104 results about "Virtual Reference Station" patented technology

The invention discloses a method for positioning a network RTK based on a star-shaped virtual reference station, which comprises the steps of: firstly, establishing a star-shaped basic calculation unit, constructing a baseline calculation way for a star-shaped VRS network RTK and proposing an ambiguity calculation method suitable for the star-shaped VRS network RTK; and then studying the algorithm of the corrections of the ionosphere and the troposphere in the VRS network RTK aiming at the star shape. The method markedly increases the calculation speed on the network ambiguity by about 50% and has higher accuracy and reliability of the generated network correction.

Methods and apparatus are described and illustrated for producing GPS corrections, comprising: collecting measurements from a plurality of network reference stations; determining network corrections from the measurements; determining residual errors at one or more vernier-cell reference stations; and preparing vernier-cell corrections to compensate the residual errors within a vernier-cell region. Network correction streams are described and illustrated which contain network corrections derived from a plurality of network reference stations and residual error corrections derived from one or more vernier-cell reference stations. Methods and apparatus are described for employing such network correction streams in a virtual reference station to produce corrections and / or virtual measurements for use in a GPS receiver.

The invention discloses a BDS / GPS high-accuracy positioning method, relating to the field of satellite navigation. The method includes establishing a virtual reference station, acquiring the common-view satellite ephemeris and the satellite observation data received by a reference station Bi and a roving station M, and acquiring the geometry distance between the satellite and the reference station Bi; acquiring the pseudo range correction number of the reference station Bi; interpolating the pseudo range correction number of the virtual reference station by means of an algorithm of inverse distance to a power; interpolating the pseudo range correction number of the roving station by the roving station by means of an algorithm of inverse distance to a power; correcting the satellite pseudo range observation data received by the roving station by means of the pseudo range correction number of the roving station; and establishing a roving station satellite pseudo range observation equation to obtain the accurate coordinate of the roving station to complete the positioning. According to the invention, the safety hidden troubles of information leakage of the reference station because a multi-reference difference positioning method in the prior art must use the accurate coordinate of the reference station can prevented, and high-accuracy positioning is obtained.

Method and apparatus for providing GPS pseudorange correction and carrier phase correction information for navigation or surveying activities over a selected geographic region S of arbitrary size. In a navigation mode, a virtual reference station (VRS), positioned near a selected location L, receives differential GPS (DGPS) correction signals, translates these signals into a selected format, and broadcasts this DGPS information in this format for use by a local user. In a survey mode, the VRS receives corrected GPS information, translates this information into a selected format and broadcasts this translated and corrected GPS information and the VRS location, for use by a mobile station in forming a baseline vector from the GPS mobile station to the VRS location.

The invention provides a broadcast-type network RTK positioning technology, and the technology comprises the steps: determining a virtual reference station position through grid dividing; calculating the observation data of the virtual reference station position; enabling a data center to broadcast differential correction number information to users through a unidirectional communication network; enabling a user terminal to receive a grid table and the observation data of the corresponding virtual reference station position, reforming the RTCM format of data of VRS data, and calculating a positioning results. The technology accords with the VRS data processing principle, employs the conventional GNSS reference station facility, just carries out proper modification of data processing software and data calculating software in moving station equipment, can achieve the centimeter-level real-time positioning, and can be widely used in many industries because the technology is small in introduction investment, is high in adaptability, is good in privacy and is infinite in number of users.

The invention relates to a high-precision deformation monitoring method of a wide-area electric iron tower based on a Beidou system. The high-precision deformation monitoring method comprises the following steps: judging whether real-time dynamic centimeter-grade monitoring requirements are met or not according to monitoring precision of a Beidou foundation CORS network; if so, obtaining iron tower monitoring data through a network RTK virtual reference station method; otherwise, obtaining the iron tower monitoring data through a double-monitoring-point base line attitude measurement method; processing and analyzing the monitoring data, and calculating an inclined angle and a sedimentation value of the iron tower; if the inclined angle and the sedimentation value of the iron tower exceed limit requirements of operating regulations of a power transmission line, determining a tower position coordinate and issuing a field inspection and maintenance instruction; if the inclined angle and the sedimentation value of the iron tower do not exceed the requirements of the operating regulations of the power transmission line, judging an inclining trend of the iron tower. The monitoring method provided by the invention can be used for carrying out all-weather, all-time and automatic monitoring on the wide-area electric iron tower; potential safety hazards are found and warned in time, and the manual inspection cost is effectively reduced.

