CN103645482A - Arbitrary point based set achievement method of GPS (Global Position System) real-time dynamic measurement of base station - Google Patents
Arbitrary point based set achievement method of GPS (Global Position System) real-time dynamic measurement of base station Download PDFInfo
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- CN103645482A CN103645482A CN201310726399.7A CN201310726399A CN103645482A CN 103645482 A CN103645482 A CN 103645482A CN 201310726399 A CN201310726399 A CN 201310726399A CN 103645482 A CN103645482 A CN 103645482A
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- base station
- station receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to an arbitrary point based set achievement method of GPS (Global Position System) real-time dynamic measurement of a base station. The arbitrary point based set achievement method includes that a base station receiver is set to be in the self-starting mode; the base station receiver is restarted after being constructed; the base station receiver receives satellite singles and the single point positioning resolving is performed to obtain a base three-dimensional coordinate of the current position of the base station; differential data are generated by a GPS resolving module according to the base three-dimensional coordinate sent from the base station receiver and are sent to a mobile station receiver; the configuration of mobile station parameters is performed through the mobile station receiver according to the differential data; the GPS real-time dynamic measurement is started by the mobile station receiver. According to the arbitrary point based set achievement method of the GPS real-time dynamic measurement of the base station, the construction work of the GPS base station can be greatly simplified, a user only needs to place the GPS receiver at any position and then switch on, and the technology is widely applied to GPS receiver products of companies currently and is suitable for large-scale popularization and application in the relevant market.
Description
Technical field
The present invention relates to GPS navigation field, relate in particular to GPS real time dynamic measurement field, specifically refer to that a kind of base station arranging based on arbitrfary point realizes the method for GPS real time dynamic measurement.
Background technology
At RTK(Real-time Kinematic, real time dynamic differential method) before measuring, we are first erected at base station on survey station point (known point or unknown point) conventionally, and carry out the leveling of strict centering, measure the high operation of instrument, then use handbook (by data line or bluetooth) to connect base station main frame, by handbook GPS(Global Position System, GPS) software deactivation base station is set, if being erected on known point, base station need to select known coordinate to start, if base station is erected at the coordinate deactivation base station that needs to obtain single-point location in unknown point, after base station has started, receiver receives all visual gps satellite signals continuously, and by the coordinate of survey station point (coordinate while starting), Pseudo-range Observations, carrier phase observation data, Satellite Tracking state etc. sends to movement station by wireless data chain.If the environment of locality, reference mark is bad or Li Ce district, reference mark is far away, for base station, set up just cumbersome, not only instrument is bad sets up, also need special messenger to keep an eye on, the survey crew of movement station must be used handbook deactivation base station receiver at every turn to base station, and centering leveling, measure instrument high and all have a personal error, directly affect work efficiency and the Result Precision of mapping operations, our company designs " base station is set up in the arbitrfary point " technology that realized according to demand in view of the above problems.
Summary of the invention
The object of the invention is to overcome the shortcoming of above-mentioned prior art, provide a kind of can realization can place at an arbitrary position GPS base station receiver, then start can realize GPS kinetic measurement, greatly simplifies the work of setting up of GPS base station, the base station arranging based on arbitrfary point with broader applications scope is realized GPS real time dynamic measurement method.
To achieve these goals, the method that the base station arranging based on arbitrfary point of the present invention is realized GPS real time dynamic measurement has following formation:
The base station that should arrange based on arbitrfary point is realized the method for GPS real time dynamic measurement, and its principal feature is that described method comprises the following steps:
(1) base station receiver being set is self-starting pattern;
(2) restart described base station receiver after setting up described base station receiver;
(3) described base station receiver carries out by receiving satellite signal the benchmark three-dimensional coordinate that single-point positioning calculation obtains this base station current location;
(4) GPS resolves module according to the benchmark three-dimensional coordinate generation differential data of described base station receiver transmission and is sent to mobile station receiver;
(5) described mobile station receiver is according to described differential data configuration movement station parameter;
(6) described mobile station receiver starts GPS real time dynamic measurement.
Preferably, the described base station receiver that arranges is self-starting pattern, comprises the following steps:
(11) determine that whether described base station receiver self-starting parameter is correct, if so, continue step (2), otherwise continue step (12);
(12) whether the firmware of determining described base station receiver supports self-starting, if so, continues step (14), otherwise continues step (13);
(13) firmware of the base station receiver described in upgrading, then continues step (14);
(14) the self-starting parameter of the base station receiver described in configuration, then continues step (2).
