A municipal engineering measurement and positioning method, device and system

Abstract

The present application relates to the field of municipal engineering measurement and positioning technology, and specifically to a municipal engineering measurement and positioning method, device and system, the method comprising: comparing the difference in the receiving strength of satellite signals between the current measurement point and each of its characteristic reference stations, and determining a stable evaluation value in combination with the discrete degree of the receiving strength; constructing a signal attenuation deviation by analyzing the attenuation degree of signals on different carriers, and determining a correction weight in combination with the stable evaluation value; determining a correction observation distance based on the correction weight and the observation distance, and locating the current measurement point in the municipal engineering in combination with the intersection-and-combination ratio of all satellite numbers between the current measurement point and each of its characteristic reference stations, and the average differential data of all carriers in the satellite at each characteristic reference station. The present application aims to correct the distance from the satellite to the measurement point and improve the accuracy of municipal engineering measurement and positioning.

Description

Technical Field

[0001] The present application relates to the technical field of municipal engineering measurement and positioning, and in particular to a municipal engineering measurement and positioning method, device and system. Background Art

[0002] With the rapid development of cities today, municipal engineering is the core part of urban infrastructure construction, and the accuracy and efficiency of its measurement and positioning work are crucial. Traditional municipal measurement and positioning methods often face many limitations. For example, the accuracy of municipal engineering positioning is difficult to meet the needs of complex projects due to the influence of terrain, environment, and buildings. Beidou Satellite Navigation System is a global satellite navigation system independently developed by my country. In order to cope with high-precision positioning in municipal engineering, it often adopts carrier phase differential positioning, which can achieve centimeter-level positioning.

[0003] In the existing methods for improving carrier phase differential positioning, the influence of the external environment on the measurement accuracy of differential data is not considered during the actual differential positioning process, resulting in limited positioning accuracy in the actual process; and the difference in propagation path between the measuring point and the actual reference station, as well as the influence of differences in propagation characteristics of different frequency bands on the differential error, are not considered in the multi-satellite three-frequency combined positioning based on static positioning methods, which affects the positioning accuracy. Summary of the invention

[0004] In a first aspect, an embodiment of the present application provides a municipal engineering measurement and positioning method, the method comprising the following steps:

[0005] A positioning device is placed at the current measuring point in the municipal engineering project. For any satellite used to position the current measuring point, the reference station including the satellite among all the reference stations used to assist in positioning the current measuring point is recorded as a characteristic reference station. The signal strengths of the signals at the transmitting end and the receiving end of each carrier in the satellite at the current measuring point and all its characteristic reference stations are obtained, which are recorded as the transmitting strength and the receiving strength, respectively. The observed distance from the current measuring point to the satellite under each carrier in the satellite and the differential data of each carrier are obtained.

[0006] Compare the difference in the receiving strength of each carrier in the satellite between the current measuring point and its characteristic reference stations, and determine the stable evaluation value of each carrier in the satellite in the current measuring point by combining the discrete degree of the receiving strength of each carrier in the satellite at all characteristic reference stations of the current measuring point;

[0007] Compare the difference between the transmission strength and the reception strength of each carrier in the satellite at the current measuring point, determine the attenuation rate of each carrier in the satellite, analyze the proportion of the attenuation rate in the total attenuation rate of all carriers in the satellite, and determine the signal attenuation deviation of each carrier in the satellite at the current measuring point in combination with the difference between the attenuation rate and the mean attenuation rate of each carrier in the satellite at all characteristic reference stations at the current measuring point; determine the correction weight of each carrier in the satellite at the current measuring point based on the stability evaluation value and the signal attenuation deviation, and determine the corrected observation distance from the current measuring point to the satellite in combination with the observation distance;

[0008] Based on the intersection-and-combination ratio of all satellites between the current measuring point and its characteristic reference stations, and the average differential data of all carriers in the satellite at each characteristic reference station, and combined with the corrected observation distance, the corrected distance from the current measuring point to the satellite is determined, and the current measuring point in the municipal engineering project is positioned.

[0009] Preferably, the expression of the stability evaluation value of each carrier in the satellite at the current measurement point is: ; Indicates the stability evaluation value of the carrier i in the satellite at the current measurement point; It represents the ratio of the receiving strength of the satellite in carrier i at the current measuring point to the receiving strength of the satellite in carrier i at the jth characteristic reference station; Indicates the discrete degree of the receiving strength of the carrier i in the satellite at all characteristic reference stations of the current measurement point; Indicates the number of all characteristic reference stations of the current measuring point; Indicates a constant greater than 0; Represents an exponential function with a natural constant as a real number.