This invention provides one method, system and device for mobile station accurate guiding, which comprises the following steps: a, mobile station sends difference data require and its current GPS data through wireless communication net to control center; b, the center forms virtual reference station according to mobile station and using data process center for correction data through wireless communication new to feed back data to mobile station; c, the said mobile station computes accurate GPS position data for guiding according to the correction data and its GPS position data.

The invention provides a high-precision positioning method and system for protecting location privacy of users. The method includes the following steps: a terminal reports a mobile communication basestation ID to a server instead of reporting NMEA GGA data; the server establishes a corresponding relationship between the mobile communication base station ID and a location of a mobile communicationbase station in advance, and stores the corresponding relationship in a base station ID and location database; the server finds the location of the mobile communication base station according to themobile communication base station ID reported by the terminal; the server matches a corresponding virtual reference station grid according to the location of the mobile communication base station; andthe server broadcasts differential correction data corresponding to the virtual reference station grid to the terminal according to the matched virtual reference station grid. According to the high-precision positioning method and system provided by the invention, location privacy data of the users can be effectively protected technically.

The invention relates to a multi-port regional gridding VRS (Virtual Reference Station) differential positioning information broadcasting device and a work method thereof, belonging to the field of measuring methods. The multi-port regional gridding VRS differential positioning information broadcasting device comprises a network RTK (Real Time Kinematic) system reference station, a data processing center and a data FM (Frequency Modulation) broadcasting unit, wherein the network RTK system reference station is connected with a data processing center server through optical fiber, and the data processing center server is connected with the data FM broadcasting unit through a serial port; and the data FM broadcasting unit is used for carrying out FM broadcasting on differential correction data packaged by a UDP (User Datagram Protocol). The work method comprises the steps of: receiving network RTK system reference station information by the data processing center, and dividing grids for the covered region of the network RTK system reference station; then solving all differential correction information of all grid virtual reference stations by utilizing a VRS algorithm, and then appointing an unique UDP port number for each grid virtual reference station and packaging the differential correction information by using the UDP protocol; finally, carrying out FM broadcasting on the UDP data packets, three-dimensional coordinates and UDP port numbers of all the grid virtual reference stations through the data FM broadcasting unit.

The invention relates to a common view principle-based unilateral time transmission method. The method is characterized in that the common view principle and a virtual reference station principle are applied to the time transmission of a forwarding satellite navigation system, wherein the main reason for influencing the time transmission accuracy is ephemeris error and ionospheric additional time delay correction error when the tropospheric refraction time delay correction is performed at a client; and the ionospheric error and the ephemeris error are corrected by using virtual reference station technology and common view technology so as to realize the time transmission accuracy of 2ns. The invention provides the common view principle-based unilateral time transmission method, which can improve the time transmission method, improve the time transmission accuracy and provide time synchronization required for synchronously and precisely measuring the synchronization between ground stations of the satellite navigation system, between rail system external field stations and between time keeping laboratories.

The invention provides a satellite navigation system-based gridded accurate positioning service method and system. With the satellite navigation system-based gridded accurate positioning service method and system adopted, the technical problem of limited user carrying capacity which is caused by a condition that existing accurate positioning services are limited by hardware resources can be solved. The method includes the following steps that: virtual reference stations are set according to grid vertexes formed by a reference station, and the periodic virtual observation data of the virtual reference stations are formed according to the real-time observation data of the reference station, and the virtual observation data are cached; and a user positioning request is responded, a determinedvirtual reference station is obtained according to relevancy between the virtual reference stations and a user position, and the virtual observation data of the determined virtual reference station are fed back to a user. According to the method and system of the invention, the continuous virtual observation data of all the virtual reference stations are actively formed in a precise positioning area through dynamic gridding so as to form unified differential information resources in a service area; and therefore, a user response process in the prior art is improved, the network gridding dynamic update calculation of the VRS (Virtual Reference Station) is realized; and the calculation capacity of a platform is optimized to the greatest extent.

The invention relates to a method for correcting positioning errors by means of wide area weighting of pseudorange differentials. Pseudorange correction is subjected to simulation verification by means of weighted average of pseudorange differentials of M reference stations closest to users by the users, the pseudorange differentials and the virtual reference station technique are combined to control influences of ephemeris errors and ionized layer errors on positioning within a certain range by means of the technique of wide area weighting of the pseudorange differentials at the virtual reference stations, and pseudorange differentials with precision superior to 0.5m can be finally realized. Further, high-precision positioning can be realized, accuracy in positioning is guaranteed, and the application range of conventional pseudorange differentials is widened.

