Live-line worker positioning method and system

Abstract

The invention discloses a live-line worker positioning method and system, and relates to the technical field of Beidou positioning, and the method comprises the steps: enabling a PTK mobile station to start a closed-loop processing flow through taking baseband interruption as a trigger source; establishing a double-difference observation equation, and calculating an ambiguity value between the PTK mobile station and the GPS satellite system through a double-difference carrier phase; and extracting the variance corresponding to the floating solution of the integer ambiguity from the diagonal line of the covariance matrix, and completing the positioning of the live working personnel. According to the method, the position of the mobile station can be more effectively determined, the reliability of the ambiguity between the GPS satellite system and the mobile station is improved, the floating point solution of the integer ambiguity is obtained, the search space of the ambiguity is reduced, and the accuracy of the floating point solution is improved.

Description

Technical Field

[0001] The present invention relates to the field of Beidou positioning technology, and in particular to a method and system for positioning personnel working on live lines. Background Art

[0002] At present, Beidou / GPS differential positioning technology has the advantages of high accuracy and wide coverage compared with traditional Beidou / GPS positioning or other forms of wireless positioning technology. Its principle is that the mobile station 30 receives differential information from the fixed base station to accurately calculate its own position coordinates, which can eliminate various interference factors faced by traditional Beidou / GPS technology (such as GPS satellite system 10 clock errors, GPS satellite system 10 ephemeris information errors and ionosphere troposphere delay errors, etc.), thereby obtaining a higher-precision positioning effect. Differential positioning technology can be divided into position difference, pseudorange difference, smooth phase pseudorange difference and carrier phase pseudorange difference according to different differential information. RTK differential positioning technology belongs to the carrier phase difference form. The mobile station and the base station use carrier phase correction numbers to correct and solve the position coordinates.

[0003] In order to achieve centimeter-level positioning of live workers, the workers use the GPS positioning carrier method to determine their position relative to the base. Positioning is real-time dynamic carrier phase differential positioning, which is a real-time dynamic positioning technology based on the carrier phase observation value of the GPS satellite system. By setting up a base station and performing differential calculations on the base station data and the mobile station data, the precise position of the mobile station is obtained, thereby obtaining a more accurate result than the traditional GPS satellite system navigation positioning. The carrier does not have any marked cosine waves, and when the phase detector in the PTK mobile station is used to measure the carrier phase, only the part that is less than one week can be measured, which will cause the problem of uncertainty in the number of whole cycles. In addition, the whole cycle counting part may also cause jump problems. Therefore, before data processing, it is necessary to detect and repair the whole cycle jump, which makes the data processing of carrier phase measurement more complicated and troublesome. This is the price that must be paid for obtaining high-precision positioning results. Summary of the invention

[0004] In view of the problems existing in the existing methods and systems for locating personnel working on live lines, the present invention is proposed.

[0005] Therefore, the purpose of the present invention is to provide a method and system for locating personnel working on live lines. The detection and repair of whole-cycle jumps make the data processing of carrier phase measurement more complicated and troublesome. This is the price that must be paid to obtain high-precision positioning results. The present invention adopts a method and system for locating personnel working on live lines.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In the first aspect, an embodiment of the present invention provides a method for locating personnel working on live lines, which includes initializing server parameters of a PTK mobile station, and the PTK mobile station starts a closed-loop processing flow by using a baseband interrupt as a trigger source; selecting common-view star observation quantities, establishing a double-difference observation equation, and calculating the ambiguity value between the PTK mobile station and the GPS satellite system through a double-difference carrier phase; and according to the established search space of the ambiguity domain, extracting the variance corresponding to the floating-point solution of the integer ambiguity from the diagonal of the covariance matrix to complete the positioning of personnel working on live lines.

[0008] As a preferred solution of the live working personnel positioning method of the present invention, the server parameters of the PTK mobile station are initialized, including using the PTK mobile station to track multiple GPS satellite systems simultaneously, obtaining the channel signal strength of each GPS satellite system, performing initial screening and selection based on the channel signal strength, and screening out the GPS satellite systems whose channel signal strength is greater than the signal strength threshold to obtain multiple candidate GPS satellite systems during the initial screening;

[0009] The strength of the received satellite signal is expressed as the signal-to-noise ratio (SNR). SNR is the ratio of the received signal power to the noise power. It is an important indicator for measuring signal quality. The signal strength is calculated by the receiver's observation data of the satellite signal. Generally, the larger the SNR value, the better the signal quality.

