RTK positioning equipment floating point solution correction positioning method

Abstract

The invention discloses an RTK positioning equipment floating point solution correction positioning method. According to the method, a solution interval is divided into a plurality of coordinate periods and sampling periods, and a rectangular plane coordinate system is constructed according to fixed solution position information; acquiring a course angle and a total plane acceleration vector of the RTK positioning equipment in each sampling period, and generating a plane coordinate of each sampling period according to the course angle, the total acceleration vector and a previous plane coordinate; taking the plane coordinate of the final sampling period as the final plane coordinate of the current coordinate period; height information is determined according to air pressure changes, and correction coordinates of the RTK positioning equipment are generated in combination with the final plane coordinates. By applying the technical scheme of the invention, the problem of inaccurate positioning after the RTK positioning equipment enters the floating solution state can be solved, so that the accuracy of the positioning position in the floating solution state is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of RTK real-time differential positioning, and in particular to a floating point solution correction positioning method for RTK positioning equipment. The present invention also relates to an RTK positioning equipment. Background Art

[0002] RTK (Real-Time Kinematic) carrier phase differential technology is a differential method for real-time processing of carrier phase observations of two measuring stations. The carrier phase collected by the base station is sent to the user receiver to calculate the coordinates. RTK real-time differential positioning technology consists of a base station, a mobile station, and a data link. The mobile station receives satellite data collected by the base station in real time through the data link, and receives satellite data itself, achieving centimeter-level positioning through the principle of relative positioning. This technology can be applied to the precise management of personnel and vehicles.

[0003] During the maintenance or expansion of the substation, it is necessary to monitor the position of the construction personnel and the crane boom and hook position. By installing RTK positioning equipment at the construction personnel and crane observation positions, accurate supervision of the construction personnel and cranes can be achieved. However, when the RTK positioning equipment is close to buildings or large transformers, it will jump out of the fixed solution state and enter the floating point solution state due to obstruction. Due to the reduction of the floating point solution accuracy, inaccurate positioning will occur. There are other reasons, such as the influence of the atmospheric ionosphere, the weakening of the received signal and the change of the satellite signal, which will cause the RTK positioning equipment to enter the floating point solution state, which will also affect the positioning accuracy of the RTK positioning equipment.

[0004] Therefore, how to avoid the problem of reduced positioning accuracy of the RTK positioning device after entering the floating point solution state has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] The present invention provides a floating point solution correction positioning method for an RTK positioning device, which can solve the problem of inaccurate positioning of the RTK positioning device after entering a floating point solution state, thereby ensuring the accuracy of the positioning position in the floating point solution state.

[0006] In order to achieve the above object, the present invention provides a floating point solution correction positioning method for an RTK positioning device, wherein the solution interval is divided into a plurality of coordinate periods according to a preset accuracy, and each of the coordinate periods is divided into a plurality of sampling periods, and the method further comprises:

[0007] Constructing a plane rectangular coordinate system according to the position information of multiple fixed solutions stored by the RTK positioning device before entering the floating point solution state;

[0008] Obtain the heading angle and the total planar acceleration vector of the RTK positioning device at the arrival of each sampling period, and generate the planar coordinates corresponding to each sampling period of the RTK positioning device in the planar rectangular coordinate system according to the heading angle, the total acceleration vector, and the planar coordinates of the previous sampling period;

[0009] Take the planar coordinates of the RTK positioning device in the last sampling period as the final planar coordinates of the current coordinate period;

[0010] After obtaining the final planar coordinates of the last coordinate period of the solution interval, determine the height of the RTK positioning device according to the atmospheric pressure value of the current RTK positioning device and the corresponding relationship between the preset temperature and atmospheric pressure, and generate the corrected coordinates of the RTK positioning device based on the height and the planar coordinates of the last sampling period.

[0011] Preferably, a planar rectangular coordinate system is constructed according to the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state, specifically:

[0012] Obtain the coordinates of the fixed solution positions stored by the RTK positioning device before entering the float solution state;

[0013] Take the coordinate with the earliest generation time among the coordinates as the origin of the planar rectangular coordinate system, and generate the initial total acceleration vector according to the other coordinates.

[0014] Preferably, the total acceleration vector includes the acceleration vector of the RTK positioning device along the heading angle direction and the acceleration vector perpendicular to the heading angle. Generating the planar coordinates corresponding to each sampling period of the RTK positioning device in the planar rectangular coordinate system according to the heading angle, the total acceleration vector, and the planar coordinates of the previous sampling period, specifically:

[0015] Determine the acceleration vector change value of the RTK positioning device during the sampling period according to the total acceleration vector;

[0016] Generate the movement vector of the RTK positioning device during the sampling period according to the acceleration vector change value;

[0017] Generate the planar coordinates of the sampling period according to the movement vector, the heading angle, and the planar coordinates of the previous sampling period.

[0018] Preferably, generating the planar coordinates of the sampling period according to the movement vector, the heading angle, and the planar coordinates of the previous sampling period, specifically:

[0019] Generate the projected distances of the RTK positioning device on the X-axis and Y-axis of the plane rectangular coordinate system according to the heading angle and the movement vector respectively;

[0020] Generate the plane coordinates of the sampling period according to the projected distances, the movement vector, the heading angle, and the plane coordinates of the previous sampling period.