[0010] Preferably, the attenuation rate of each carrier in the satellite is the ratio of the transmission intensity to the reception intensity of each carrier in the satellite.

[0011] Preferably, the expression of the signal attenuation deviation of each carrier in the satellite at the current measurement point is: ; In the formula, Indicates the signal attenuation deviation of carrier i in the satellite at the current measurement point; Indicates the proportion of the attenuation rate of carrier i in the satellite at the current measurement point in the total attenuation rate of all carriers; Indicates the attenuation rate of carrier i in the satellite at the current measurement point; Represents the mean attenuation characteristic rate of carrier i in the satellite at all characteristic reference stations at the current measurement point.

[0012] Preferably, the correction weight of each carrier in the satellite at the current measurement point is the ratio of the stability evaluation value of each carrier in the satellite at the current measurement point to the signal attenuation deviation.

[0013] Preferably, the expression of the corrected observation distance from the current measuring point to the satellite is: ; In the formula, Indicates the corrected observation distance from the current measuring point to the satellite; represents the correction weight of carrier i in the satellite at the current measurement point; Indicates the observation distance from the current measuring point to the satellite under carrier i in the satellite; Indicates the number of all carriers in the satellite at the current measurement point.

[0014] Preferably, the method for determining the corrected distance from the current measuring point to the satellite is:

[0015] The intersection and union ratio of all satellite numbers between the current measurement point and each of its characteristic reference stations is recorded as the difference in the number of satellites between the current measurement point and each of its characteristic reference stations;

[0016] The result of multiplying the difference in the number of satellites between the current measurement point and each of its characteristic reference stations by the average differential data of all carriers in the satellite at the corresponding characteristic reference station is recorded as the differential correction product of the satellite at each characteristic reference station of the current measurement point;

[0017] The average value of the differential correction product of the satellite at all characteristic reference stations of the current measuring point is recorded as the differential correction mean value of the satellite at the current measuring point;

[0018] The difference between the corrected observed distance from the current measuring point to the satellite and the differential correction mean is taken as the corrected distance from the current measuring point to the satellite.

[0019] Preferably, the positioning of the current measuring point in the municipal engineering project includes:

[0020] For all satellites that locate the current measuring point, the corrected distances from the current measuring point to all the satellites are used as the input of the trilateration method, and the spatial coordinates of the current measuring point are output.

[0021] In the second aspect, an embodiment of the present application also provides a municipal engineering measurement and positioning device, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, it implements the steps of any one of the municipal engineering measurement and positioning methods described above.

[0022] In a third aspect, an embodiment of the present application provides a municipal engineering measurement and positioning system, the system comprising:

[0023] The data acquisition module is used to place a positioning device at the current measuring point in the municipal engineering project. For any satellite used to position the current measuring point, the reference station of the satellite included in all the reference stations used to assist in positioning the current measuring point is recorded as a characteristic reference station, and the signal strength of the signal at the transmitting end and the receiving end of each carrier in the satellite at the current measuring point and all its characteristic reference stations is obtained, which are recorded as the transmitting strength and the receiving strength respectively, and the observed distance from the current measuring point to the satellite under each carrier in the satellite and the differential data of each carrier are obtained;

[0024] A weight acquisition module is used to compare the difference in the receiving strength of each carrier in the satellite between the current measuring point and its characteristic reference stations, and to determine the stable evaluation value of each carrier in the satellite in the current measuring point in combination with the discrete degree of the receiving strength of each carrier in the satellite at all characteristic reference stations of the current measuring point;

[0025] Compare the difference between the transmission strength and the reception strength of each carrier in the satellite at the current measuring point, determine the attenuation rate of each carrier in the satellite, analyze the proportion of the attenuation rate in the total attenuation rate of all carriers in the satellite, and determine the signal attenuation deviation of each carrier in the satellite at the current measuring point in combination with the difference between the attenuation rate and the mean attenuation rate of each carrier in the satellite at all characteristic reference stations at the current measuring point; determine the correction weight of each carrier in the satellite at the current measuring point based on the stability evaluation value and the signal attenuation deviation, and determine the corrected observation distance from the current measuring point to the satellite in combination with the observation distance;

[0026] The satellite positioning module is used to determine the corrected distance from the current measuring point to the satellite based on the intersection ratio of all satellites between the current measuring point and its characteristic reference stations, and the average differential data of all carriers in the satellite at each characteristic reference station, and combined with the corrected observation distance, to locate the current measuring point in the municipal engineering project.