[0010] As a preferred solution of the live working personnel positioning method of the present invention, wherein: the starting closed-loop processing flow includes performing a binary star selection algorithm in the closed-loop processing, capturing multiple GPS satellite system signals, tracking the current status of multiple GPS satellite system signals to perform telegram analysis and integrity detection;

[0011] When the integrity of the GPS satellite system meets the preset conditions, all the current GPS satellite systems that meet the preset conditions are added to the satellite candidate set list, and the GPS in the current satellite candidate set list is

[0012] The satellite system position performs a priority satellite evaluation to obtain the GPS satellite system with the highest priority target position;

[0013] Perform navigation solution on the GPS satellite system at the current target location, and perform channel control and long code control operations after navigation solution to control the tracking status and priority parameters of the GPS satellite system signal.

[0014] As a preferred solution of the live working personnel positioning method of the present invention, wherein: the selecting of the common view star observation quantity includes establishing a double difference observation equation;

[0015] When the pseudorange, carrier phase and Doppler shift observations are affected by errors, the double difference observation equation is used to perform differential processing between the observations of the PTK mobile station and different GPS satellite systems. The double difference observation equations of pseudorange and carrier phase are as follows:

[0016] The double difference observation equation of pseudorange is written as:

[0017] ΔP=Δρ(ts,tr)+Δdtrop+ΔI / f2+ΔMP+ΔεP;

[0018] The double difference observation equation of the carrier phase is written as:

[0019] vΔφλ=Δρ(ts,tr)+vΔdtrop-vΔI / f2+vΔMφ+vΔNλ+vΔεφ

[0020] Wherein, P is the pseudorange observation value (m); ρ is the geometric distance from the double-difference GPS satellite system to the PTK mobile station; ts is the time when the GPS satellite system signal is transmitted; tr is the time when the GPS satellite system signal is received; dtrop is the double-difference tropospheric error; I is the double-difference ionospheric error; f is the carrier frequency; MP is the double-difference multipath error; εP is the measurement noise of the pseudorange observation value; is the carrier phase observation value; λ is the carrier wavelength; N is the integer ambiguity; The noise is measured for the carrier phase observations.

[0021] As a preferred solution of the live-line worker positioning method of the present invention, the ambiguity value includes using the double-difference observation value of the dual-frequency carrier to clear the double-difference residual error of the baseline length, calculating the ambiguity value between the PTK mobile station and the GPS satellite system through the double-difference carrier phase, using the variance covariance matrix and the covariance matrix of the floating-point solution, reducing the carrier phase observation value and the ambiguity value in the search space of the ambiguity, obtaining the floating-point solution of the integer ambiguity, extracting the floating-point solutions of the two integer ambiguities with the smallest variance through the covariance matrix, and using the Ratio test;

[0022] If the result is greater than the preset threshold, an accurate floating-point solution of the integer ambiguity is obtained;

[0023] In the closed-loop processing, a binary star selection algorithm is used to capture multiple GPS satellite system signals, and the status of the GPS satellite system signals is tracked to perform message analysis and integrity detection. After the message analysis and integrity detection, navigation solution is performed, and channel control and long code control operations are performed after the navigation solution. The specific operations are as follows:

[0024] The PTK mobile station tracks multiple GPS satellite systems at the same time, obtains the channel signal strength of each GPS satellite system, and then performs initial screening and selection based on the channel signal strength. During the initial screening, the GPS satellite systems whose channel signal strength is greater than the signal strength threshold are screened out to obtain multiple candidate GPS satellite systems;

[0025] It is calculated through the receiver's observation data of satellite signals. Generally, a larger SNR value means better signal quality.

[0026] As a preferred solution of the live-line worker positioning method of the present invention, wherein: the variance corresponding to the floating-point solution of the integer ambiguity is extracted, including a secondary verification of the alternative GPS satellite system, the PTK mobile station receives the GPS satellite system signal of the alternative selected GPS satellite system, performs code synchronization and frame synchronization through the received GPS satellite system signal, and after the GPS satellite system signal undergoes code synchronization and frame synchronization, the PTK mobile station extracts the ephemeris information and almanac information of the GPS satellite system from the GPS satellite system signal;

