RTK-based integrated hyper-fusion positioning system and use method thereof

Abstract

The invention discloses an integrated super-fusion positioning method based on RTK, and relates to the technical field of super-fusion positioning, and the method comprises the following steps: 1, obtaining RTK high-precision positioning information, and taking the positioning information as an initial value; 2, acquiring current input information of the IMU, and acquiring output characteristics of the IMU to obtain a current attitude angle; step 3, acquiring a distance value of adjacent to-be-positioned equipment based on UWB positioning; 4, correcting the RTK positioning initial value by using the distance value and the current attitude angle; and step 5, outputting the corrected positioning information for detection application. Compared with the prior art, the RTK-based integrated hyper-fusion positioning system and the use method thereof have the advantages that the use is convenient, the use of multiple technologies is fused, and the positioning accuracy is ensured.

Description

Technical Field

[0001] The present invention relates to the field of hyper-convergent positioning technology, and specifically refers to an RTK-based integrated hyper-convergent positioning system and a method of using the system. Background Art

[0002] With the construction of satellite systems and the continuous development of chip technology, multi-frequency devices have become mainstream. The wavelength corresponding to the original frequency is 18 to 25 cm. Due to the influence of positioning errors in the three links of the satellite end, propagation path, and receiving end, even after model and parameter correction, there may still be large errors in the original observations. Directly using the original observations will affect the accuracy of cycle slip detection and ambiguity fixation.

[0003] Real-time Kinematic (RTK) positioning technology is a type of GPS technology. It is a real-time dynamic positioning technology based on carrier phase observations. It can provide real-time three-dimensional positioning results of the measuring station in a specified coordinate system with centimeter-level accuracy. It is a new and commonly used satellite positioning measurement method.

[0004] In traditional application scenarios, precise positioning is often required. Traditional single positioning technologies, such as GPS, RTK or IMU, often have positioning error problems. At the same time, when used in complex environments, they are often susceptible to interference or signal loss when based on multiple devices, resulting in positioning failure or increased error, which reduces the stability of the positioning system and is not conducive to the use of high-precision positioning of the positioning system. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the above technical defects and provide an RTK-based integrated hyper-fusion positioning system and its use method which is easy to use, integrates multiple technologies and ensures accurate positioning.

[0006] In order to solve the above technical problems, the technical solution provided by the present invention is: a RTK-based integrated hyper-fusion positioning method, comprising the following steps:

[0007] Step 1: Obtain RTK high-precision positioning information and use the positioning information as the initial value;

[0008] Step 2: Get the current input information of IMU, collect its output features, and get the current attitude angle;

[0009] Step 3: Obtain the spacing value of adjacent devices to be located based on UWB positioning;

[0010] Step 4: Use the spacing value and the current attitude angle to correct the initial RTK positioning value;

[0011] Step 5: Output the corrected positioning information for detection application.

[0012] Preferably, step 1 includes obtaining the center position of the area to be positioned, deploying an RTK base station at the center position, deploying an RTK mobile station on the device to be positioned, using the RTK base station to obtain positioning coordinate information of the center position, and the RTK mobile station uses a differential method to obtain precise position information.

[0013] Preferably, step 2 includes using an accelerometer and a gyroscope to obtain acceleration and angular velocity to measure the motion state, obtain pitch angle, yaw angle and roll angle, and correct the attitude error in the RTK positioning information.

[0014] Preferably, the UWB positioning includes using UWB technology to obtain the spacing value between adjacent devices to be positioned, constructing the relative position relationship between the devices, and inputting constraint conditions for the positioning information.

[0015] Preferably, step 4 also includes fusing RTK, IMU, and UWB data, and performing filtering and smoothing including using Kalman filtering.

[0016] Preferably, the detection application in step 5 includes using laser ranging to verify the stability of the output result.

[0017] On the other hand, the present invention discloses an RTK-based integrated hyper-converged positioning system, including an RTK base station, an RTK mobile station, a server, a remote sensing and mapping module, an IMU monitoring module, and a UWB positioning module. The server communicates wirelessly with the RTK base station, the RTK mobile station, the remote sensing and mapping module, the IMU monitoring module, and the UWB positioning module.

[0018] Preferably, the remote sensing mapping module includes performing remote sensing mapping on the area to be located and inputting mapping information to the server.

[0019] Preferably, the server acquires RTK high-precision positioning information, IMU output results and UWB output results, and then fuses and outputs final positioning information.

[0020] Compared with the prior art, the advantages of the present invention are as follows: the present invention provides a fusion method based on RTK, IMU and UWB, wherein the RTK technology can provide centimeter-level positioning accuracy, the IMU can measure the acceleration and angular velocity of the device in real time, and obtain the attitude angle information of the device, and the UWB provides high-precision ranging information in short-distance communication, so that when the RTK signal is interfered, the IMU can provide continuous attitude information to help maintain the stability of positioning, and the UWB provides stable ranging information within a short distance, further enhancing the robustness of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flow chart of the RTK integrated hyper-fusion positioning method.

[0022] Figure 2 It is a structural block diagram based on RTK integrated hyper-fusion positioning system. DETAILED DESCRIPTION

[0023] The following is combined with Figure 1-2 The present invention is described in further detail.