[0021] Preferably, the correspondence between the air temperature and the atmospheric pressure is generated in the following manner:

[0022] Obtain the atmospheric pressure value and the altitude value on the ground of the RTK positioning device at the current temperature;

[0023] Generate the correspondence between different temperatures and atmospheric pressures through a preset generation strategy according to the atmospheric pressure value, the altitude value, and the value of the current temperature.

[0024] Preferably, before constructing a plane rectangular coordinate system based on the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state, it further includes:

[0025] If the RTK positioning device is in the fixed solution state, record and store the coordinates of the fixed solution position at preset time intervals;

[0026] And / or, if the RTK positioning device is in the fixed solution state and the RTK positioning device moves, record and store the coordinates of the fixed solution positions corresponding to the positions of the RTK positioning device before and after the movement.

[0027] On the other hand, the present invention also proposes an RTK positioning device, which includes:

[0028] A first determination module, configured to construct a plane rectangular coordinate system according to the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state;

[0029] A second determination module, which obtains the heading angle and the total plane acceleration vector of the RTK positioning device at each sampling period, and generates the plane coordinates corresponding to each sampling period of the RTK positioning device in the plane rectangular coordinate system according to the heading angle, the total acceleration vector, and the plane coordinates of the previous sampling period;

[0030] A third determination module, which takes the plane coordinates of the RTK positioning device in the last sampling period as the final plane coordinates of the current coordinate period;

[0031] Correction module, after obtaining the final plane coordinates of the last coordinate period of the solution interval, determines the height of the RTK positioning device according to the atmospheric pressure value of the current RTK positioning device and the preset correspondence between temperature and atmospheric pressure, and generates the correction coordinates of the RTK positioning device based on the height and the plane coordinates of the last sampling period.

[0032] Preferably, the first determination module is specifically configured to:

[0033] Obtain the coordinates of the fixed solution position stored by the RTK positioning device before entering the floating-point solution state;

[0034] Use the coordinate with the earliest generation time in the coordinates as the origin of the plane rectangular coordinate system, and generate the initial total acceleration vector according to the other coordinates.

[0035] Preferably, the second determination module is specifically configured to:

[0036] Determine the acceleration vector change value of the RTK positioning device during the sampling period according to the total acceleration vector;

[0037] Generate the movement vector of the RTK positioning device during the sampling period according to the acceleration vector change value;

[0038] Generate the plane coordinates of the sampling period according to the movement vector, the heading angle, and the plane coordinates of the previous sampling period.

[0039] Preferably, the device further includes:

[0040] At least one processor; and,

[0041] A memory communicatively connected to the at least one processor; wherein,

[0042] The memory stores instructions executable by the at least one processor, enabling the at least one processor to execute a wireless network speed measurement method.

[0043] The present application discloses a method for correcting the floating-point solution positioning of an RTK positioning device. The method divides the solution calculation interval into multiple coordinate periods and sampling periods, constructs a plane rectangular coordinate system according to the fixed solution position information; obtains the heading angle and the total vector of the plane acceleration of the RTK positioning device in each sampling period, and generates the plane coordinates of each sampling period according to the heading angle, the acceleration total vector, and the previous plane coordinates; takes the plane coordinates of the last sampling period as the final plane coordinates of the current coordinate period; determines the height information according to the air pressure change, and generates the corrected coordinates of the RTK positioning device in combination with the final plane coordinates. By applying the technical solution of the present application, the problem of inaccurate positioning after the RTK positioning device enters the floating-point solution state can be solved, so as to ensure the accuracy of the positioning position in the floating-point solution state. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 It is a schematic flowchart of a method for correcting the floating-point solution positioning of an RTK positioning device proposed by an embodiment of the present invention;

[0046] Figure 2 It is a schematic flowchart of a method for correcting the floating-point solution positioning of an RTK positioning device proposed by a specific embodiment of the present application;

[0047] Figure 3 It is a schematic diagram of plane data calculation of a method for correcting the floating-point solution positioning of an RTK positioning device proposed by a specific embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the layout of height calculation devices for a method for correcting the floating-point solution positioning of an RTK positioning device proposed by a specific embodiment of the present application;

[0049] Figure 5 It is a schematic diagram of the device composition structure of an RTK positioning device proposed by a specific embodiment of the present application;

[0050] Figure 6 It is a schematic diagram of the structure of an RTK positioning device proposed by a specific embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] As described in the background art, the RTK positioning device will jump out of the fixed solution state and enter the floating-point solution state due to external factors. Since the accuracy of the floating-point solution is reduced, it will lead to inaccurate positioning and affect the positioning accuracy of the RTK positioning device.

[0052] To solve the above problems, an RTK positioning device floating-point solution correction positioning method is proposed in an embodiment of the present application. This solution can solve the problem of inaccurate positioning after the RTK positioning device enters the floating-point solution state, thereby ensuring the accuracy of the positioning position in the floating-point solution state.

