] The station construction area is divided into M×N grid areas, and the vertices of the grid areas are grid points;

[0028] According to the historical atmospheric data, any grid point can be interpolated The ionosphere VTEC and troposphere ZTD Time Series Data:

[0029] ;

[0030] in:

[0031] and Expressed as length L A vector of

[0032] ;

[0033] ;

[0034] Calculate any grid point Atmospheric activity:

[0035] ;

[0036] in:

[0037] is the atmospheric activity coefficient;

[0038] Indicates the variance.

[0039] Furthermore, combined with the terrain coefficient and the security coefficient, the weight coefficients of each area after the area division are set, including:

[0040] The product of the terrain coefficient and the security coefficient is used as the weight coefficient.

[0041] Furthermore, the adaptability function value of each grid point is calculated by combining the weight coefficient and the atmospheric activity level, including:

[0042] Any grid point The fitness function value of is:

[0043] ;

[0044] in:

[0045] For any grid point The terrain coefficient;

[0046] For any grid point The security factor.

[0047] Furthermore, according to the adaptability function value of each grid point, the recommended site is selected, including:

[0048] The grid point location with the largest adaptability function value is taken as the recommended site.

[0049] Furthermore, according to the adaptability function value of each grid point, the candidate site is judged and selected, including:

[0050] The n grid points with the next highest fitness function values ​​are selected as candidate sites.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] The present invention provides a method for determining the site of a network RTK reference station based on terrain and atmospheric information, which can reduce the preliminary workload of the reference station site selection and avoid the influence of subjective factors that may be caused by different work experience of professional and technical personnel. Compared with the traditional work process, the method has a higher degree of automation and efficiency. At the same time, the method takes the atmospheric information of the site into consideration, so that the reference station tends to be built in an atmospherically active area, which is more conducive to the establishment of a real-time high-precision atmospheric model of the network RTK, thereby improving the quality of high-precision positioning services. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.

[0054] Figure 1 It is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0055] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0056] It should be noted that similar reference numerals and letters represent similar items, and therefore, once an item is defined in one embodiment, it does not need to be further defined and explained in subsequent embodiments. In addition, the term "comprising" and the like and any variation thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0057] It should also be noted that although the order of steps is mentioned in the method description, in some cases, they may be performed in an order different from that shown here, and this should not be construed as a limitation on the order of the steps.

[0058] The initial site selection of the network RTK satellite navigation positioning base station relies too much on the experience and subjective judgment of professionals. The site selection process is too much affected by human factors. The site selection method is not highly automated and has low work efficiency. To this end, the present invention provides a method for determining the site of a network RTK base station based on terrain and atmospheric information. The site of a network RTK base station can be automatically determined based on terrain and atmospheric information, and the atmospheric information of the station construction area is considered. The base station observation data established in this way can provide effective data enhancement for atmospheric active areas.

[0059] like Figure 1 , the method comprising:

[0060] S1: Divide the site construction area according to terrain conditions. Including:

[0061] Divide the site construction area into areas where the site can be constructed based on the objects that hinder the site construction (such as water areas, trees, residential areas, etc.) and non-site building areas ;

[0062] According to the power, transportation and communication security features, the station construction area is divided into power, transportation and communication security areas and non-protected areas .

[0063] S2: Calculate the terrain coefficient and security coefficient according to each area after the area division. Including:

[0064] S21: Extend the distance outward from the location or boundary of the object that hinders the site construction , forming a new coverage area as , the remaining area is , any point The terrain coefficient for:

[0065] .

[0066] S22: Use power, transportation and communication to ensure the location or boundary of the object and expand the distance outward , and obtain the influence range as , the remaining area is , any point The security factor for:

[0067] , .

[0068] S3: Obtaining historical atmospheric data of the station construction area. The present invention uses GIM (Global Ionospheric Map) data and ERA5 data (the fifth generation of atmospheric reanalysis data of the global climate from January 1950 to the present by the European Centre for Medium-Range Weather Forecasts) to obtain historical atmospheric data of the station construction area.

[0069] S4: Grid the station area and interpolate the historical atmospheric data to obtain the atmospheric activity of the grid points. Including:

[0070] S41: Divide the site construction area into M×N grid areas, where the vertices of the grid areas are grid points;

[0071] S42: Based on historical atmospheric data, the ionosphere of any grid point is interpolated by time and space interpolation methods. VTEC (Vertical Total Electron Content, ionosphere vertical total electron content) and troposphere ZTD (Zenith Tropospheric Delay, tropospheric zenith delay) time series data:

[0072] ;

[0073] in:

[0074] and Expressed as length L A vector of

[0075] ;

[0076] ;

[0077] S43: Calculate any grid point Atmospheric activity:

[0078] ;

[0079] in:

[0080] is the atmospheric activity coefficient;

[0081] Indicates the variance.

[0082] S5: Combining the terrain coefficient and the security coefficient, a weight coefficient is set for each area after the area division, that is, the product of the terrain coefficient and the security coefficient is used as the weight coefficient.

[0083] S6: Calculate the adaptability function value of each grid point by combining the weight coefficient and the atmospheric activity level. Including:

[0084] Any grid point The fitness function value of is:

[0085] ;

[0086] in:

[0087] For any grid point The terrain coefficient;

[0088] For any grid point The security factor.

[0089] S7: According to the fitness function value of each grid point, determine and select the recommended site and the candidate site. Specifically, the grid point position with the largest fitness function value is used as the recommended site, and the n grid points with the next highest fitness function values ​​are used as the candidate sites.