[0027] It can be seen from the above embodiments that the municipal engineering measurement and positioning method provided in the embodiments of the present application has at least the following beneficial effects:

[0028] This application constructs a stable evaluation value by comparing the difference in receiving intensity of satellite signals between the current measuring point and its characteristic reference stations, and combining the discrete degree of receiving intensity, which can more accurately evaluate the stability of each carrier when transmitting signals, which helps to identify more reliable carriers during signal transmission, thereby improving the accuracy of positioning data; further, by analyzing the attenuation degree of signals on different carriers, a signal attenuation deviation is constructed, which helps to identify more reliable carriers, and then according to the information transmitted by these carriers, the observation distance can be corrected more accurately, thereby improving the accuracy of differential positioning; further, this application constructs a correction weight by integrating the stable evaluation value and the signal attenuation deviation, and the correction weight can optimize the weight distribution according to the stability and attenuation characteristics of the carrier, so that the more reliable carrier occupies a larger proportion in the positioning calculation, thereby improving the overall quality of the observation data during the positioning process, and then improving the positioning accuracy. This application corrects the distance from the satellite to the measuring point by comprehensively considering the stability, attenuation characteristics and observation distance of the carrier, thereby improving the accuracy of municipal engineering measurement and positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A flowchart of a municipal engineering measurement and positioning method provided in one embodiment of the present application;

[0031] Figure 2 A schematic diagram of a process for obtaining a corrected observation distance provided in one embodiment of the present application;

[0032] Figure 3 A block diagram of a municipal engineering measurement and positioning system provided for one embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following is a detailed description of a municipal engineering measurement and positioning method, device and system proposed in accordance with the present application, its specific implementation method, structure, features and effects, in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0034] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0035] The following is a detailed description of a specific scheme of a municipal engineering measurement and positioning method, device and system provided by the present application in conjunction with the accompanying drawings.

[0036] See also Figure 1 , which shows a flowchart of a municipal engineering measurement and positioning method provided by an embodiment of the present application, the method comprising the following steps:

[0037] In traditional differential positioning technology, in order to improve the positioning accuracy of the measuring point, a base station is generally required for auxiliary positioning, wherein the spatial position of the base station is known, and the position of the satellite is calculated through the star power and the internal clock. Based on the difference between the observed value and the true value between the base station and the satellite, it can reflect the observation error caused by the satellite orbit error, atmospheric delay error and multipath effect during the actual transmission of the satellite signal. Under normal circumstances, a single base station can correct the error of the measuring point within a certain range of itself. The differential correction principle assumes that the transmission path of the satellite signal to the measuring point and the base station within a small range is basically the same, and assumes that the path delay between the two is basically the same. However, in the actual process, due to certain differences in the terrain environment and the atmospheric environment, the observation error between the base station and the measuring point does not match, resulting in reduced positioning accuracy.

[0038] In addition, carrier phase differential RTK technology is usually used in the differential positioning process, and there are single-frequency, dual-frequency and triple-frequency positioning methods in frequency selection. When obtaining the specific coordinates of the measuring point, it is necessary to meet the positioning of the measuring point by four or more satellites, among which the most important is to calculate the actual distance from the satellite to the measuring point and reduce the interference of signal transmission error on the distance. In this embodiment, the three-frequency combination positioning method is preferred.

[0039] In the three-frequency combination positioning, each Beidou satellite can reflect signals from multiple frequency bands to measure the actual distance from the satellite to the measuring point. In this embodiment, Beidou satellite positioning is selected, so in the preferred embodiment, B1C, B2a, and B3I frequency bands are selected for positioning. The center frequency of B1C is 1575.42MHz, the center frequency band of B2a is 1176.45, and the center frequency band of B3I is 1268.52MHz. The distance between the satellite and the measuring point can be measured for each frequency band. In the traditional measurement process, the measurement error is reduced by simple averaging. However, in the actual process, different frequency bands have different propagation characteristics during the transmission process due to different frequencies, so simple averaging is easy to increase the measurement error and affect the measurement accuracy.

[0040] In view of the above problems, this embodiment takes the current measuring point positioning measurement method in municipal engineering as an example to provide a detailed description, as follows:

[0041] S1: Place a positioning device at the current measuring point in the municipal engineering project. For any satellite used to position the current measuring point, record the reference station of the satellite in all the reference stations used to assist in positioning the current measuring point as a characteristic reference station. Obtain the signal strength at the transmitting and receiving ends of each carrier in the satellite at the current measuring point and all its characteristic reference stations, which are recorded as the transmitting strength and receiving strength respectively. Obtain the observed distance from the current measuring point to the satellite under each carrier in the satellite and the differential data of each carrier.