[0053] As Figure 1 shown, it is a schematic flowchart of the above RTK positioning device floating-point solution correction positioning method. Before introducing the specific solution, the concepts involved in the following text are introduced:

[0054] RTK: (Real-Time Kinematic) carrier phase differential technology, which is a differential method for real-time processing of carrier phase observations at two measurement stations. The carrier phase collected by the reference station is sent to the user receiver for differential solution to calculate coordinates.

[0055] Course angle: Usually also known as the course deviation angle, it refers to the orientation angle of the device relative to a certain reference direction and is usually used to describe the current moving orientation of the device.

[0056] Acceleration vector: The acceleration vector is a physical quantity used to describe the degree and direction of the change in velocity of an object during motion.

[0057] Specifically, the present invention aims to obtain a relatively continuous position change to obtain more accurate position information and ensure the positioning accuracy of the RTK positioning device. Therefore, before implementing the steps of this solution, it is necessary to divide the solution interval into multiple coordinate periods according to a preset accuracy and divide each of the coordinate periods into multiple sampling periods. The following is an introduction to the coordinate period and the sampling period:

[0058] Coordinate period: In one solution interval of the RTK positioning device position, the coordinate update process involves obtaining horizontal plane coordinates at multiple consecutive moments. The present invention refers to these consecutive moments as coordinate periods.

[0059] Sampling period: In one horizontal plane coordinate acquisition in the coordinate period, the coordinate acquisition process involves multiple consecutive sampling times. The present invention refers to the time period composed of these consecutive sampling times as the sampling period.

[0060] It should be noted that the above division method can be flexibly set by those skilled in the art based on actual situations, such as the number and time intervals of each period. These changes all fall within the protection scope of the present application.

[0061] In a specific implementation scenario of the present invention, it is assumed that the solution time of a solution interval T is 1 s. The solution interval T is divided into ten coordinate periods according to a preset accuracy of 1 / 10, and a coordinate period of 100 ms is obtained, that is, the coordinate position is updated every 100 ms. Then, the coordinate period is divided into two sampling periods t1 and t2 according to a preset accuracy of 1 / 2, and both t1 and t2 are 50 ms, that is, each update of the coordinate position after each coordinate period requires two sampling calculations with a time interval of 50 ms.

[0062] Specifically, on the above basis, the method includes the following steps:

[0063] Step S101: Construct a plane rectangular coordinate system according to the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state.

[0064] The present invention aims to facilitate the determination of subsequent coordinate changes. Therefore, through the stored position information of the fixed solutions, a specific plane rectangular coordinate system can be constructed, providing a reference benchmark for the position calculation of the RTK positioning device after entering the float solution state.

[0065] As described above, when the RTK positioning device is in the fixed solution state before entering the float solution state, it stores the position information of multiple fixed solutions. This step constructs a plane rectangular coordinate system through the stored position information of multiple fixed solutions. By combining the constructed plane rectangular coordinate system with the coordinate period and the sampling period, the position coordinates of the RTK positioning device after entering the float solution state are calculated and positioned.

[0066] It should be noted that since two points can determine a straight line, a plane rectangular coordinate system can be constructed through the position coordinates of two fixed solutions. Arbitrarily select two position coordinates from the position information of multiple fixed solutions to construct the X-axis of the plane rectangular coordinate system, and select the coordinate with an earlier generation time as the origin of the plane rectangular coordinate system, then a specific plane rectangular coordinate system can be constructed.

[0067] Step S102: Obtain the heading angle and the total plane acceleration vector of the RTK positioning device at each sampling period, and generate the plane coordinates corresponding to each sampling period of the RTK positioning device in the plane rectangular coordinate system according to the heading angle, the acceleration total vector, and the plane coordinates of the previous sampling period.

[0068] The present invention aims to accurately determine the positioning information of an RTK positioning device at different sampling periods. By obtaining the heading angle and the total vector of the planar acceleration of the RTK positioning device when it reaches each sampling period, and combining the movement information of the RTK positioning device with the planar coordinates determined in the previous sampling period, the planar coordinates of the RTK positioning device after the end of the current sampling period are calculated. By continuously calculating, the planar coordinates corresponding to each of the sampling periods of the RTK positioning device in the planar rectangular coordinate system can be generated.

[0069] It should be noted that when the sampling period is the first sampling period in the coordinate period, the planar coordinates obtained in the previous coordinate period are used as the planar coordinates of the previous sampling period; when the sampling period is the first sampling period in the first coordinate period, the planar coordinates of the final fixed solution position are used as the planar coordinates of the previous sampling period.

[0070] Step S103: Use the planar coordinates of the RTK positioning device in the last sampling period as the final planar coordinates of the current coordinate period.

[0071] The present invention aims to obtain relatively continuous coordinate changes. Therefore, the coordinate period is divided into multiple sampling periods. The planar coordinates calculated by the RTK positioning device in the last sampling period are the final planar coordinates of the current coordinate period. Based on the obtained final planar coordinates and the fixed solution position coordinates, the position information of the RTK positioning device in the plane compared to the fixed solution position after the end of the current coordinate period can be obtained.