[0027] The PTK mobile station obtains the measurement values ​​corresponding to all timestamps of the received GPS satellite system through the carrier tracking loop and the code tracking loop, and extracts the original observation values ​​by combining the timestamps corresponding to the preset time period in the current GPS satellite system ephemeris information. The original observation values ​​include pseudorange observation value g1, Doppler frequency shift observation value g2, carrier phase observation value g3 and signal transmission time observation value g4 observation values;

[0028] The PTK mobile station calls the verification message sending time in the timestamp corresponding to the above preset time period, and calculates the expected value of the local verification message receiving time according to the verification message sending time;

[0029] The original measurement values ​​and the GPS message of the current candidate GPS satellite system received by the PTK mobile station are used to obtain the corresponding solution position of the current candidate star of the PTK mobile station through PVT solution, and the corresponding solution position of the current candidate star of the PTK mobile station is obtained through PVT algorithm.

[0030] As a preferred solution of the method for locating live-line workers described in the present invention, the completion of the positioning of live-line workers includes using the orbital parameters of the GPS satellite system and the position of the PTK mobile station to calculate the line of sight direction between the GPS satellite system and the PTK mobile station. If the line of sight direction of the GPS satellite system points to the location area of ​​the PTK mobile station, the GPS satellite system is within the visible range of the PTK mobile station and is regarded as a visible GPS satellite system. At this time, the GPS satellite system performs channel allocation, receives the GPS satellite system signal and tracks the GPS satellite system of the allocated channel, and according to the ranging of the P code, uses the dual observation quantity to increase the pseudo-range weight in the solution, uses the pseudo-range measurement to guide the solution of the carrier phase, and speeds up the result of the floating-point solution of the integer ambiguity to complete the positioning of the live-line workers.

[0031] In the second aspect, an embodiment of the present invention provides a system for positioning personnel working on live lines, which includes: a processing module, which initializes the server parameters of a PTK mobile station, and the PTK mobile station starts a closed-loop processing flow by using a baseband interrupt as a trigger source; a calculation module, which selects common-view star observation quantities, establishes a double-difference observation equation, and calculates the ambiguity value between the PTK mobile station and the GPS satellite system through a double-difference carrier phase; a positioning module, which extracts the variance corresponding to the floating-point solution of the integer ambiguity from the diagonal of the covariance matrix according to the established search space of the ambiguity domain, and completes the positioning of personnel working on live lines.

[0032] In a third aspect, an embodiment of the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein: when the processor executes the computer program, any step of the above-mentioned method for locating live working personnel is implemented.

[0033] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, any step of the above-mentioned method for locating live working personnel is implemented.

[0034] The beneficial effects of the present invention are as follows: the present invention captures and tracks the GPS satellite system through a binary star selection algorithm, and uses PVT solution to perform navigation settlement and calculate the position of a mobile station. By selecting a GPS satellite system with good state strength, more effective detection can be achieved, and the position of the mobile station can be more effectively determined. The observation value is calculated through a formula using pseudo-moment and carrier phase, and the reliability of the ambiguity between the GPS satellite system and the mobile station is increased. The carrier phase observation value and the ambiguity value are used to reduce the search space of the ambiguity, and a floating-point solution of the integer ambiguity is obtained, thereby reducing the search space of the ambiguity and improving the accuracy of the floating-point solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0036] Figure 1 A specific flow chart of a method and system for locating live working personnel provided by an embodiment of the present invention.

[0037] Figure 2 A schematic diagram of a positioning method and system for positioning live working personnel provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0041] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0042] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] Example 1

[0045] Reference Figure 1 and Figure 2 , which is the first embodiment of the present invention, and provides a method for locating live working personnel, comprising:

[0046] S1: Initialize the server parameters of the PTK mobile station. The PTK mobile station starts the closed-loop processing flow by using the baseband interrupt as the trigger source.

[0047] Initializing the server parameters of the PTK mobile station includes using the PTK mobile station to simultaneously track multiple GPS satellite systems, obtaining the channel signal strength of each GPS satellite system, performing initial screening and selection based on the channel signal strength, and screening out GPS satellite systems whose channel signal strength is greater than a signal strength threshold to obtain multiple candidate GPS satellite systems during the initial screening;

[0048] The strength of the received satellite signal is expressed as the signal-to-noise ratio (SNR). SNR is the ratio of the received signal power to the noise power. It is an important indicator for measuring signal quality. The signal strength is calculated by the receiver's observation data of the satellite signal. Generally, the larger the SNR value, the better the signal quality.