[0042] In municipal engineering, a positioning device is placed at the current measuring point and turned on. There are multiple satellites for positioning the current measuring point, and there are also multiple reference stations assisting the measuring point in positioning. Each reference station can obtain differential information of multiple satellites. Therefore, for any satellite that positions the current measuring point, the reference station that includes the satellite in all the reference stations that assist in positioning the current measuring point is recorded as a characteristic reference station, and the signal strength of the signal at the transmitting end and the receiving end of each carrier in the satellite at the current measuring point and all its characteristic reference stations is obtained, which are recorded as the transmitting strength and the receiving strength respectively, and the observed distance from the current measuring point to the satellite under each carrier in the satellite and the differential data of each carrier are obtained.

[0043] It should be noted that the differential data refers to the differential distance between the current measurement and the satellite. The differential distance is a well-known technology and the specific principle concept will not be repeated here.

[0044] In addition, it should be understood that since the present embodiment adopts triple-frequency combined positioning, each satellite can measure three carriers, that is, obtain the observation distances of the three carriers respectively.

[0045] S2: Compare the difference in the receiving strength of each carrier in the satellite between the current measuring point and its characteristic reference stations, and determine the stable evaluation value of each carrier in the satellite in the current measuring point by combining the discrete degree of the receiving strength of each carrier in the satellite at all characteristic reference stations of the current measuring point.

[0046] When using carrier phase for differential positioning, the positioning accuracy of the measuring point is low due to the influence of various propagation errors, among which the errors mainly include ionospheric error, tropospheric delay error, satellite ephemeris error and measurement error caused by receiver multipath effect. The most basic assumption for differential positioning is that the channel environment experienced by the satellite signal to the base station and to the measuring point carrier propagation is basically the same. However, in the actual process, there are slight differences in the signal environment of the two during the transmission of the carrier signal, which will affect the positioning accuracy. Therefore, in order to improve the positioning accuracy, it is necessary to construct an error compensation model, and the specific process is as follows:

[0047] In the actual measurement process, the carrier signal sent from a single satellite to the base station and the measuring point needs to pass through the ionosphere, stratosphere, troposphere, near-ground layer, etc. As the carrier signal gets closer to the ground, the possibility of channel differences between the base station and the measuring point increases, resulting in a large difference in the strength of the carrier signal received by the measuring point and the base station for the same satellite and the same frequency band. The greater the difference, the lower the signal stability of the frequency band. On the contrary, if the difference between the measuring point and the base station for the same satellite and the same frequency band is smaller, it means that the stability of the frequency band is better, and the channel environment of the two is closer during the transmission process.

[0048] Based on the above analysis, by comparing the difference in the receiving strength of each carrier in the satellite between the current measuring point and its characteristic reference stations, and combining the discrete degree of the receiving strength of each carrier in the satellite at all characteristic reference stations of the current measuring point, the stable evaluation value of each carrier in the satellite in the current measuring point is determined, specifically:

[0049] As an implementation method, in this embodiment, the stability evaluation value of the carrier i in the satellite at the current measurement point is The expression is: ; It represents the ratio of the receiving strength of the satellite in carrier i at the current measuring point to the receiving strength of the satellite in carrier i at the jth characteristic reference station; Indicates the discrete degree of the receiving strength of the carrier i in the satellite at all characteristic reference stations of the current measurement point; Indicates the number of all characteristic reference stations of the current measuring point; Indicates a constant greater than 0 to prevent the denominator from being 0; Represents an exponential function with a natural constant as a real number.

[0050] It should be noted that there are many methods for measuring the degree of discreteness of a set of data. In this embodiment, the standard deviation of the receiving intensity of the carrier i in the satellite at all the characteristic reference stations of the current measuring point is used as the discreteness of the receiving intensity of the carrier i in the satellite at all the characteristic reference stations of the current measuring point. In actual application, as other implementation methods, the implementer may also adopt other methods for measuring the degree of discreteness of data such as variance and dispersion coefficient. Regarding the selection of the method for measuring the degree of discreteness of data, this embodiment does not impose any special restrictions.

[0051] In addition, it is added that The value of is artificially set. The value of is 0.01. Under the premise of ensuring that the denominator is not 0 and does not excessively affect the calculation result, the implementer can also set it according to the specific situation. This embodiment does not impose any special restrictions.