[0072] Step S104: After obtaining the final planar coordinates of the last coordinate period of the solution interval, determine the height of the RTK positioning device according to the atmospheric pressure value of the current RTK positioning device and the preset corresponding relationship between temperature and atmospheric pressure, and generate the corrected coordinates of the RTK positioning device based on the height and the planar coordinates of the last sampling period.

[0073] The present invention aims to achieve precise positioning of the RTK positioning device. Since the position change of the RTK positioning device is a three-dimensional movement process, after obtaining the planar position information, it is also necessary to obtain the height change information. According to the atmospheric pressure value of the current RTK positioning device and the preset corresponding relationship between temperature and atmospheric pressure, based on the diversified atmospheric pressure formula, the height of the RTK positioning device can be calculated. Combining the height information change with the planar change information to generate the corrected coordinates of the RTK positioning device can achieve precise positioning of the RTK positioning device after entering the floating-point solution state.

[0074] In a specific implementation scenario of the present invention, the atmospheric pressure value and temperature on the current ground are obtained as the preset atmospheric pressure and air temperature. By collecting the atmospheric pressure value of the current RTK positioning device and combining it with the diversified atmospheric pressure formula, the height of the RTK positioning device at this time can be obtained. Based on the device height at this time and the planar coordinates of the last sampling period, the corrected coordinates of the current RTK positioning device are determined to ensure obtaining the accurate position information of the current RTK positioning device.

[0075] In order to construct a specific planar rectangular coordinate system for facilitating the calculation and determination of subsequent position information, a planar rectangular coordinate system is constructed according to the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state. Specifically:

[0076] Obtain the coordinates of the fixed solution position stored by the RTK positioning device before entering the float solution state;

[0077] Take the coordinate with the earliest generation time among the fixed solution position coordinates as the origin of the planar rectangular coordinate system, and generate the initial total acceleration vector according to the other coordinates.

[0078] In a specific implementation scenario of the present invention, after the RTK positioning device enters the fixed solution state, the current fixed solution position and the previous fixed solution position are stored in real time. When the RTK positioning device enters the float solution state, the last fixed solution position, that is, the current fixed solution position, is read as point A, and the previous fixed point position, that is, the fixed point position with an earlier generation time, is read as point O. The straight line determined by points A and O, that is, the vector direction is used as the X-axis of the planar rectangular coordinate system, and point O, that is, the coordinate with the earliest generation time, is used as the origin to construct the planar rectangular coordinate system. Let the fixed solution position point O be:

[0079] (x0, y0, z0),

[0080] The fixed solution position point A is:

[0081] (x1, y1, z1),

[0082] Then the coordinates of point A in the constructed planar rectangular coordinate system are:

[0083] (x1 - x0, y1 - y0).

[0084] When the RTK positioning device enters the float solution state, the total planar acceleration vector of point A is the initial total acceleration vector of the RTK positioning device when it reaches the first sampling period. By recording the acceleration vector a0 along the vector direction and the acceleration vector b0 perpendicular to the vector direction at this time, the initial total acceleration vector c0 of point A is obtained as c0 = a0 + b0.

[0085] For the convenience of calculation and obtaining the accurate total acceleration vector, the total acceleration vector includes the acceleration vector of the RTK positioning device along the course angle direction and the acceleration vector perpendicular to the course angle;

[0086] For example, after a sampling period t1, the RTK positioning device moves from point A to point B along the course angle θ, collects the acceleration vector a1 of point B along the course angle direction and the acceleration vector b1 perpendicular to the course angle direction, and obtains the total acceleration vector c1 of point B at this time as c1 = a1 + b1.

[0087] To obtain the accurate plane coordinates of the RTK positioning device corresponding to each sampling period in the plane rectangular coordinate system, the plane coordinates of the RTK positioning device corresponding to each sampling period in the plane rectangular coordinate system are generated according to the course angle, the total acceleration vector, and the plane coordinates of the previous sampling period, specifically as follows:

[0088] Determine the change value of the acceleration vector of the RTK positioning device during the sampling period according to the total acceleration vector;

[0089] Generate the movement vector of the RTK positioning device during the sampling period according to the change value of the acceleration vector;

[0090] Generate the plane coordinates of the sampling period according to the movement vector, the course angle, and the plane coordinates of the previous sampling period.

[0091] For example, during the sampling period t1, the change in the acceleration vector Δc = c0 + c1. Since the time t1 is extremely short, it can be considered that the change value of the acceleration vector within the time t1 is all Δc;

[0092] During the sampling period t1, according to the vector change value Δc and in combination with the following method:

[0093]

[0094] Determine the movement vector of the RTK positioning device during the sampling period t1

[0095] During the sampling period t1, the RTK positioning device moves from point A to point B along the plane course angle θ. According to the constructed plane rectangular coordinate system, the movement vector The plane course angle θ and the coordinates of point A, the plane coordinates of the RTK positioning device after the sampling period t1 can be obtained, that is, the coordinates of point B.

[0096] To obtain the plane coordinates after a certain sampling period, the plane coordinates of the sampling period are generated according to the movement vector, the course angle, and the plane coordinates of the previous sampling period, specifically as follows:

[0097] Generate the projection distances of the RTK positioning device on the X-axis and Y-axis of the plane rectangular coordinate system according to the heading angle and the movement vector respectively;

[0098] Generate the plane coordinates of the sampling period according to the projection distances, the movement vector, the heading angle, and the plane coordinates of the previous sampling period.