More preferably, the firmware of the base station receiver described in described upgrading, is specially:
Described base station receiver connects outer computer by Serial Port Line or PDA carries out firmware upgrade.
Preferably, described set up described base station receiver, comprise the following steps:
(21) mobile SIM card is inserted in described base station receiver;
(22) described base station is erected to open air.
Preferably, described GPS resolves module and generates differential data and be sent to mobile station receiver according to the benchmark three-dimensional coordinate of described base station receiver transmission, comprises the following steps:
(41) validity of described base station receiver judgment standard three-dimensional coordinate, if benchmark three-dimensional coordinate is invalid, continues step (42), if benchmark three-dimensional coordinate is effective, continues step (43);
(42) described base station receiver, after the systemic presupposition time is waited for, continues step (41);
(43) described base station receiver is input to GPS by this benchmark three-dimensional coordinate and resolves module;
(44) described GPS resolves module and calculates differential data according to obtained benchmark three-dimensional coordinate, and differential data is sent to mobile station receiver by Data-Link.
Preferably, described mobile station receiver, according to described differential data configuration movement station parameter, comprises the following steps:
(51) messaging parameter of described mobile station receiver and described base station receiver is set;
(52) described mobile station receiver receives the differential data that described base station receiver sends;
(53) GPS described in resolves module and carries out according to described differential data the static solution that difference resolves to obtain movement station current location;
(54) coordinate that described mobile station receiver carries out point calibration or resets described movement station current location.
More preferably, the described messaging parameter that described mobile station receiver and described base station receiver are set, is specially:
Use data recorder to connect described movement station and described mobile station receiver be set and the messaging parameter of described base station receiver.
More preferably, described GPS resolves module and carries out according to described differential data the static solution that difference resolves to obtain movement station current location, is specially:
(531) described mobile station receiver via satellite antenna reception satellite data and by Data-Link, receives described in differential data;
(532) GPS described in resolves module described satellite data and differential data is carried out to the accurate coordinates that this mobile station receiver current location was resolved and calculated to difference.
More preferably, described mobile station receiver starts GPS real time dynamic measurement, is specially:
Accurate coordinates after described mobile station receiver resolves difference is exported to application software, starts GPS real time dynamic measurement.
Adopt the base station arranging based on arbitrfary point in this invention to realize the method for GPS real time dynamic measurement, there is following beneficial effect:
The present invention has mainly solved trouble when GPS surveying work personnel set up base station.GPS surveying work is all outdoor work, and the rugged surroundings as severe cold, heat etc. are inevitably, and in rugged environment like this, operating instrument, function software are warm works very.So reduce the complexity of operation, the flow process that simplifies the operation, is very great to the meaning of survey crew.By this invention, the work of setting up of GPS base station is simplified greatly: only need to place at an arbitrary position GPS receiver, then start.This technology is widespread use on the GPS of company receiver product at present, and is applicable to large-scale promotion application on relevant market.
Accompanying drawing explanation
Fig. 1 is the process flow diagram that the base station arranging based on arbitrfary point of the present invention is realized the method for GPS real time dynamic measurement.
Fig. 2 is the operational flowchart of base station receiver section of the present invention.
Fig. 3 is the operational flowchart of mobile station receiver part of the present invention.
Fig. 4 is self-starting base station operation process chart of the present invention.
Embodiment
In order more clearly to describe technology contents of the present invention, below in conjunction with specific embodiment, conduct further description.
As shown in Figure 1, method of the present invention comprises the following steps:
(1) base station receiver being set is self-starting pattern;
(11) determine that whether described base station receiver self-starting parameter is correct, if so, continue step (2), otherwise continue step (12);
(12) whether the firmware of determining described base station receiver supports self-starting, if so, continues step (14), otherwise continues step (13);
(13) the base station receiver described in connects outer computer by Serial Port Line or PDA carries out firmware upgrade, then continues step (14);
(14) the self-starting parameter of the base station receiver described in configuration, then continues step (2).
(2) restart described base station receiver after setting up described base station receiver;
(21) mobile SIM card is inserted in described base station receiver;
(22) described base station is erected to open air.
(3) described base station receiver carries out by receiving satellite signal the benchmark three-dimensional coordinate that single-point positioning calculation obtains this base station current location;
(4) GPS resolves module according to the benchmark three-dimensional coordinate generation differential data of described base station receiver transmission and is sent to mobile station receiver;
(41) validity of described base station receiver judgment standard three-dimensional coordinate, if benchmark three-dimensional coordinate is invalid, continues step (42), if benchmark three-dimensional coordinate is effective, continues step (43);
(42) described base station receiver, after the systemic presupposition time is waited for, continues step (41);
(43) described base station receiver is input to GPS by this benchmark three-dimensional coordinate and resolves module;
(44) described GPS resolves module and calculates differential data according to obtained benchmark three-dimensional coordinate, and differential data is sent to mobile station receiver by Data-Link (radio station or network).