[0049] S1.1: Start the closed-loop processing flow, including performing a binary selection algorithm in the closed-loop processing, capturing multiple GPS satellite system signals, tracking the current status of multiple GPS satellite system signals, and performing message analysis and integrity detection;

[0050] When the integrity of the GPS satellite system meets the preset conditions, all the current GPS satellite systems that meet the preset conditions are added to the satellite candidate set list, and the GPS in the current satellite candidate set list is

[0051] The satellite system position performs a priority satellite evaluation to obtain the GPS satellite system with the highest priority target position;

[0052] Perform navigation solution on the GPS satellite system at the current target location, and perform channel control and long code control operations after navigation solution to control the tracking status and priority parameters of the GPS satellite system signal.

[0053] S2: Select the common-view star observation quantity, establish the double-difference observation equation, and calculate the ambiguity value between the PTK mobile station and the GPS satellite system through the double-difference carrier phase.

[0054] Among them, selecting common-view star observation quantities includes establishing double-difference observation equations;

[0055] When the pseudorange, carrier phase and Doppler shift observations are affected by errors, the double difference observation equation is used to perform differential processing between the observations of the PTK mobile station and different GPS satellite systems. The double difference observation equations of pseudorange and carrier phase are as follows:

[0056] The double difference observation equation of pseudorange is written as:

[0057] ΔP=Δρ(ts,tr)+Δdtrop+ΔI / f2+ΔMP+·ΔεP;

[0058] The double difference observation equation of the carrier phase is written as:

[0059] vΔφλ=Δρ(ts,tr)+vΔdtrop-vΔI / f2+vΔMφ+vΔNλ+vΔεφ

[0060] Where, P is the pseudorange observation value (m); ρ is the geometric distance from the double-difference GPS satellite system to the PTK mobile station; ts is the time when the GPS satellite system signal is transmitted; tr is the time when the GPS satellite system signal is received; dtrop is the double-difference tropospheric error; I is the double-difference ionospheric error; f is the carrier frequency; MP is the double-difference multipath error;

[0061] εP is the measurement noise of pseudorange observation; is the carrier phase observation value; λ is the carrier wavelength; N is the integer ambiguity; The noise is measured for the carrier phase observations.

[0062] S2.1: The ambiguity value includes using the double difference observation value of the dual-frequency carrier to clear the double difference residual error of the baseline length, calculating the ambiguity value between the PTK mobile station and the GPS satellite system through the double difference carrier phase, using the variance covariance matrix and the covariance matrix of the floating point solution to reduce the carrier phase observation value and the ambiguity value in the ambiguity search space, and obtaining the floating point solution of the integer ambiguity, and extracting the floating point solution of the two integer ambiguities with the smallest variance through the covariance matrix, and using the Ratio test;

[0063] If the result is greater than the preset threshold, an accurate floating-point solution of the integer ambiguity is obtained;

[0064] In the closed-loop processing, a binary star selection algorithm is used to capture multiple GPS satellite system signals, and the status of the GPS satellite system signals is tracked to perform message analysis and integrity detection. After the message analysis and integrity detection, navigation solution is performed, and channel control and long code control operations are performed after the navigation solution. The specific operations are as follows:

[0065] The PTK mobile station tracks multiple GPS satellite systems at the same time, obtains the channel signal strength of each GPS satellite system, and then performs initial screening and selection based on the channel signal strength. During the initial screening, the GPS satellite systems whose channel signal strength is greater than the signal strength threshold are screened out to obtain multiple candidate GPS satellite systems;

[0066] It is calculated through the receiver's observation data of satellite signals. Generally, a larger SNR value means better signal quality.

[0067] S3: According to the established search space of the ambiguity domain, the variance corresponding to the floating-point solution of the integer ambiguity is extracted from the diagonal of the covariance matrix to complete the positioning of the live working personnel.