[0052] It should be understood that the signal strength of the transmitted signal is generally greater than or equal to the signal strength of the received signal, that is, the transmitted strength is greater than or equal to the received strength. Less than 1.

[0053] According to the stability evaluation value of the carrier i in the satellite at the current measurement point It can be understood that if the discrete degree of the receiving strength of carrier i in the satellite at all characteristic reference stations of the current measuring point is smaller, it means that the signal strength fluctuation on the current carrier in the satellite is smaller, and the ratio of the receiving strength of the satellite in carrier i at the current measuring point to the receiving strength of the satellite in carrier i at the j-th characteristic reference station is smaller, it means that the channel difference of the current carrier in signal transmission is smaller, and the measured data is more stable, and therefore, the stability evaluation value is larger; conversely, if the discrete degree of the receiving strength of carrier i in the satellite at all characteristic reference stations of the current measuring point is larger, it means that the signal strength fluctuation on the current carrier in the satellite is larger, and the ratio of the receiving strength of the satellite in carrier i at the current measuring point to the receiving strength of the satellite in carrier i at the j-th characteristic reference station is larger, it means that the channel difference of the current carrier in signal transmission is larger, and the measured data is more unstable, and therefore, the stability evaluation value is smaller.

[0054] So far, by analyzing the difference in the receiving strength of each carrier in the satellite between the current measurement point and its characteristic reference stations, as well as the fluctuation degree of the receiving strength between different characteristic reference stations, a stable evaluation value is obtained.

[0055] S3: Compare the difference between the transmission strength and the receiving strength of each carrier in the satellite at the current measuring point, determine the attenuation rate of each carrier in the satellite, analyze the proportion of the attenuation rate in the total attenuation rate of all carriers in the satellite, and determine the signal attenuation deviation of each carrier in the satellite at the current measuring point in combination with the difference between the attenuation rate and the average attenuation rate of each carrier in the satellite at all characteristic reference stations at the current measuring point; determine the correction weight of each carrier in the satellite at the current measuring point based on the stability evaluation value and the signal attenuation deviation, and determine the corrected observation distance from the current measuring point to the satellite in combination with the observation distance.

[0056] In this embodiment, three-frequency combination positioning is selected, so that three carriers are used to locate the measurement point for a single satellite. In actual processes, the transmission characteristics of different carriers are different. For example, the satellite signal will be delayed in the ionosphere, and the higher the signal frequency, the smaller the delay of the signal in the ionosphere. In addition, near the ground, it is often affected by the multipath effect, among which the longer the wavelength of the carrier signal, the less affected by the multipath effect. Therefore, the carrier signal received by the measurement point positioning device is the result of the comprehensive influence of the channel environment, and the propagation characteristics of different frequency characteristics during the data transmission process are inconsistent. Specifically, for the carrier with less interference, the attenuation degree of the signal during the channel transmission process is lower, and thus, the ratio of the corresponding carrier received signal strength to the signal transmission strength is larger.

[0057] Based on the above analysis, the ratio of the transmission strength to the receiving strength of each carrier in the satellite at the current measurement point is taken as the attenuation rate of each carrier in the satellite at the current measurement point;

[0058] Further, the proportion of the attenuation rate in the total attenuation rate of all carriers in the satellite is analyzed, and the difference between the attenuation rate and the mean attenuation rate of each carrier in the satellite at all characteristic reference stations at the current measurement point is combined to determine the signal attenuation deviation of each carrier in the satellite at the current measurement point, specifically:

[0059] Signal attenuation deviation of carrier i in the satellite at the current measurement point The expression is: ; In the formula, Indicates the proportion of the attenuation rate of carrier i in the satellite at the current measurement point in the total attenuation rate of all carriers; Indicates the attenuation rate of carrier i in the satellite at the current measurement point; Indicates the average attenuation rate of all carriers in the satellite at the current measurement point.