(5) described mobile station receiver is according to described differential data configuration movement station parameter;
(51) messaging parameter of described mobile station receiver and described base station receiver is set;
Use data recorder to connect described movement station and described mobile station receiver be set and the messaging parameter of described base station receiver.
(52) described mobile station receiver receives the differential data that described base station receiver sends;
(53) GPS described in resolves module and carries out according to described differential data the static solution that difference resolves to obtain movement station current location;
(531) described mobile station receiver via satellite antenna reception satellite data and by Data-Link, receives described in differential data;
(532) GPS described in resolves module described satellite data and differential data is carried out to the accurate coordinates that this mobile station receiver current location was resolved and calculated to difference.
(54) coordinate that described mobile station receiver carries out point calibration or resets described movement station current location.
(6) described mobile station receiver starts GPS real time dynamic measurement.
Accurate coordinates after described mobile station receiver resolves difference is exported to application software, starts GPS real time dynamic measurement.
The summary of the invention that base station method is set up in this arbitrfary point comprises: arbitrfary point is set up base station operating process and realized the relevant GPS receiver firmware of this operating process and software is set.
1, base station principle of operation and flow process are set up in arbitrfary point
Base station principle of operation and flow process are set up as shown in Fig. 2～4 in arbitrfary point.
Adopting China's survey GPS receiver that software base station receiver is set is set to after " self-starting base station " pattern, restart base station receiver, satellite locking obtains after the three-dimensional coordinate of single-point location, base station receiver can send differential data by this three-dimensional coordinate automatically, be equivalent to start base station receiver with this coordinate, without connect setting with handbook, very flexible.And for mobile station receiver, carry out Difference Solution calculation after receiving the observation data of base station, and to obtain the static solution of mobile station location, then doing point calibration or the local coordinate of resetting, can start to measure or setting-out work.
2, support arbitrfary point to set up the GPS receiver firmware of base station
For making base station receiver support arbitrfary point to set up, need upgrading to there is the GPS receiver firmware of base station self-starting function, firmware is called UpDate.exe; Except base station function is set up in arbitrfary point, this firmware can make base station support multiple differential data form and communication pattern.
(1) the differential data form that base station is supported: CMR/CMR+/RTCM2/RTCM3/RTCA
(2) base station data communication mode: Port1/Port2/CDMA/GPRS/port2+CDMA/GPRS
3, parameter arranges software
(1) WinCE/Win Mobile platform GPS receiver arranges software HcGPSset;
(2) PC platform GPS receiver arranges software HcLoader;
(3) there is the field operation Survey Software LandStar that resets local coordinate and point calibration function;
In concrete operations, comprise following flow process:
1, GP configuring S receiver parameters
Software preparation: GPS receiver firmware programming software UpDate.exe, GPS receiver arrange software HcLoader or HcGPSset;
Hardware is prepared: Serial Port Line, base station GPS receiver, PC computer or palm PC;
(1) with Serial Port Line, connect GPS receiver and PC computer;
(2) operation GPS receiver firmware programming software, upgrades GPS receiver firmware by prompting operation, makes GPS receiver have self-starting function.
(3) adopt China to survey GPS receiver software is set, base station self-starting parameter is set.PC computer adopts serial ports to connect after receiver, and operation HcLoader.exe carries out parameter setting; Palm PC can be connected with receiver with serial ports also usable bluetooth, then moves GPSSet.exe and carries out parameter setting.
Base station self-starting configuration correlation parameter is as follows:
[the data way of output]: normal mode
[operation of receiver pattern]: self-starting base station
[self-starting data sending terminal mouth]: Port2+GPRS/CDMA or other options
[differential data form]: CMR/CMR+RTCM2/RTCM3/RTCA is optional
Confirm after parameter, clicking [application] can arrange successfully.
(4) restarting base station receiver comes into force setting.
2, base station receiver is set up in arbitrfary point
Equipment is prepared: a set of or one of the SIM card of tripod, radio station and antenna, host power supply.
(1) mobile SIM card is inserted in base station GPS receiver;
(2) base station is erected at arbitrarily spacious place;
(3) base station star → transmitting differential data of starting shooting → search;
(4) handbook connects movement station configuration parameter, receives base station differential signal;
(5) start RTK operation (needing base station to reset or point calibration).