[0068] The extraction of the variance corresponding to the floating-point solution of the integer ambiguity includes a secondary verification of the candidate GPS satellite system, the PTK mobile station receives the GPS satellite system signal of the candidate selected GPS satellite system, performs code synchronization and frame synchronization through the received GPS satellite system signal, and after the GPS satellite system signal undergoes code synchronization and frame synchronization, the PTK mobile station extracts the ephemeris information and almanac information of the GPS satellite system from the GPS satellite system signal;

[0069] The PTK mobile station obtains the measurement values ​​corresponding to all timestamps of the received GPS satellite system through the carrier tracking loop and the code tracking loop, and extracts the original observation values ​​by combining the timestamps corresponding to the preset time period in the current GPS satellite system ephemeris information. The original observation values ​​include pseudorange observation value g1, Doppler frequency shift observation value g2, carrier phase observation value g3 and signal transmission time observation value g4 observation values;

[0070] The PTK mobile station calls the verification message sending time in the timestamp corresponding to the above preset time period, and calculates the expected value of the local verification message receiving time according to the verification message sending time;

[0071] The original measurement values ​​and the GPS message of the current candidate GPS satellite system received by the PTK mobile station are used to obtain the corresponding solution position of the current candidate star of the PTK mobile station through PVT solution, and the corresponding solution position of the current candidate star of the PTK mobile station is obtained through PVT algorithm.

[0072] S3.1: The completion of the positioning of personnel working on live lines includes using the orbital parameters of the GPS satellite system and the position of the PTK mobile station to calculate the line of sight direction between the GPS satellite system and the PTK mobile station. If the line of sight direction of the GPS satellite system points to the location area of ​​the PTK mobile station, the GPS satellite system is within the visible range of the PTK mobile station and is considered to be a visible GPS satellite system. At this time, the GPS satellite system allocates channels, receives GPS satellite system signals and tracks the GPS satellite system of the allocated channel, and uses dual observations to increase the pseudo-range weight in the solution based on the ranging of the P code. The pseudo-range measurement is used to guide the solution of the carrier phase, and the floating-point solution of the integer ambiguity is accelerated to complete the positioning of personnel working on live lines.

[0073] In a preferred embodiment, a system for locating personnel working on live lines includes a processing module, which initializes the server parameters of a PTK mobile station, and the PTK mobile station starts a closed-loop processing flow by using a baseband interrupt as a trigger source; a calculation module, which selects common-view star observation quantities, establishes a double-difference observation equation, and calculates the ambiguity value between the PTK mobile station and the GPS satellite system through a double-difference carrier phase; and a positioning module, which extracts the variance corresponding to the floating-point solution of the integer ambiguity from the diagonal of the covariance matrix based on the established search space of the ambiguity domain, to complete the positioning of personnel working on live lines.

[0074] The above-mentioned unit modules may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above-mentioned modules.

[0075] The computer device may be a terminal, and the computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a key, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0076] In summary, the present invention captures and tracks the GPS satellite system through a binary star selection algorithm, and uses PVT solution to perform navigation settlement and calculate the position of the mobile station. By selecting a GPS satellite system with good star capture state strength, more effective detection can be achieved, and the position of the mobile station can be more effectively determined. The observation value is calculated by using a formula using pseudo-moment and carrier phase to increase the reliability of the ambiguity between the GPS satellite system and the mobile station. The carrier phase observation value and the ambiguity value are used to reduce the search space of the ambiguity, and a floating-point solution of the integer ambiguity is obtained, thereby reducing the search space of the ambiguity and improving the accuracy of the floating-point solution.

[0077] Example 2

[0078] Reference Figure 1 and Figure 2 , which is the second embodiment of the present invention, and this embodiment provides a multi-source power grid information fusion method based on the Internet of Things. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through simulation experiments.

[0079] The present invention initializes the server parameters of the PTK mobile station. The PTK mobile station starts a closed-loop processing flow by using a baseband interrupt as a trigger source. In the closed-loop processing, a binary star selection algorithm is performed to capture multiple GPS satellite system signals, and the state of the GPS satellite system signals is tracked to perform telegram analysis and integrity detection. After the telegram analysis and integrity detection, navigation solution is performed, and channel control and long code control operations are performed after the navigation solution; a double difference observation equation is used to perform differential processing between the observation values ​​of the PTK mobile station and different GPS satellite systems;

[0080] The ambiguity value between the PTK mobile station and the GPS satellite system is calculated by double-difference carrier phase. The carrier phase observation value and the ambiguity value are reduced in the ambiguity search space using the variance covariance matrix and the covariance matrix of the floating-point solution to obtain the floating-point solution of the integer ambiguity. The floating-point solutions of the two integer ambiguities with the smallest variance are extracted through the covariance matrix. The Ratio test is used. If the result is greater than the preset threshold, the integer ambiguity is obtained.