The invention relates to the field of wireless communication, and provides a method and a system for high-precision positioning for a common mobile terminal. The method comprises the following steps that: A, the mobile terminal sends positioning request and current GPS positioning data of the mobile terminal to a control center in real time through a wireless communication network; B, the controlcenter calculates a virtual reference station according to the current position of the mobile terminal, and calculates a high-precision positioning result of the mobile terminal by using a data processing center; and C, the control center sends the high-precision positioning result to the mobile terminal in real time through the wireless communication network. The method and the system calculate the high-precision positioning result of the mobile terminal by using the data processing center, and realize real-time data transmission by using the wireless communication network, thereby realizingthe high-precision positioning of the common mobile terminal.

Provided is a miniature unmanned plane RTK relative positioning method based on difference air pressure height constraints, comprising: installing GNSS receivers of a same model, antennas, barometric leveling sensors and radio stations both on a reference station and a mobile station; transmitting the GNSS original observed value of the mobile station to the reference station, and performing difference recursion treatment on the original observed value of the reference station; employing an LAMBDA algorithm to determine N baseline vector residence values, respectively calculating the difference vector with a baseline vector floating point solution, and performing ordering again according to the absolute value sum of north and east components; transmitting the barometric height of the mobile station to the reference station through the radio stations, and performing difference with the barometric height of the reference station to obtain a difference height; and successively examining the sky direction component of a baseline vector fixed solution, and determining a relative position if meeting difference height constrains. The miniature unmanned plane RTK relative positioning method can utilize the difference height information of the reference station and the mobile station to discriminate a correct baseline vector fixed solution, does not need to use a measurement type receiver with a multi-path inhibition function, and can be used for low cost RTK application.

The invention relates to a Beidou continuously operating reference station (CORS) compatible bus precise positioning system. The Beidou continuously operating reference station (CORS) compatible bus precise positioning system includes a Beidou CORS compatible bus precise positioning terminal, a CORS positioning system, a communication service center and a bus background management system; the Beidou CORS compatible bus precise positioning terminal includes a CPU module, a power source module, a Beidou / GPS dual-mode positioning module, an inertial navigation positioning module, a 3G / 4G communication module, a touch screen display module and a storage module; and the CORS positioning system includes a base station, a data processing center and a communication gateway 1. According to the Beidou continuously operating reference station (CORS) compatible bus precise positioning system of the invention, the GPS and the CORS are combined together, and therefore, the effectiveness and integrity of the system can be improved; the defect of incapability of performing position when a bus enters a GPS blind area can be eliminated, and vehicle real-time accurate positioning can be realized, and positioning accuracy can reach a centimeter level; accurate positioning data which are obtained in real time are transmitted to a background management center so as to be stored, and therefore, reliable data can be provided for the generation of bus roads.

The invention provides a pierce point-based regional augmentation system real-time ionosphere modeling method. The method includes the following steps that: a base station network solution model is established, so that dual-frequency carrier phase ambiguity is obtained; a double-difference mode to non-difference mode ionosphere delay decomposition model is established based on the dual-frequency carrier phase ambiguity; and a pierce point deployed vertical ionosphere delay inter-station model is established, a set of model parameters with a master station adopted as a center is obtained. According to the pierce point-based regional augmentation system real-time ionosphere modeling method of the invention, double-difference ionosphere delay is decomposed to non-difference ionosphere delay; the relevance model of observation stations is built at a pierce point of a satellite and observation station sight line and the thin layer of the ionosphere, so that a set of model parameters in a whole area with the master station adopted as the center can be obtained; the correction number of the ionosphere can be calculated according to the position of a virtual reference station (VRS); and the correction number of the ionosphere is sent to a user through a double-difference mode converted from the non-difference ionosphere delay. The theoretical model of the algorithm is more rigorous than that of an existing algorithm. With the algorithm of the invention adopted, the problem of large interpolation error when the ionosphere is active can be solved to a certain extent.

The invention provides a method for acquiring coordinates based on a continuous operational reference system (CORS) in real time, and relates to a method for acquiring a specific reference Gaussian plane rectangular coordinate based on the CORS by using general packet radio service (GPRS) (or code division multiple access (CDMA)) communication technologies in real time. According to the invention, a middle server is arranged between a mobile station and a server for bi-directionally communicating with the mobile station and the server respectively, decoding virtual reference station (VRS) difference information which is generated by the server, and appropriately changing the coordinates (X, Y, Z) so that a user of the mobile station cannot acquire the real world geodetic system (WGS) 84 coordinate; corresponding false parameters are set on a holding book of the mobile station so as to acquire the specific reference Gaussian plane rectangular coordinate and avoid real parameters issuing. By the system, software, hardware and use habit of the user are not changed; the specific reference Gaussian plane rectangular coordinate is acquired; and elevation of the measured position is directly acquired by using ground level precise models, so that the working efficiency of the user is greatly improved; and the method is widely applied in fields such as surveying and mapping controlling, precise navigating and the like.