Adopt the base station arranging based on arbitrfary point in this invention to realize the method for GPS real time dynamic measurement, there is following beneficial effect:
The present invention has mainly solved trouble when GPS surveying work personnel set up base station.GPS surveying work is all outdoor work, and the rugged surroundings as severe cold, heat etc. are inevitably, and in rugged environment like this, operating instrument, function software are warm works very.So reduce the complexity of operation, the flow process that simplifies the operation, is very great to the meaning of survey crew.By this invention, the work of setting up of GPS base station is simplified greatly: only need to place at an arbitrary position GPS receiver, then start.This technology is widespread use on the GPS of company receiver product at present, and is applicable to large-scale promotion application on relevant market.
In this instructions, the present invention is described with reference to its specific embodiment.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, instructions and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (9)
1. the base station arranging based on arbitrfary point is realized a method for GPS real time dynamic measurement, it is characterized in that, described method comprises the following steps:
(1) base station receiver being set is self-starting pattern;
(2) restart described base station receiver after setting up described base station receiver;
(3) described base station receiver carries out by receiving satellite signal the benchmark three-dimensional coordinate that single-point positioning calculation obtains this base station current location;
(4) GPS resolves module according to the benchmark three-dimensional coordinate generation differential data of described base station receiver transmission and is sent to mobile station receiver;
(5) described mobile station receiver is according to described differential data configuration movement station parameter;
(6) described mobile station receiver starts GPS real time dynamic measurement.
2. the base station arranging based on arbitrfary point according to claim 1 is realized the method for GPS real time dynamic measurement, it is characterized in that, the described base station receiver that arranges is self-starting pattern, comprises the following steps:
(11) determine that whether described base station receiver self-starting parameter is correct, if so, continue step (2), otherwise continue step (12);
(12) whether the firmware of determining described base station receiver supports self-starting, if so, continues step (14), otherwise continues step (13);
(13) firmware of the base station receiver described in upgrading, then continues step (14);
(14) the self-starting parameter of the base station receiver described in configuration, then continues step (2).
3. the base station arranging based on arbitrfary point according to claim 2 is realized the method for GPS real time dynamic measurement, it is characterized in that, the firmware of the base station receiver described in described upgrading, is specially:
Described base station receiver connects outer computer by Serial Port Line or PDA carries out firmware upgrade.
4. the base station arranging based on arbitrfary point according to claim 1 is realized the method for GPS real time dynamic measurement, it is characterized in that, described sets up described base station receiver, comprises the following steps:
(21) mobile SIM card is inserted in described base station receiver;
(22) described base station is erected to open air.
5. the base station arranging based on arbitrfary point according to claim 1 is realized the method for GPS real time dynamic measurement, it is characterized in that, described GPS resolves module and generates differential data and be sent to mobile station receiver according to the benchmark three-dimensional coordinate of described base station receiver transmission, comprises the following steps:
(41) validity of described base station receiver judgment standard three-dimensional coordinate, if benchmark three-dimensional coordinate is invalid, continues step (42), if benchmark three-dimensional coordinate is effective, continues step (43);
(42) described base station receiver, after the systemic presupposition time is waited for, continues step (41);
(43) described base station receiver is input to GPS by this benchmark three-dimensional coordinate and resolves module;
(44) described GPS resolves module and calculates differential data according to obtained benchmark three-dimensional coordinate, and differential data is sent to mobile station receiver by Data-Link.
6. the base station arranging based on arbitrfary point according to claim 1 is realized the method for GPS real time dynamic measurement, it is characterized in that, described mobile station receiver, according to described differential data configuration movement station parameter, comprises the following steps:
(51) messaging parameter of described mobile station receiver and described base station receiver is set;
(52) described mobile station receiver receives the differential data that described base station receiver sends;
(53) GPS described in resolves module and carries out according to described differential data the static solution that difference resolves to obtain movement station current location;
(54) coordinate that described mobile station receiver carries out point calibration or resets described movement station current location.
7. the base station arranging based on arbitrfary point according to claim 6 is realized the method for GPS real time dynamic measurement, it is characterized in that, the described messaging parameter that described mobile station receiver and described base station receiver are set, is specially:
Use data recorder to connect described movement station and described mobile station receiver be set and the messaging parameter of described base station receiver.
8. the base station arranging based on arbitrfary point according to claim 6 is realized the method for GPS real time dynamic measurement, it is characterized in that, described GPS resolves module and carries out according to described differential data the static solution that difference resolves to obtain movement station current location, is specially:
(531) described mobile station receiver via satellite antenna reception satellite data and by Data-Link, receives described in differential data;
(532) GPS described in resolves module described satellite data and differential data is carried out to the accurate coordinates that this mobile station receiver current location was resolved and calculated to difference.