[0081] The PTK mobile station is used to track multiple GPS satellite systems at the same time. The GPS satellite system is selected through the signal tracking status and signal strength of the channel of each GPS satellite system. The PTK mobile station receives the GPS satellite system signal of the selected GPS satellite system, and performs code synchronization and frame synchronization through the received GPS satellite system signal. After the GPS satellite system 10 signal is code synchronized and frame synchronized, the PTK mobile station can extract the GPS satellite system ephemeris information and almanac information from the GPS satellite system 10 signal; the PTK mobile station measures the received GPS satellite system 10 through the carrier tracking loop and the code tracking loop.

[0082] The original observations are extracted by combining the obtained ephemeris information time of the current GPS satellite system 10; the original observations include pseudorange observations g1, Doppler frequency shift observations g2, carrier phase observations g3, and signal transmission time observations g4; the current position of the PTK mobile station 30 is obtained by PVT solution using the obtained original measurement values ​​and the GPS message received by the PTK mobile station 30; in the initial power-on stage, the PTK mobile station 30 uses the least squares method to calculate the initial solution as the estimated value of the initial position; in the stable stage, the Kalman filter algorithm uses the estimated value of the initial position as the initial state estimated value; the current position of the PTK mobile station 30 is obtained by PVT solution through the initial state estimated value;

[0083] By receiving the GPS satellite system 10 signal from the PTK base station 20 or the PTK mobile station 30 for observation, the double difference method is used to remove the influence of the atmospheric delay error to obtain the external differential data observation amount; a group of common-view stars are selected from the GPS satellite system 10 observed between the two stations through the external differential data observation amount, and the double difference method is used to remove the influence of the atmospheric delay error to obtain the common-view star observation amount;

[0084] The line of sight direction between each GPS satellite system 10 and the PTK mobile station 30 is calculated using the orbital parameters of the GPS satellite system 10 and the position of the PTK mobile station 30; if the line of sight direction of the GPS satellite system 10 points to the position area of ​​the PTK mobile station 30, the GPS satellite system 10 is within the visible range of the PTK mobile station 30 and is considered to be a visible GPS satellite system 10; channels are allocated to the visible GPS satellite systems 10, and the GPS satellite systems 10 of the allocated channels are received and tracked.

[0085] The ambiguity is initially searched through the carrier phase information of the continuous observation of carrier phase smoothing; and the double difference of the carrier phase is reduced by the double difference solution of the LAMBDA method; after the double difference of the carrier phase is reduced, the variance covariance matrix is ​​used for calculation. If the value of the non-diagonal element in the variance covariance matrix decreases, the number of ambiguity candidate values ​​decreases, thereby reducing the ambiguity search space;

[0086] The algorithm is further optimized by reducing the number of ambiguity candidate values. The single-difference carrier phase received by the two preset PTK mobile stations 30 from the GPS satellite system 10 is differentially calculated using the double-difference carrier phase to calculate the ambiguity value of the GPS satellite system 10. The multiple GNSS visible GPS satellite systems 10 are divided into a basic group and a secondary group, and an integer ambiguity search is performed on them.

[0087] The floating point solution of the integer ambiguity is calculated using the carrier phase observation value and the code pseudorange observation value. At the same time, the covariance matrix is ​​calculated to evaluate the reliability of the floating point solution of the integer ambiguity.

[0088] According to the multiple GPS satellite systems 10 visible in the basic group, a search space of the ambiguity domain is established, and a search is performed in this space, and the ambiguity value of each GPS satellite system 10 is combined with the carrier phase observation value to inversely calculate the corresponding phase pseudorange; the inversely calculated phase pseudorange value and the code pseudorange observation value are used to perform a least square adjustment to solve the floating point solution of the integer ambiguity of each GPS satellite system 10; the residual is calculated according to the floating point solution of the integer ambiguity of each GPS satellite system 10 and the inversely calculated phase pseudorange value and the square sum thereof is obtained;

[0089] According to the established search space of the ambiguity domain, the variance corresponding to the floating-point solution of each integer ambiguity is extracted from the diagonal of the covariance matrix, and the floating-point solutions of the two integer ambiguities with the smallest variance are found; the floating-point solutions of the two integer ambiguities with the smallest and second smallest posterior variances are selected to calculate the Ratio value; if the Ratio test result is less than a preset threshold, the observation data of the next epoch are used to perform a least squares search on the floating-point solutions of the remaining integer ambiguities; the above steps are repeated until the Ratio test result is greater than the threshold, so as to obtain the integer ambiguity. The experimental data of the present invention are shown in Table 1 below:

[0090] Table 1 Experimental data table of the present invention

[0091]

[0092] The present invention relates to the initialization and signal processing flow of a PTK mobile station, which mainly includes: server parameter initialization, starting closed-loop processing with baseband interrupt as a trigger source, capturing multiple GPS satellite signals through a binary star selection algorithm, performing telegram analysis and integrity detection, calculating PVT (position, speed and time), removing atmospheric delay errors by a double difference method, calculating ambiguity values ​​by double difference carrier phase and performing a ratio test to confirm the integer ambiguity, selecting satellites with high signal strength, and performing PVT solution by a least square method and a Kalman filter algorithm. The whole process ensures high-precision and high-reliability positioning and navigation. The present invention is compared with the prior art as shown in Table 2 below:

[0093] Table 2 Comparison between the present invention and the prior art

[0094]

[0095] Table 2 clearly demonstrates the advantages of the present invention in many aspects, especially improving the real-time performance, accuracy and reliability of the system.

[0096] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for locating live working personnel, characterized in that: include, Initialize the server parameters of the PTK mobile station, and the PTK mobile station starts the closed-loop processing process by using the baseband interrupt as the trigger source; Select the common-view star observation quantity, establish the double-difference observation equation, and calculate the ambiguity value between the PTK mobile station and the GPS satellite system through the double-difference carrier phase; According to the established search space of the ambiguity domain, the variance corresponding to the floating-point solution of the integer ambiguity is extracted from the diagonal of the covariance matrix to complete the positioning of the live working personnel.

2. The method for locating live working personnel according to claim 1, characterized in that: Initializing the server parameters of the PTK mobile station includes using the PTK mobile station to simultaneously track multiple GPS satellite systems, obtaining the channel signal strength of each GPS satellite system, performing initial screening and selection based on the channel signal strength, and screening out the GPS satellite systems whose channel signal strength is greater than the signal strength threshold during the initial screening to obtain multiple candidate GPS satellite systems; The strength of the received satellite signal is expressed as the signal-to-noise ratio (SNR). SNR is the ratio of the received signal power to the noise power. It is an important indicator for measuring signal quality. The signal strength is calculated by the receiver's observation data of the satellite signal. Generally, the larger the SNR value, the better the signal quality.

3. The method for locating live working personnel according to claim 2, characterized in that: The starting closed-loop processing flow includes performing a binary star selection algorithm in the closed-loop processing, capturing multiple GPS satellite system signals, tracking the current status of multiple GPS satellite system signals, performing telegram analysis and integrity detection; When the integrity of the GPS satellite system meets the preset conditions, all the current GPS satellite systems that meet the preset conditions are added to the satellite candidate set list, and the priority satellite evaluation is performed on the GPS satellite system positions in the current satellite candidate set list to obtain the GPS satellite system at the target position with the highest priority; Perform navigation solution on the GPS satellite system at the current target location, and perform channel control and long code control operations after navigation solution to control the tracking status and priority parameters of the GPS satellite system signal.

4. The method for locating live working personnel according to claim 3, characterized in that: The selecting of the common-view star observation quantity comprises establishing a double-difference observation equation; When the pseudorange, carrier phase and Doppler shift observations are affected by errors, the double difference observation equation is used to perform differential processing between the observations of the PTK mobile station and different GPS satellite systems. The double difference observation equations of pseudorange and carrier phase are as follows: The double difference observation equation of pseudorange is written as: ΔP=Δρ(ts, tr)+Δdtrop+ΔI / f2+ΔMP+ΔεP; The double difference observation equation of the carrier phase is written as: vΔφin=Δρ(ts,tr)+vΔdtrop-vΔI / f2+vΔMφ+vΔNin+vΔεφ Wherein, P is the pseudorange observation value (m); ρ is the geometric distance from the double-difference GPS satellite system to the PTK mobile station; ts is the time when the GPS satellite system signal is transmitted; tr is the time when the GPS satellite system signal is received; dtrop is the double-difference tropospheric error; I is the double-difference ionospheric error; f is the carrier frequency; MP is the double-difference multipath error; εP is the measurement noise of the pseudorange observation value; is the carrier phase observation value; λ is the carrier wavelength; N is the integer ambiguity; The noise is measured for the carrier phase observations.