[0060] According to the signal attenuation deviation of the carrier i in the satellite at the current measurement point It can be understood that if the attenuation rate of carrier i in the satellite at the current measuring point accounts for a larger proportion of the total attenuation rate of all carriers, it means that the signal attenuation of the signal transmitted on carrier i is more serious; at the same time, the greater the difference between the attenuation rate of carrier i in the satellite at the current measuring point and the average attenuation rate of all carriers in the satellite at the current measuring point, it means that the deviation of the signal attenuation rate of carrier i in the satellite at the current measuring point is larger relative to the average level, the more serious the attenuation of the signal when it is transmitted through carrier i, the greater the signal attenuation deviation obtained in the end;

[0061] On the contrary, if the attenuation rate of carrier i in the satellite at the current measuring point accounts for a smaller proportion of the total attenuation rate of all carriers, it means that the signal attenuation of the signal transmitted on carrier i is milder; at the same time, the difference between the attenuation rate of carrier i in the satellite at the current measuring point and the average attenuation rate of all carriers in the satellite at the current measuring point is smaller, indicating that the deviation of the signal attenuation rate of carrier i in the satellite at the current measuring point is smaller than the average level, the attenuation of the signal when transmitted through carrier i is milder, and the final signal attenuation deviation is smaller.

[0062] Furthermore, the ratio of the stable evaluation value of each carrier in the satellite at the current measuring point to the signal attenuation deviation is used as the correction weight of each carrier in the satellite at the current measuring point. The larger the stable evaluation value is, the larger the ratio of the stable evaluation value to the signal attenuation deviation is, which means that the current carrier's assessment of the satellite observation distance is more accurate, and the weight of the carrier should be increased.

[0063] Further, based on the stability evaluation value and the signal attenuation deviation, a correction weight of each carrier in the satellite at the current measurement point is determined, and combined with the observation distance, a correction observation distance from the current measurement point to the satellite is determined, specifically:

[0064] Corrected observation distance from the current measurement point to the satellite The expression is: ; In the formula, represents the correction weight of carrier i in the satellite at the current measurement point; Indicates the observation distance from the current measuring point to the satellite under carrier i in the satellite; Indicates the number of all carriers in the satellite at the current measurement point.

[0065] At this point, by integrating the stability of the transmission signals of different carriers in the satellite, the correction weight of each carrier in the satellite is obtained, and the corrected observation distance from the current measuring point to the satellite is obtained based on the correction weight.

[0066] Preferably, the schematic diagram of the correction observation distance acquisition process provided in this embodiment is as follows: Figure 2 shown.

[0067] S4: Based on the intersection-and-combination ratio of all satellite numbers between the current measuring point and its characteristic reference stations, and the average differential data of all carriers in the satellite at each characteristic reference station, and combined with the corrected observation distance, determine the corrected distance from the current measuring point to the satellite, and locate the current measuring point in the municipal engineering project.

[0068] Based on the corrected observation distance obtained in step S3, further, based on the intersection-and-joint ratio of all satellite numbers between the current measurement point and each of its characteristic reference stations, and the average differential data of all carriers in the satellite at each characteristic reference station, and combined with the corrected observation distance, the corrected distance from the current measurement point to the satellite is determined for positioning the measurement point, specifically:

[0069] The intersection and union ratio of all satellite numbers between the current measurement point and each of its characteristic reference stations is recorded as the difference in the number of satellites between the current measurement point and each of its characteristic reference stations;

[0070] Further, the result of multiplying the difference in the number of satellites between the current measurement point and each characteristic reference station thereof by the average differential data of all carriers in the satellite at the corresponding characteristic reference station is recorded as the differential correction product of the satellite at each characteristic reference station of the current measurement point;

[0071] The average value of the differential correction product of the satellite at all characteristic reference stations of the current measuring point is recorded as the differential correction mean value of the satellite at the current measuring point;

[0072] Furthermore, the difference between the corrected observed distance from the current measuring point to the satellite and the differential correction mean is taken as the corrected distance from the current measuring point to the satellite.

[0073] Furthermore, for all satellites that locate the current measuring point, the corrected distances from the current measuring point to all satellites are used as inputs of the trilateration method, and the spatial coordinates of the current measuring point are output.

[0074] Among them, the trilateration method is a well-known technology, and its specific principle will not be described in detail.

[0075] At this point, by correcting the distance between the satellite and the measuring point, the position of the measuring point is located based on the corrected distance, thereby improving the precision and accuracy of the positioning of the measuring point.

[0076] Based on the same inventive concept as the above method, an embodiment of the present application also provides a municipal engineering measurement and positioning device, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of any one of the above-mentioned municipal engineering measurement and positioning methods are implemented.