[0099] In a specific implementation scenario of the present invention, after a sampling period t1, the RTK positioning device moves from point A to point B along the plane heading angle θ. According to the vector change value Δc and the following method:

[0100]

[0101] Determine the movement vector of the RTK positioning device within the sampling period t1

[0102] According to the constructed plane rectangular coordinate system and the movement vector The plane heading angle θ, it can be determined that the projection distance of point B on the X-axis is The projection distance of point B on the Y-axis is Combined with the coordinates of point A in the current plane rectangular coordinate system being:

[0103] (x1 - x0, y1 - y0),

[0104] Obtain the plane coordinates of point B as:

[0105]

[0106] In order to obtain the real-time height of the RTK positioning device, the corresponding relationship between the air temperature and the atmospheric pressure is generated by the following method:

[0107] Obtain the atmospheric pressure value and height value of the RTK positioning device on the ground at the current temperature;

[0108] According to the atmospheric pressure value, the height value, and the value of the current temperature, generate the corresponding relationship between different temperatures and atmospheric pressures through a preset generation strategy.

[0109] Since the air pressure is related to the temperature and the air pressure is different at different temperatures, if only the standard atmospheric pressure at 25 degrees Celsius is used, there will be errors. In order to improve the product adaptability of the RTK positioning device, an RTK positioning device is placed on the ground, and the atmospheric pressure value at the ground at this time is collected and recorded as P1, and the current temperature T0 is collected. Combined with the following method:

[0110]

[0111] Where T0 = t0 + 273.2, where L is the standard temperature gradient of temperature varying with altitude, which is 0.0065 K / m, h is the altitude, g is the acceleration due to gravity, M is the average molar mass of air, and R is the gas constant.

[0112] From this, the atmospheric pressure P0 at different Celsius temperatures t0 is determined, realizing the correction of P0 at different temperatures. More accurate altitude can be obtained based on the accurate air pressure.

[0113] The present invention aims to ensure recording the coordinates of multiple fixed solution positions. Before constructing a plane rectangular coordinate system based on the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state, the preferred embodiment of the present invention can also obtain and store the position information of multiple fixed solutions at certain time intervals or due to position changes. Specifically, there are the following two solutions:

[0114] (1) If the RTK positioning device is in the fixed solution state, record and store the coordinates of the fixed solution position at a preset time interval. Recording at intervals of 1 s, 5 s or other preset time intervals can obtain relatively continuous and complete position data within a certain period of time to meet the requirements of subsequent analysis and applications.

[0115] (2) If the RTK positioning device is in the fixed solution state and the RTK positioning device moves, record and store the coordinates of the fixed solution positions corresponding to the positions of the RTK positioning device before and after the movement. By comparing and analyzing the fixed solution position information before and after the position change, the influence degree of the device movement on the measurement accuracy and position accuracy can be determined, and the accuracy and quality of the data can be improved. This method can also be used as a control group in data verification to ensure the accuracy and reliability of the data in actual application scenarios.

[0116] Compared with the prior art, this method divides the solution interval into multiple coordinate periods and sampling periods, constructs a plane rectangular coordinate system based on the fixed solution position information; obtains the heading angle and the total vector of the planar acceleration of the RTK positioning device in each sampling period, and generates the planar coordinates of each sampling period according to the heading angle, the acceleration total vector and the previous planar coordinate; takes the planar coordinate of the last sampling period as the final planar coordinate of the current coordinate period; determines the altitude information according to the air pressure change, and generates the corrected coordinates of the RTK positioning device in combination with the final planar coordinate. By applying the technical solution of the present application, the problem of inaccurate positioning after the RTK positioning device enters the float solution state can be solved, thereby ensuring the accuracy of the positioning position in the float solution state.

[0117] Next, the technical solutions in the present application will be clearly and completely described in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0118] The main steps in this specific embodiment are as Figure 2 shown, which is a schematic flowchart of the specific embodiment of the present application; the schematic diagram of plane calculation in this specific embodiment is as Figure 3 shown; the schematic diagram of the layout of height calculation devices in these specific steps is as Figure 4 shown; the schematic diagram of the device composition structure in these specific steps is as Figure 5 shown.

[0119] In this specific embodiment, assuming that the data solution interval T of the RTK positioning device, and the current device solution time is 1 s, which is divided into 10 coordinate periods, the coordinate period is obtained as 100 ms, that is, the coordinate position is updated every 100 ms. The coordinate period is divided into two sampling periods t1 and t2, then the coordinate period is (t1 + t2). Taking t1 as 50 ms and t2 as 50 ms, that is, each update of the coordinate position after each coordinate period requires two sampling calculations with a time interval of 50 ms.

[0120] Based on the above settings, the floating-point solution correction positioning scheme of the RTK positioning device mainly includes the following steps:

[0121] Step S201: Construct a plane rectangular coordinate system according to the position information of multiple fixed solutions stored by the RTK positioning device before entering the floating-point solution state, specifically including:

[0122] Step S2011: After the RTK positioning device enters the fixed solution state, store the current fixed solution position and the previous fixed solution position in real time.