[0024] References to embodiments of the present invention will now be provided in detail, one or more examples of which are described below. Each example is provided as an explanation rather than a limitation of the present invention. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made to the present invention without departing from the scope or spirit of the present invention. For example, a feature illustrated or described as part of one embodiment may be used in another embodiment to produce a further embodiment.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0026] The terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0027] In the description of the invention, "multiple" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In the description of the invention, "several" means at least one, such as one, two, etc., unless otherwise clearly and specifically defined.

[0028] An integrated hyper-converged positioning system based on RTK includes an RTK base station, an RTK mobile station, a server, a remote sensing sensing and mapping module, an IMU monitoring module, and an UWB positioning module. The server wirelessly communicates with the RTK base station, the RTK mobile station, the remote sensing sensing and mapping module, the IMU monitoring module, and the UWB positioning module, and the positioning information is corrected and outputted through the server.

[0029] Combined with Figure 1 As shown, the positioning method includes step 1: obtaining RTK high-precision positioning information and taking the positioning information as the initial value; step 2: obtaining the current input information of the IMU, collecting its output characteristics, and obtaining the current attitude angle; step 3: obtaining the spacing value of the adjacent devices to be positioned based on UWB positioning; step 4: using the spacing value and the current attitude angle to correct the initial value of RTK positioning; step 5: outputting the corrected positioning information for detection application.

[0030] The present invention, when implemented specifically, includes obtaining the center position of the area to be positioned, deploying an RTK base station at the center position, deploying an RTK mobile station on the device to be positioned, using the RTK base station to obtain positioning coordinate information of the center position, and the RTK mobile station uses a differential method to obtain precise position information, thereby facilitating the deployment of the RTK base station at the center position and facilitating coverage of multiple groups of RTK mobile stations around. Step 2 includes using an accelerometer and a gyroscope to obtain acceleration and angular velocity to measure the motion state, obtain pitch angle, yaw angle and roll angle, and correct the attitude error in the RTK positioning information.

[0031] UWB positioning includes using UWB technology to obtain the spacing value between adjacent devices to be positioned, constructing the relative position relationship between the devices, inputting constraints on the positioning information, and thus correcting the position information.

[0032] In specific use, step 4 also includes the fusion of RTK, IMU, and UWB data, filtering and smoothing including the use of Kalman filtering, and the detection application in step 5 includes the use of laser ranging to verify the stability of the output results to ensure accurate positioning.

[0033] The remote sensing mapping module includes remote sensing mapping of the area to be positioned and then inputting the mapping information to the server, outputting the center position of the area to be positioned through the remote sensing mapping information, which is used to deploy the RTK base station, and the server obtains RTK high-precision positioning information, IMU output results and UWB output results, and then fuses and outputs the final positioning information.

[0034] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0035] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection claimed in the present invention is defined by the attached claims and their equivalents. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A RTK integrated hyper-fusion positioning method, characterized in that: The following steps are involved: Step 1: Obtain RTK high-precision positioning information and use the positioning information as the initial value; Step 2: Get the current input information of IMU, collect its output features, and get the current attitude angle; Step 3: Obtain the spacing value of adjacent devices to be located based on UWB positioning; Step 4: Use the spacing value and the current attitude angle to correct the initial RTK positioning value; Step 5: Output the corrected positioning information for detection application.

2. The RTK integrated hyper-fusion positioning method according to claim 1, characterized in that: The step 1 includes obtaining the center position of the area to be positioned, deploying an RTK base station at the center position, deploying an RTK mobile station on the device to be positioned, using the RTK base station to obtain the positioning coordinate information of the center position, and the RTK mobile station uses a differential method to obtain precise position information.

3. The RTK integrated hyper-fusion positioning method according to claim 1 is characterized in that: The step 2 includes using an accelerometer and a gyroscope to obtain acceleration and angular velocity to measure the motion state, obtain pitch angle, yaw angle and roll angle, and correct the attitude error in the RTK positioning information.

4. The RTK integrated hyper-fusion positioning method according to claim 1, characterized in that: The UWB positioning includes using UWB technology to obtain the spacing value between adjacent devices to be positioned, constructing the relative position relationship between the devices, and inputting constraint conditions for the positioning information.

5. The RTK integrated hyper-fusion positioning method according to claim 1, characterized in that: The step 4 also includes fusing the RTK, IMU and UWB data, and performing filtering and smoothing including using Kalman filtering.

6. The RTK integrated hyper-fusion positioning method according to claim 5, characterized in that: The detection application in step 5 includes verifying the stability of the output result using laser ranging.

7. An integrated hyper-fusion positioning system based on RTK, applied to the positioning method according to any one of claims 1 to 6, characterized in that: It includes an RTK base station, an RTK mobile station, a server, a remote sensing mapping module, an IMU monitoring module, and a UWB positioning module. The server communicates wirelessly with the RTK base station, the RTK mobile station, the remote sensing mapping module, the IMU monitoring module, and the UWB positioning module.

8. The RTK integrated hyper-fusion positioning system according to claim 7, characterized in that: The remote sensing mapping module includes performing remote sensing mapping on the area to be located and then inputting the mapping information to the server.

9. The RTK integrated hyper-fusion positioning system according to claim 7, characterized in that: The server obtains RTK high-precision positioning information, IMU output results and UWB output results, and then fuses and outputs final positioning information.

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