[0077] Based on the same inventive concept as the above method, the embodiment of the present application also provides a municipal engineering measurement and positioning system, including:

[0078] The data acquisition module is used to place a positioning device at the current measuring point in the municipal engineering project. For any satellite used to position the current measuring point, the reference station of the satellite included in all the reference stations used to assist in positioning the current measuring point is recorded as a characteristic reference station, and the signal strength of the signal at the transmitting end and the receiving end of each carrier in the satellite at the current measuring point and all its characteristic reference stations is obtained, which are recorded as the transmitting strength and the receiving strength respectively, and the observed distance from the current measuring point to the satellite under each carrier in the satellite and the differential data of each carrier are obtained;

[0079] A weight acquisition module is used to compare the difference in the receiving strength of each carrier in the satellite between the current measuring point and its characteristic reference stations, and to determine the stable evaluation value of each carrier in the satellite in the current measuring point in combination with the discrete degree of the receiving strength of each carrier in the satellite at all characteristic reference stations of the current measuring point;

[0080] Compare the difference between the transmission strength and the reception strength of each carrier in the satellite at the current measuring point, determine the attenuation rate of each carrier in the satellite, analyze the proportion of the attenuation rate in the total attenuation rate of all carriers in the satellite, and determine the signal attenuation deviation of each carrier in the satellite at the current measuring point in combination with the difference between the attenuation rate and the mean attenuation rate of each carrier in the satellite at all characteristic reference stations at the current measuring point; determine the correction weight of each carrier in the satellite at the current measuring point based on the stability evaluation value and the signal attenuation deviation, and determine the corrected observation distance from the current measuring point to the satellite in combination with the observation distance;

[0081] The satellite positioning module is used to determine the corrected distance from the current measuring point to the satellite based on the intersection ratio of all satellites between the current measuring point and its characteristic reference stations, and the average differential data of all carriers in the satellite at each characteristic reference station, and combined with the corrected observation distance, to locate the current measuring point in the municipal engineering project.

[0082] The embodiment of the present application provides a block diagram of a municipal engineering measurement and positioning system, such as Figure 3 shown.

[0083] It should be noted that the above sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above is a description of a specific embodiment of this specification. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0084] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0085] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application should be included in the protection scope of the present application.

Claims

1. A municipal engineering measurement and positioning method, characterized in that: The method comprises the following steps: A positioning device is placed at the current measuring point in the municipal engineering project. For any satellite used to position the current measuring point, the reference station including the satellite among all the reference stations used to assist in positioning the current measuring point is recorded as a characteristic reference station. The signal strengths of the signals at the transmitting end and the receiving end of each carrier in the satellite at the current measuring point and all its characteristic reference stations are obtained, which are recorded as the transmitting strength and the receiving strength, respectively. The observed distance from the current measuring point to the satellite under each carrier in the satellite and the differential data of each carrier are obtained. Compare the difference in the receiving strength of each carrier in the satellite between the current measuring point and its characteristic reference stations, and determine the stable evaluation value of each carrier in the satellite in the current measuring point by combining the discrete degree of the receiving strength of each carrier in the satellite at all characteristic reference stations of the current measuring point; Compare the difference between the transmission strength and the reception strength of each carrier in the satellite at the current measuring point, determine the attenuation rate of each carrier in the satellite, analyze the proportion of the attenuation rate in the total attenuation rate of all carriers in the satellite, and determine the signal attenuation deviation of each carrier in the satellite at the current measuring point in combination with the difference between the attenuation rate and the mean attenuation rate of each carrier in the satellite at all characteristic reference stations at the current measuring point; determine the correction weight of each carrier in the satellite at the current measuring point based on the stability evaluation value and the signal attenuation deviation, and determine the corrected observation distance from the current measuring point to the satellite in combination with the observation distance; Based on the intersection-and-combination ratio of all satellites between the current measuring point and its characteristic reference stations, and the average differential data of all carriers in the satellite at each characteristic reference station, and combined with the corrected observation distance, the corrected distance from the current measuring point to the satellite is determined, and the current measuring point in the municipal engineering project is positioned.

2. A municipal engineering measurement and positioning method as claimed in claim 1, characterized in that: The expression of the stability evaluation value of each carrier in the satellite at the current measurement point is: ; Indicates the stability evaluation value of the carrier i in the satellite at the current measurement point; It represents the ratio of the receiving strength of the satellite in carrier i at the current measuring point to the receiving strength of the satellite in carrier i at the jth characteristic reference station; Indicates the discrete degree of the receiving strength of the carrier i in the satellite at all characteristic reference stations of the current measurement point; Indicates the number of all characteristic reference stations of the current measuring point; Indicates a constant greater than 0; Represents an exponential function with a natural constant as a real number.

3. A municipal engineering measurement and positioning method as claimed in claim 1, characterized in that: The attenuation rate of each carrier in the satellite is the ratio of the transmission intensity to the reception intensity of each carrier in the satellite.