[0090] Afterwards, the site location was finally determined based on the results of the on-site survey.

[0091] The method of the present invention uses topographic map data and incorporates atmospheric information into the station construction environment factors that need to be considered, so as to automatically determine the site of the reference station within the regional range, and effectively enhance the regional atmospheric information with the observation data while ensuring the quality of data observation.

[0092] A certain area in southwest my country (area size is 20km×20km) was selected for site CORS selection. The area was divided into 400×400 grid points for calculation. The calculation time was 5.3692 min, and 1 recommended site and 9 candidate site locations were obtained. The traditional site selection method took half a day. The distance between the recommended site and the site selected by the traditional site selection method was 126.36m. GNSS receivers were set up at two points for 24h data collection. The data availability was analyzed using teqc software. The data availability of the recommended site was 86.3%, and the data availability of the site selected by the traditional site selection method was 86.5%. It can be seen that the data availability of the site selected by the new method is comparable to that of the traditional method with less time.

[0093] In addition, the present invention provides a network RTK reference station site determination system based on terrain and atmospheric information, which is used to implement the above method, specifically comprising:

[0094] A regional division module is used to divide the site construction area according to the terrain conditions, corresponding to S1 in the above method;

[0095] A coefficient calculation module is used to calculate the terrain coefficient and the security coefficient according to each area after the area division, corresponding to S2 in the above method;

[0096] The acquisition module is used to obtain the historical atmospheric data of the station building area, corresponding to S3 in the above method;

[0097] The interpolation calculation module is used to grid the station construction area and calculate the atmospheric activity of the grid points by interpolation based on historical atmospheric data, which corresponds to S4 in the above method.

[0098] A setting module, used to set weight coefficients for each area after the area division in combination with the terrain coefficient and the security coefficient, corresponding to S5 in the above method;

[0099] Function calculation module, used to calculate the adaptability function value of each grid point by combining the weight coefficient and the atmospheric activity level, corresponding to S6 in the above method;

[0100] The judgment and selection module is used to judge and select the recommended site and the alternative site according to the adaptability function value of each grid point, corresponding to S7 in the above method.

[0101] Those skilled in the art will appreciate that all or part of the functions of the embodiments of the present invention may be implemented by hardware or by computer programs. When all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory, a random access memory, a disk, an optical disk, a hard disk, etc., and the program is executed by a computer to implement the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above-mentioned functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program may also be stored in a storage medium such as a server, another computer, a disk, an optical disk, a flash disk or a mobile hard disk, and is downloaded or copied and saved in the memory of the local device, or the system of the local device is updated, and when the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0102] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A method for determining the site of a network RTK reference station based on terrain and atmospheric information, characterized in that: The method comprises: Divide the station construction area according to the terrain conditions; Calculate the terrain coefficient and security coefficient according to each area after regional division; Obtain historical atmospheric data of the station construction area; The station area is gridded and the atmospheric activity of the grid points is calculated by interpolation based on historical atmospheric data, including: The station construction area is divided into M×N grid areas, and the vertices of the grid areas are grid points; According to the historical atmospheric data, any grid point can be interpolated The ionosphere VTEC and troposphere ZTD Time Series Data: ； in: and Expressed as length L A vector of ； ； Calculate any grid point Atmospheric activity: ； in: is the atmospheric activity coefficient; Indicates the variance; Combined with the terrain coefficient and the security coefficient, the weight coefficient is set for each area after the area division, and the product of the terrain coefficient and the security coefficient is used as the weight coefficient; Combined with the weight coefficient and the atmospheric activity, the adaptability function value of each grid point is calculated, including: Any grid point The fitness function value of is: ； in: For any grid point The terrain coefficient; For any grid point The security factor; According to the adaptability function value of each grid point, the recommended site and alternative site are selected.

2. The method for determining the site of a network RTK reference station based on terrain and atmospheric information according to claim 1, characterized in that: The site construction area is divided into regions according to terrain conditions, including: Divide the construction area into areas where construction is possible based on the objects that hinder construction and non-site building areas ; According to the power, transportation and communication security features, the station construction area is divided into power, transportation and communication security areas and non-protected areas .

3. The method for determining the site of a network RTK reference station based on terrain and atmospheric information according to claim 2, characterized in that: According to the divided areas, the terrain coefficients are calculated, including: Expand the distance outward from the location or boundary of the object that hinders the site construction , forming a new coverage area as , the remaining area is , any point The terrain coefficient for: 。 4. The method for determining the site of a network RTK reference station based on terrain and atmospheric information according to claim 3, characterized in that: According to the divided areas, calculate the security factor, including: Use power, transportation and communication to ensure the location or boundary of the object and expand the distance outward , and obtain the influence range as , the remaining area is , any point The security factor for: ， 。 5. The method for determining the site of a network RTK reference station based on terrain and atmospheric information according to claim 4, characterized in that: Obtain historical atmospheric data for the site construction area, including: The historical atmospheric data of the station construction area are obtained using GIM data and ERA5 data.

6. The method for determining the site of a network RTK reference station based on terrain and atmospheric information according to claim 5, characterized in that: According to the adaptability function value of each grid point, the recommended site is selected, including: The grid point location with the largest adaptability function value is taken as the recommended site.

7. The method for determining the site of a network RTK reference station based on terrain and atmospheric information according to claim 6, characterized in that: According to the adaptability function value of each grid point, the candidate site is selected, including: The n grid points with the next highest fitness function values ​​are selected as candidate sites.

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