The invention relates to a performance testing method for a positioning apparatus. The method includes the following steps that: a testing apparatus simulates a virtual position to be positioned and simulates a satellite to send corresponding satellite signals to the positioning apparatus; the testing apparatus simulates satellite signal error according to the satellite signals and interposes satellite error interference signals into the satellite signals; the testing apparatus generates a corresponding virtual reference station through simulation, and simulates the virtual reference station to send corresponding differential correction signals to the positioning apparatus; and the testing apparatus sends network transmission interference signals to the positioning apparatus according to acommunication process between the virtual reference station and the positioning apparatus; and the testing apparatus receives a solution result returned by the positioning apparatus, and determines the performance characteristics of the positioning apparatus according to the virtual position and the solution result. With the method adopted, all kinds of tests can be completed indoors, regardlessof weather and location, test efficiency can be effectively improved, and a work cycle can be shortened.

The invention discloses a large-scale network RTK positioning method and system based on spatial clustering. The method comprises the following steps of (1) according to a user position, carrying outspatial clustering on a user; (2) according to an area where each type of users are located, determining a virtual reference station position which is the common virtual reference station position ofeach type of users, wherein the common virtual reference station position of each type of users is located in the area where each type of users are located; (3) according to the real-time observationdata flow of a CORS reference station and a virtual reference station position, calculating and generating a virtual reference station observation value which is the common virtual reference station observation value of each type of users; and (4) using the common virtual reference station observation value to carry out RTK positioning by each type of users. In the invention, a lot of users can besupported to be in an online state simultaneously and concurrently and are not limited by a server calculating resource, and a contradiction between the number of concurrent users and the limited calculating resources in large-scale network RTK system construction is solved.

The invention discloses a Beidou / GPS tightly-combined virtual reference station positioning method. The positioning method comprises the steps of establishing a pseudo-range and carrier phase tightly-combined double-difference observation equation, and determining a Beidou / GPS inter-system deviation expression; constructing an MW tight combination model, constructing a narrow lane integer ambiguity resolving model in a geometric correlation mode, and resolving the double-difference integer ambiguity of each frequency; establishing a double-difference ionospheric delay error and other error extraction models irrelevant to the ionospheric delay error; determining the position coordinates of the virtual observation station, solving each error value at the position of the virtual reference station, and obtaining the observed quantity of the virtual reference station; and constructing a short baseline Beidou / GPS tightly-combined double-difference observation equation of the virtual reference station and the user, and estimating the position of the user. According to the method, the positioning availability based on the virtual reference station method in the high-elevation environment is improved; the user positioning performance is improved; and a foundation is laid for application of a multi-reference station positioning technology in high-elevation environments such as forests, canyons and urban areas.

The invention provides an unmanned aerial vehicle flight control system on the basis of CORS (continuously operating reference station) network differential positioning. The unmanned aerial vehicle flight control system comprises an MEMS (micro-electromechanical system) sensing unit, a GNSS (global navigation satellite system) positioning unit, a network communication unit, an attitude / navigationcontrol unit and a master control unit. The MEMS sensing unit is used for acquiring angular velocity, linear velocity, air pressure and magnetic field data; the GNSS positioning unit is used for acquiring GNSS positioning data; the network communication unit is used for acquiring CORS differential data; the attitude / navigation control unit is used for controlling attitude and navigation of unmanned aerial vehicles; the master control unit is used for carrying out operation such as data processing, data fusion and system control between various functional units. The unmanned aerial vehicle flight control system has the advantages that the CORS base station differential data can be acquired by the aid of 3G (the 3rd generation telecommunication) networks, RTK (real-time kinematic) differential positioning of the unmanned aerial vehicle flight control system can be implemented, and centimeter-level positioning accuracy requirements of high-end consumption unmanned aerial vehicles and professional surveying and mapping unmanned aerial vehicles can be met; difference can be quickly and efficiently acquired by the aid of CORS networks as compared with RTK differential positioning schemesfor transmitting differential data by the aid of self-erected base stations and radio stations, the shortcomings of deterioration of long-distance positioning precision of radio station transmissionmodes and limited communication distances of the radio stations can be overcome, and the unmanned aerial vehicle flight control system conforms to the future RTK differential data network developmenttrend.