5. The method for locating live working personnel according to claim 4, characterized in that: The ambiguity value includes using the double difference observation value of the dual-frequency carrier to clear the double difference residual error of the baseline length, calculating the ambiguity value between the PTK mobile station and the GPS satellite system through the double difference carrier phase, using the variance covariance matrix and the covariance matrix of the floating point solution to reduce the carrier phase observation value and the ambiguity value in the search space of the ambiguity, and obtaining the floating point solution of the integer ambiguity, extracting the floating point solution of the two integer ambiguities with the smallest variance through the covariance matrix, and using the Ratio test; If the result is greater than the preset threshold, an accurate floating-point solution of the integer ambiguity is obtained; In the closed-loop processing, a binary star selection algorithm is used to capture multiple GPS satellite system signals, and the status of the GPS satellite system signals is tracked to perform message analysis and integrity detection. After the message analysis and integrity detection, navigation solution is performed, and channel control and long code control operations are performed after the navigation solution. The specific operations are as follows: The PTK mobile station tracks multiple GPS satellite systems at the same time, obtains the channel signal strength of each GPS satellite system, and then performs initial screening and selection based on the channel signal strength. During the initial screening, the GPS satellite systems whose channel signal strength is greater than the signal strength threshold are screened out to obtain multiple candidate GPS satellite systems; It is calculated through the receiver's observation data of satellite signals. Generally, a larger SNR value means better signal quality.

6. The method for locating live working personnel according to claim 5, characterized in that: The said extracting the variance corresponding to the floating point solution of the integer ambiguity comprises performing a secondary verification on the alternative GPS satellite system, the PTK mobile station receives the GPS satellite system signal of the alternative selected GPS satellite system, performs code synchronization and frame synchronization through the received GPS satellite system signal, after the GPS satellite system signal undergoes code synchronization and frame synchronization, the PTK mobile station extracts the ephemeris information and almanac information of the GPS satellite system from the GPS satellite system signal; The PTK mobile station obtains the measurement values ​​corresponding to all timestamps of the received GPS satellite system through the carrier tracking loop and the code tracking loop, and extracts the original observation values ​​by combining the timestamps corresponding to the preset time period in the current GPS satellite system ephemeris information. The original observation values ​​include pseudorange observation value g1, Doppler frequency shift observation value g2, carrier phase observation value g3 and signal transmission time observation value g4 observation values; The PTK mobile station calls the verification message sending time in the timestamp corresponding to the above preset time period, and calculates the expected value of the local verification message receiving time according to the verification message sending time; The original measurement values ​​and the GPS message of the current candidate GPS satellite system received by the PTK mobile station are used to obtain the corresponding solution position of the current candidate star of the PTK mobile station through PVT solution, and the corresponding solution position of the current candidate star of the PTK mobile station is obtained through PVT algorithm.

7. The method for locating live working personnel according to claim 6, characterized in that: The method of completing the positioning of personnel working on live lines includes using the orbital parameters of the GPS satellite system and the position of the PTK mobile station to calculate the line of sight direction between the GPS satellite system and the PTK mobile station. If the line of sight direction of the GPS satellite system points to the location area of ​​the PTK mobile station, the GPS satellite system is within the visible range of the PTK mobile station and is regarded as a visible GPS satellite system. At this time, the GPS satellite system performs channel allocation, receives the GPS satellite system signal and tracks the GPS satellite system of the allocated channel, and based on the ranging of the P code, uses the dual observation quantity to increase the pseudorange weight in the solution, uses the pseudorange measurement to guide the solution of the carrier phase, speeds up the result of the floating-point solution of the integer ambiguity, and completes the positioning of personnel working on live lines.

8. A live-line worker positioning system, based on the live-line worker positioning method according to any one of claims 1 to 7, characterized in that: include, A processing module, which initializes the server parameters of the PTK mobile station, and the PTK mobile station starts a closed-loop processing flow by using the baseband interrupt as a trigger source; A calculation module selects common-view star observation quantities, establishes double-difference observation equations, and calculates the ambiguity value between the PTK mobile station and the GPS satellite system through double-difference carrier phases; The positioning module extracts the variance corresponding to the floating-point solution of the integer ambiguity from the diagonal of the covariance matrix based on the established search space of the ambiguity domain to complete the positioning of the live working personnel.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for locating live-line workers described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for locating live-line workers described in any one of claims 1 to 7 are implemented.

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