[0123] As described above, record the current fixed solution position as point A and the previous fixed solution position as point O.

[0124] Step S2012: Use the coordinate with the earliest generation time in the coordinates as the origin of the plane rectangular coordinate system, and generate an initial total acceleration vector according to the other coordinates.

[0125] When the RTK positioning device has a floating-point solution, read the current fixed solution position point A:

[0126] (x1, y1, z1),

[0127] The previous fixed solution position point O:

[0128] (x0, y0, z0),

[0129] Select the x and y coordinates (x1, y1) of point A and the x and y coordinates (x0, y0) of point O respectively. With the vector direction as the X-axis direction, taking point O as the origin of the plane rectangular coordinate system, a plane rectangular coordinate system is constructed perpendicular to the X-axis. Then the coordinates of point A in the coordinate system are:

[0130] (x1 - x0, y1 - y0).

[0131] According to the acceleration vector a0 along the vector direction and the acceleration vector b0 perpendicular to the vector direction recorded at this time, determine the total acceleration vector c0 = a0 + b0 in the plane at this time.

[0132] Step S202: Obtain the heading angle and the total plane acceleration vector of the RTK positioning device at each sampling period, and generate the plane coordinates corresponding to each sampling period of the RTK positioning device in the plane rectangular coordinate system according to the heading angle, the acceleration total vector, and the plane coordinates of the previous sampling period. Specifically, it includes:

[0133] Step S2021: Determine the acceleration vector change value of the RTK positioning device during the sampling period according to the total acceleration vector.

[0134] After a very short sampling period t1, the RTK positioning device moves from point A to point B along the heading angle θ. According to the collected acceleration vector a1 along the heading angle direction and the acceleration vector b1 perpendicular to the heading angle direction of point B, determine the total acceleration vector c1 = a1 + b1 at this time. Then, within the sampling period t1, the acceleration vector change Δc = c0 + c1.

[0135] Step S2022: Generate the movement vector of the RTK positioning device during the sampling period according to the acceleration vector change value.

[0136] Since the time of the sampling period t1 is very short, it can be considered that the change of the acceleration vector within the time t1 is all Δc. According to the vector change value Δc and combined with the following method:

[0137]

[0138] Determine the movement vector of the RTK positioning device within the sampling period t1

[0139] Step S2023: Generate the plane coordinates of the sampling period according to the movement vector, the heading angle, and the plane coordinates of the previous sampling period.

[0140] From the planar heading angle θ and the movement vector the projected distance of the RTK positioning device on the X-axis can be determined as and the projected distance on the Y-axis is Combined with the coordinates of point A in the current planar rectangular coordinate system being:

[0141] (x1 - x0, y1 - y0),

[0142] the planar coordinates of point B are determined as:

[0143]

[0144] Step S2024: Determine the acceleration vector change value of the RTK positioning device within the sampling period according to the total acceleration vector.

[0145] After a very short sampling period t2, the RTK positioning device moves from point B to point C along the heading angle β. According to the collected acceleration vector a2 along the heading angle direction and the acceleration vector b2 perpendicular to the heading angle direction at point C, the total acceleration vector c2 at this time is determined as a2 + b2. Then, within the time from t1 to t2, the acceleration vector change Δc1 = c1 + c2.

[0146] Step S2025: Generate the movement vector of the RTK positioning device within the sampling period according to the acceleration vector change value.

[0147] Since the time of the sampling period t2 is very short, it can be considered that the change in the acceleration vector within the time from t1 to t2 is all Δc1. According to the vector change value Δc1 and combined with the following method:

[0148]

[0149] determine the movement vector of the RTK positioning device within the sampling period t2

[0150] Step S2026: Generate the planar coordinates of the sampling period according to the movement vector, the heading angle, and the planar coordinates of the previous sampling period.

[0151] Let the coordinates of point C in the constructed planar coordinate system be (x3, y3). Referring to the Figure 3 geometric relationship in the shown plane, it can be obtained that:

[0152]

[0153] After optimizing the above results, it can be obtained that:

[0154]

[0155] By the following method:

[0156] sin(a + b) = sin a cos b + cos a sin b,

[0157] Optimizing the above results gives:

[0158]

[0159] Similarly, we can obtain:

[0160]

[0161] Finally, determine the coordinates of point C:

[0162]

[0163] Step S203: Take the plane coordinates of the RTK positioning device in the last sampling period as the final plane coordinates of the current coordinate period;

[0164] The coordinates of point C in the last sampling period determined after the above step S2026:

[0165]

[0166] That is the plane coordinates of the current coordinate period. It can be understood that, according to the data calculation interval T of the current RTK positioning device being 1 s, it is divided into 10 (t1 + t2) coordinate periods, with t1 being 50 ms and t2 being 50 ms. By cycling according to the calculation method of step S202, the final point C of the RTK positioning device after the calculation interval T can be obtained 10 's horizontal plane coordinates.