The invention relates to a service coding method and system for Beidou navigation in transportation. The method comprises the following steps of encoding service data to be sent to a user terminal according to a preset coding mode, wherein the preset coding mode comprises a step of encoding the service data to corresponding observation value messages and virtual reference station description messages according to different satellite navigation system types and message group signal types, and each satellite navigation system corresponds to the observation value messages of four different message group signal types; sending the coded data to the user terminal; and controlling the user terminal to decode according to an encoding protocol corresponding to the preset coding mode in order to obtain the coded data. According to the technical scheme, the data transmission amount is reduced, the message protocol format is simplified, and standardized customization requirements are provided forhigh-precision service coding of receiver analysis of the user terminal in the transportation industry.

The invention relates to a terminal positioning method and device, computer equipment and a storage medium. The method comprises the following steps: obtaining general coordinates of a terminal in anobservation area formed by a plurality of reference stations, determining virtual reference stations corresponding to the general coordinates, obtaining delay influence factors corresponding to the observation area according to the positions of the reference stations and the atmospheric delay characteristics of the reference stations, and obtaining the delay influence factors corresponding to theobservation area; according to the positions of the virtual reference stations and the delay influence factors, acquiring an atmospheric delay characteristic of the virtual reference station, determining a virtual observation value corresponding to the virtual reference station according to the atmospheric delay characteristic of the virtual reference station, and sending the virtual observation value to the terminal, so the terminal performs positioning according to the virtual observation value. Compared with a conventional positioning method of forming a triangulation network based on a plurality of reference stations, the scheme utilizes the atmospheric delay characteristics and delay influence factors of the virtual reference stations to obtain the virtual observation value for positioning the terminal, and the effect of improving the positioning precision is achieved.

The invention provides a multi-source dynamic grid network RTK positioning method and system, a terminal and a storage medium. The method comprises the following steps: obtaining external grid data, storing the external grid data in a local grid data cache, and enabling the external grid data to comprise external grid point coordinates and corresponding virtual reference station service data; extracting general coordinates of the user positioning request, calculating nearby grid points of the user according to the general coordinates, and screening binding grid points of the user from the nearby grid points; and searching the virtual reference station service data bound with the grid points from the grid data cache, and calculating the accurate coordinates of the user according to the virtual reference station service data and the approximate coordinates of the user. According to the method, the dynamic gridding network RTK algorithm and the external grid data can be fused, the coverage range of an existing high-precision positioning service is widened, and meanwhile the application of the external grid data in the current service field is expanded. And a win-win mode of internal high-precision service expansion and external high-precision data industry application diversification is started.

The invention discloses a positioning method and system based on internet of vehicles, and belongs to the field of internet of vehicles. The method comprises the steps of enabling a roadside unit to acquire observed quantity information of a target vehicle, wherein the target vehicle is an information-authenticated vehicle; performing differential calculation based on the observed quantity information of the target vehicle by using a preset virtual reference station to obtain enhanced position information of the target vehicle, wherein the preset virtual reference station is one or more roadside units in a target area; and based on the enhanced position information, obtaining accurate position information of the target vehicle. By adopting the positioning method and system based on the internet of vehicles provided by the embodiment of the invention, high-precision positioning of the vehicle can be implemented and / or the information attack such as signal masquerading and signal inducing can be identified.

An embodiment of the invention discloses a carrier phase differential positioning method, a carrier phase differential positioning device, electronic equipment and a storage medium. By sending differential data of one or more virtual reference station to a moving station user, even if the differential data of part of the virtual reference stations cannot be updated in time or the quality is poor,the moving station user can further use the differential data of other virtual reference stations to carry out carrier phase differential positioning, and the positioning precision and reliability arenot reduced; meanwhile, when the mobile station user moves from one reference station coverage area to another reference station coverage area, the mobile station user does not need to be initializedagain, and a continuous high-precision positioning result can be obtained.

The invention provides a novel network RTK atmospheric interpolation method. The method comprises the following steps of step1, calculating a base-line double-difference atmospheric error value; step2, interpolating the double-difference atmospheric error value of a virtual reference station from the base-line double-difference atmospheric error value by using a curved surface spline interpolationmethod; and step3, calculating the virtual observed value of the virtual reference station. In order to reliable interpolation precision, atmospheric error data of at least three base stations is limitedly used. When there is the atmospheric error data of the three base stations, a model is a plane interpolation model. The interpolation method can be freely switched between the plane interpolation and curved surface interpolation according to an actual condition. The atmospheric values of discrete sampling points are accurately located in a curved surface spline model and there is no deviation. Besides, a curved surface spline function has advantages that known point plane coordinates do not need to be arranged according to a regular lattice; and a natural boundary condition is adopted and boundary derivative information is not needed.