4. A municipal engineering measurement and positioning method as claimed in claim 1, characterized in that: The expression of the signal attenuation deviation of each carrier in the satellite at the current measurement point is: ; In the formula, Indicates the signal attenuation deviation of carrier i in the satellite at the current measurement point; Indicates the proportion of the attenuation rate of carrier i in the satellite at the current measurement point in the total attenuation rate of all carriers; Indicates the attenuation rate of carrier i in the satellite at the current measurement point; Represents the mean attenuation characteristic rate of carrier i in the satellite at all characteristic reference stations at the current measurement point.

5. A municipal engineering measurement and positioning method as claimed in claim 1, characterized in that: The correction weight of each carrier in the satellite at the current measurement point is the ratio of the stability evaluation value of each carrier in the satellite at the current measurement point to the signal attenuation deviation.

6. A municipal engineering measurement and positioning method as claimed in claim 1, characterized in that: The expression of the corrected observation distance from the current measuring point to the satellite is: ; In the formula, Indicates the corrected observation distance from the current measuring point to the satellite; represents the correction weight of carrier i in the satellite at the current measurement point; Indicates the observation distance from the current measuring point to the satellite under carrier i in the satellite; Indicates the number of all carriers in the satellite at the current measurement point.

7. A municipal engineering measurement and positioning method as claimed in claim 1, characterized in that: The method for determining the corrected distance from the current measuring point to the satellite is: The intersection and union ratio of all satellite numbers between the current measurement point and each of its characteristic reference stations is recorded as the difference in the number of satellites between the current measurement point and each of its characteristic reference stations; The result of multiplying the difference in the number of satellites between the current measurement point and each of its characteristic reference stations by the average differential data of all carriers in the satellite at the corresponding characteristic reference station is recorded as the differential correction product of the satellite at each characteristic reference station of the current measurement point; The average value of the differential correction product of the satellite at all characteristic reference stations of the current measuring point is recorded as the differential correction mean value of the satellite at the current measuring point; The difference between the corrected observed distance from the current measuring point to the satellite and the differential correction mean is taken as the corrected distance from the current measuring point to the satellite.

8. A municipal engineering measurement and positioning method as claimed in claim 1, characterized in that: The positioning of the current measuring point in the municipal engineering project includes: For all satellites that locate the current measuring point, the corrected distances from the current measuring point to all the satellites are used as the input of the trilateration method, and the spatial coordinates of the current measuring point are output.

9. A municipal engineering measurement and positioning device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of a municipal engineering measurement and positioning method as described in any one of claims 1-8 are implemented.

10. A municipal engineering measurement and positioning system, which implements a municipal engineering measurement and positioning method as claimed in claim 1, characterized in that: The system comprises: The data acquisition module is used to place a positioning device at the current measuring point in the municipal engineering project. For any satellite used to position the current measuring point, the reference station of the satellite included in all the reference stations used to assist in positioning the current measuring point is recorded as a characteristic reference station, and the signal strength of the signal at the transmitting end and the receiving end of each carrier in the satellite at the current measuring point and all its characteristic reference stations is obtained, which are recorded as the transmitting strength and the receiving strength respectively, and the observed distance from the current measuring point to the satellite under each carrier in the satellite and the differential data of each carrier are obtained; A weight acquisition module is used to compare the difference in the receiving strength of each carrier in the satellite between the current measuring point and its characteristic reference stations, and to determine the stable evaluation value of each carrier in the satellite in the current measuring point in combination with the discrete degree of the receiving strength of each carrier in the satellite at all characteristic reference stations of the current measuring point; Compare the difference between the transmission strength and the reception strength of each carrier in the satellite at the current measuring point, determine the attenuation rate of each carrier in the satellite, analyze the proportion of the attenuation rate in the total attenuation rate of all carriers in the satellite, and determine the signal attenuation deviation of each carrier in the satellite at the current measuring point in combination with the difference between the attenuation rate and the mean attenuation rate of each carrier in the satellite at all characteristic reference stations at the current measuring point; determine the correction weight of each carrier in the satellite at the current measuring point based on the stability evaluation value and the signal attenuation deviation, and determine the corrected observation distance from the current measuring point to the satellite in combination with the observation distance; The satellite positioning module is used to determine the corrected distance from the current measuring point to the satellite based on the intersection ratio of all satellites between the current measuring point and its characteristic reference stations, and the average differential data of all carriers in the satellite at each characteristic reference station, and combined with the corrected observation distance, to locate the current measuring point in the municipal engineering project.

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