[0167] Step S204: After obtaining the final plane coordinates of the last coordinate period of the calculation interval, determine the height of the RTK positioning device according to the atmospheric pressure value of the current RTK positioning device and the corresponding relationship between the preset temperature and atmospheric pressure, and generate the corrected coordinates of the RTK positioning device based on the height and the plane coordinates of the last sampling period, specifically including:

[0168] Step S2041: Obtain the atmospheric pressure value and height value of the RTK positioning device on the ground at the current temperature.

[0169] See the appendix Figure 4 As shown, place an RTK positioning device on the ground in advance, collect the atmospheric pressure value at the ground at this time and record it as P1, and collect the current temperature.

[0170] Step S2042: Generate the corresponding relationship between different temperatures and atmospheric pressures through a preset generation strategy according to the atmospheric pressure value, the altitude value, and the current temperature value.

[0171] According to the following method:

[0172]

[0173] Where L is 0.0065 K / m, T0 = t0 + 273.2. Thus, the atmospheric pressure P0 at different Celsius temperatures t0 is obtained, and the correction of P0 at different temperatures is realized. By reading the atmospheric pressure value P2 of the RTK mobile device at different times when it enters the floating-point solution state and combining the corrected P0, the altitude h of the RTK mobile device at the corresponding time can be calculated.

[0174] Step S2043: Generate the corrected coordinates of the RTK positioning device based on the altitude and the planar coordinates of the last sampling period.

[0175] Integrate C 10 (x, y, h) coordinates replace the floating-point solution of the RTK positioning device to complete the correction of the floating-point solution of the RTK positioning device.

[0176] Compared with the prior art, a method for correcting the floating-point solution positioning of an RTK positioning device proposed in the embodiment of the present application divides the solution interval into multiple coordinate periods and sampling periods, constructs a plane rectangular coordinate system according to the fixed solution position information; obtains the heading angle and the total planar acceleration vector of the RTK positioning device in each sampling period, and generates the planar coordinates of each sampling period according to the heading angle, the acceleration total vector, and the previous planar coordinate; uses the planar coordinates of the last sampling period as the final planar coordinates of the current coordinate period; determines the altitude information according to the air pressure change, and generates the corrected coordinates of the RTK positioning device in combination with the final planar coordinates. By applying the technical solution of the present application, the problem of inaccurate positioning after the RTK positioning device enters the floating-point solution state can be solved, so as to ensure the accuracy of the positioning position in the floating-point solution state.

[0177] Based on the same inventive concept as the above method, the embodiment of the present application also proposes an RTK positioning device. As Figure 6 shown, it is a schematic structural diagram of an RTK positioning device. The device includes:

[0178] A first determination module, configured to construct a plane rectangular coordinate system according to the position information of multiple fixed solutions stored by the RTK positioning device before entering the floating-point solution state;

[0179] A second determination module that obtains the heading angle and the total planar acceleration vector of the RTK positioning device at the arrival of each sampling period, and generates the planar coordinates corresponding to each of the sampling periods of the RTK positioning device in the planar rectangular coordinate system according to the heading angle, the acceleration total vector, and the planar coordinates of the previous sampling period;

[0180] A third determination module that uses the planar coordinates of the RTK positioning device in the last sampling period as the final planar coordinates of the current coordinate period;

[0181] A correction module that, after obtaining the final planar coordinates of the last coordinate period of the solution interval, determines the height of the RTK positioning device according to the atmospheric pressure value of the current RTK positioning device and the corresponding relationship between the preset temperature and atmospheric pressure, and generates the corrected coordinates of the RTK positioning device based on the height and the planar coordinates of the last sampling period.

[0182] In a specific application scenario, the first determination module is specifically configured to:

[0183] Obtain the coordinates of the fixed solution position stored by the RTK positioning device before entering the float solution state;

[0184] Use the coordinate with the earliest generation time among the coordinates as the origin of the planar rectangular coordinate system, and generate an initial total acceleration vector according to the other coordinates.

[0185] In a specific application scenario, the second determination module is specifically configured to:

[0186] Determine the acceleration vector change value of the RTK positioning device within the sampling period according to the total acceleration vector;

[0187] Generate a movement vector of the RTK positioning device within the sampling period according to the acceleration vector change value;

[0188] Generate the planar coordinates of the sampling period according to the movement vector, the heading angle, and the planar coordinates of the previous sampling period.

[0189] In a specific application scenario, the device further includes:

[0190] At least one processor; and,

[0191] A memory communicatively connected to the at least one processor; wherein,

[0192] The memory stores instructions that can be executed by the at least one processor, so that the at least one processor can execute an RTK positioning device float solution correction positioning method.

[0193] Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented by hardware or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various implementation scenarios of the present invention.

[0194] Those skilled in the art can understand that the drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the drawings are not necessarily essential for implementing the present invention.

[0195] Those skilled in the art can understand that the modules in the devices in the implementation scenarios can be distributed in the devices in the implementation scenarios according to the description of the implementation scenarios, or can be correspondingly changed to be located in one or more devices different from the present implementation scenario. The modules in the above implementation scenarios can be combined into one module, or can be further split into multiple sub-modules.

[0196] The above serial numbers of the present invention are only for description and do not represent the advantages or disadvantages of the implementation scenarios.