9. the base station arranging based on arbitrfary point according to claim 8 is realized the method for GPS real time dynamic measurement, it is characterized in that, described mobile station receiver starts GPS real time dynamic measurement, is specially:
Accurate coordinates after described mobile station receiver resolves difference is exported to application software, starts GPS real time dynamic measurement.
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| CN106257429A (en) * | 2016-01-27 | 2016-12-28 | 上海华测导航技术股份有限公司 | A kind of method of GNSS receiver supporting Survey Software acceptance test |
| CN106997054A (en) * | 2017-03-31 | 2017-08-01 | 北京臻迪科技股份有限公司 | A kind of dispensing device, reception device, data transmission method and Transmission system |
| CN107076856A (en) * | 2014-09-05 | 2017-08-18 | 法国国家太空研究中心 | The method that the collaboration of the Wrong localization of satellite-based navigation system is determined |
| CN107992653A (en) * | 2017-11-20 | 2018-05-04 | 上海华测导航技术股份有限公司 | A kind of side slope setting-out system and side slope setting out method |
| CN108008872A (en) * | 2017-10-26 | 2018-05-08 | 广州市中海达测绘仪器有限公司 | RTK measuring devices and its exchange method, electronic equipment and storage medium |
| CN109143267A (en) * | 2017-11-02 | 2019-01-04 | 上海华测导航技术股份有限公司 | A kind of RTK is from resolving GNSS receiver |
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| CN111279221A (en) * | 2018-12-20 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Position calibration method and device for reference station |
| CN111373285A (en) * | 2018-11-30 | 2020-07-03 | 深圳市大疆创新科技有限公司 | Coordinate calibration method and device of RTK (real time kinematic) reference station and storage medium |
| CN112965087A (en) * | 2021-04-25 | 2021-06-15 | 上海井融网络科技有限公司 | Data processing method for reference station, measuring system and RTK receiver |
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| CN107076856A (en) * | 2014-09-05 | 2017-08-18 | 法国国家太空研究中心 | The method that the collaboration of the Wrong localization of satellite-based navigation system is determined |
| CN106257429A (en) * | 2016-01-27 | 2016-12-28 | 上海华测导航技术股份有限公司 | A kind of method of GNSS receiver supporting Survey Software acceptance test |
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| CN106997054A (en) * | 2017-03-31 | 2017-08-01 | 北京臻迪科技股份有限公司 | A kind of dispensing device, reception device, data transmission method and Transmission system |
| CN108008872B (en) * | 2017-10-26 | 2021-06-25 | 广州市中海达测绘仪器有限公司 | RTK measuring device and interaction method thereof, electronic equipment and storage medium |
| CN108008872A (en) * | 2017-10-26 | 2018-05-08 | 广州市中海达测绘仪器有限公司 | RTK measuring devices and its exchange method, electronic equipment and storage medium |
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| CN107992653A (en) * | 2017-11-20 | 2018-05-04 | 上海华测导航技术股份有限公司 | A kind of side slope setting-out system and side slope setting out method |
| CN111373285A (en) * | 2018-11-30 | 2020-07-03 | 深圳市大疆创新科技有限公司 | Coordinate calibration method and device of RTK (real time kinematic) reference station and storage medium |
| CN111279221A (en) * | 2018-12-20 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Position calibration method and device for reference station |
| CN110133684A (en) * | 2019-04-16 | 2019-08-16 | 湖南致力工程科技有限公司 | A kind of GNSS static state resolving receiver apparatus |
| CN112965087A (en) * | 2021-04-25 | 2021-06-15 | 上海井融网络科技有限公司 | Data processing method for reference station, measuring system and RTK receiver |
| CN112965087B (en) * | 2021-04-25 | 2024-03-19 | 苏州天硕导航科技有限责任公司 | Data processing method, measuring system and RTK receiver for reference station |
| CN116482733A (en) * | 2023-06-26 | 2023-07-25 | 银河航天(北京)通信技术有限公司 | Method, device and storage medium for realizing wide-range application of carrier phase technology |
| CN116482733B (en) * | 2023-06-26 | 2023-09-08 | 银河航天(北京)通信技术有限公司 | Method, device and storage medium for realizing wide-range application of carrier phase technology |
| CN117169936A (en) * | 2023-09-18 | 2023-12-05 | 武汉非秒迅连科技有限公司 | Terminal positioning method and system |
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