[0197] The above discloses only several specific implementation scenarios of the present invention. However, the present invention is not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A floating-point solution correction positioning method for an RTK positioning device, characterized in that, Divide the solution interval into multiple coordinate periods according to a preset precision and divide each of the coordinate periods into multiple sampling periods. The method further includes: Construct a plane rectangular coordinate system based on the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state; Obtain the heading angle and the total plane acceleration vector of the RTK positioning device when reaching each sampling period, and generate the plane coordinates corresponding to each sampling period of the RTK positioning device in the plane rectangular coordinate system according to the heading angle, the acceleration total vector, and the plane coordinates of the previous sampling period; Take the plane coordinates of the RTK positioning device in the last sampling period as the final plane coordinates of the current coordinate period; After obtaining the final plane coordinates of the last coordinate period of the solution interval, determine the height of the RTK positioning device according to the atmospheric pressure value of the current RTK positioning device and the corresponding relationship between the preset temperature and the atmospheric pressure, and generate the corrected coordinates of the RTK positioning device based on the height and the plane coordinates of the last sampling period.

2. The method according to claim 1, characterized in that Construct a plane rectangular coordinate system based on the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state, specifically: Obtain the coordinates of the fixed solution positions stored by the RTK positioning device before entering the float solution state; Take the coordinate with the earliest generation time among the coordinates as the origin of the plane rectangular coordinate system, and generate an initial total acceleration vector according to the other coordinates.

3. The method according to any one of claims 1 or 2, characterized in that, The total acceleration vector includes the acceleration vector of the RTK positioning device along the heading angle direction and the acceleration vector perpendicular to the heading angle. Generate the plane coordinates corresponding to each sampling period of the RTK positioning device in the plane rectangular coordinate system according to the heading angle, the total acceleration vector, and the plane coordinates of the previous sampling period, specifically: Determine the change value of the acceleration vector of the RTK positioning device within the sampling period according to the total acceleration vector; Generate the movement vector of the RTK positioning device within the sampling period according to the change value of the acceleration vector; Generate the plane coordinates of the sampling period according to the movement vector, the heading angle, and the plane coordinates of the previous sampling period.

4. The method according to claim 3, wherein Generate the plane coordinates of the sampling period according to the movement vector, the heading angle, and the plane coordinates of the previous sampling period, specifically: Generate the projection distances of the RTK positioning device on the X-axis and Y-axis of the plane rectangular coordinate system according to the heading angle and the movement vector respectively; Generate the plane coordinates of the sampling period according to the projection distances, the movement vector, the heading angle, and the plane coordinates of the previous sampling period.

5. The method according to claim 4, wherein The corresponding relationship between the temperature and the atmospheric pressure is generated by the following method: Obtain the atmospheric pressure value and the height value of the RTK positioning device on the ground at the current temperature; Generate the corresponding relationship between different temperatures and atmospheric pressures through a preset generation strategy according to the atmospheric pressure value, the height value, and the value of the current temperature.

6. The method according to claim 2, wherein Before constructing a rectangular plane coordinate system based on the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state, the following steps are also included: If the RTK positioning device is in the fixed solution state, record and store the coordinates of the fixed solution position at a preset time interval; And / or, if the RTK positioning device is in the fixed solution state and the RTK positioning device moves, record and store the coordinates of the fixed solution positions corresponding to the positions of the RTK positioning device before and after the movement.

7. An RTK positioning device, characterized in that, It includes: A first determination module, configured to construct a rectangular plane coordinate system based on the position information of multiple fixed solutions stored by the RTK positioning device before entering the float solution state; A second determination module, which obtains the heading angle and the total vector of the planar acceleration of the RTK positioning device at each sampling period, and generates the planar coordinates corresponding to each sampling period of the RTK positioning device in the rectangular plane coordinate system according to the heading angle, the acceleration total vector, and the planar coordinates of the previous sampling period; A third determination module, which takes the planar coordinates of the RTK positioning device in the last sampling period as the final planar coordinates of the current coordinate period; A correction module, after obtaining the final planar coordinates of the last coordinate period of the solution interval, determines the height of the RTK positioning device according to the atmospheric pressure value of the current RTK positioning device and the corresponding relationship between the preset temperature and atmospheric pressure, and generates the corrected coordinates of the RTK positioning device based on the height and the planar coordinates of the last sampling period.

8. An apparatus according to claim 7, wherein The first determination module is specifically configured to: Obtain the coordinates of the fixed solution position stored by the RTK positioning device before entering the float solution state; Use the coordinate with the earliest generation time among the coordinates as the origin of the rectangular plane coordinate system, and generate an initial total acceleration vector according to the other coordinates.

9. An apparatus according to claim 8, wherein The second determination module is specifically configured to: Determine the change value of the acceleration vector of the RTK positioning device during the sampling period according to the total acceleration vector; Generate a movement vector of the RTK positioning device during the sampling period according to the change value of the acceleration vector; Generate the planar coordinates of the sampling period according to the movement vector, the heading angle, and the planar coordinates of the previous sampling period.

10. An apparatus according to claim 7, characterized in that, The device further includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, so that the at least one processor can execute a method for correcting the float solution positioning of an RTK positioning device according to any one of claims 1-6.

Images