CN107426695B - Broadcast-based gridding differential data broadcasting method, server and storage medium - Google Patents
Broadcast-based gridding differential data broadcasting method, server and storage medium Download PDFInfo
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- CN107426695B CN107426695B CN201710555501.XA CN201710555501A CN107426695B CN 107426695 B CN107426695 B CN 107426695B CN 201710555501 A CN201710555501 A CN 201710555501A CN 107426695 B CN107426695 B CN 107426695B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- 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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Abstract
The invention discloses a broadcasting-based gridding differential data broadcasting method, a server and a storage medium, wherein a target area is divided into a plurality of grid intervals according to a preset radius, a reference point of each grid interval is determined, a virtual station is arranged for each grid interval according to the reference point, a data packet to be sent is generated according to differential data of the virtual station, the data packet to be sent is broadcasted in a broadcasting mode, the base line distance of a single area is reduced, the positioning precision is improved, and therefore proper differential data are selected to achieve the optimal positioning enhancement effect.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a broadcast-based method for broadcasting meshed differential data, a server, and a storage medium.
Background
The position service based on the navigation satellite is widely applied in various fields, and the requirement of the position service on the positioning precision is higher and higher along with the user experience, the development of emerging industries and the requirement upgrade of standard management.
A typical way to improve the positioning accuracy of satellite navigation is to establish a ground-based augmentation system (GBAS), and provide differential correction signals through ground-based equipment to enhance the positioning and time service performance of the satellite navigation system, so as to achieve the purposes of increasing the reliability, availability, positioning accuracy, and the like of the system. The ground enhancement system mainly comprises a Continuous Operation Reference Station (CORS), a data broadcasting system and a user terminal. The CORS station is a ground fixed station, generates differential correction data according to satellite signals received in real time, transmits the differential correction data to a specific user through a data broadcasting system, and corrects positioning information according to the obtained differential correction data by a user terminal. However, when the distance between the user terminal and the CORS station increases, the effect of the user terminal to improve the positioning accuracy by directly using the differential data broadcast by the CORS station also becomes worse.
The data broadcasting system in the existing Beidou navigation foundation enhancement system mainly has two modes: mobile communication networks and digital broadcasting technologies. Based on the differential data broadcasting method of the mobile communication network, namely network RTK, carrier phase differential technology (RTK) can generate virtual reference Station technology (VRS) according to the general position uploaded by the user, thereby solving the influence caused by the distance (baseline distance) between the user terminal and the CORS Station. However, the mobile communication network has various limitations such as limited user capacity, low concurrency, high use cost, limited signal coverage and the like, and is difficult to support large-scale application. The broadcast RTK based on the broadcast mode has infinite user capacity, but can only work in a single base station mode at present due to lack of a backhaul channel, and the enhancement effect of differential data is deteriorated as the baseline distance is increased.
Disclosure of Invention
The main purpose of the present invention is to improve the problem that when the differential signal is broadcast by the broadcast technique, the positioning accuracy cannot be improved by using the differential data provided by a plurality of CORS stations as in the network RTK due to the lack of a return channel.
In order to achieve the above object, the present invention provides a broadcast-based gridding differential data broadcasting method, which comprises the following steps:
dividing a target area into a plurality of grid intervals according to a preset radius;
determining a reference point of each grid interval;
setting a virtual station for the grid interval according to the reference point;
generating a data packet to be sent according to the differential data of the virtual station;
and broadcasting the data packet to be sent in a broadcasting mode.
Preferably, before generating a data packet to be transmitted according to the differential data of the virtual station, the method further includes:
establishing a space correlation error model by utilizing a continuously operating reference station;
and obtaining differential data of the virtual station according to the space correlation error model.
Preferably, the establishing a spatial correlation error model by using the continuously operating reference station specifically includes:
receiving real-time differential data uploaded by each continuously operating reference station;
establishing a space correlation error model according to the real-time differential data and the longitude and latitude positions of the virtual stations; the real-time differential data is a difference value obtained by comparing the longitude and latitude positions of the continuously operating reference station according to the continuously received navigation positioning signals with the longitude and latitude positions of the continuously operating reference station.
Preferably, the obtaining differential data of the virtual station according to the spatial correlation error model specifically includes:
acquiring longitude and latitude positions of the virtual station, and calculating differential data between the virtual station and each continuously-operating reference station through the space-related error model;
and selecting the minimum value from the differential data between the virtual station and each continuously-operating reference station as the differential data of the virtual station.
Preferably, after obtaining the differential data of the virtual station according to the spatial correlation error model, the method further includes:
and comparing the differential data of the virtual station with the preset radius, and when the preset radius is larger than the differential data of the virtual station, adjusting the preset radius to ensure that the preset radius does not exceed the differential data of the virtual station.
Preferably, the determining the reference point of each grid interval specifically includes:
judging whether a target broadcasting station or a continuous operation reference station exists in the grid interval, and when the target broadcasting station or the continuous operation reference station exists in the grid interval, taking the position of an actual station in the grid interval as a reference point; when the target broadcasting station or the continuous operation reference station does not exist in the grid interval, taking the center position of the grid interval as a datum point.
Preferably, the generating a data packet to be transmitted according to the differential data of the virtual station specifically includes:
and receiving the differential data of the virtual station and the position information of the virtual station, and generating the data packet to be sent according to the differential data of the virtual station and the position information of the virtual station.
Preferably, the location information of the virtual station includes:
an interval type, an interval ID, a latitude value, and a longitude value of the virtual station.
In addition, in order to achieve the above object, the present invention further provides a broadcast-based gridding differential data distribution server, including: a memory, a processor and a broadcast-based meshed differential data dissemination program stored on the memory and executable on the processor, the broadcast-based meshed differential data dissemination program configured to implement the steps of the broadcast-based meshed differential data dissemination method as described above.
Furthermore, to achieve the above object, the present invention also proposes a computer readable storage medium having stored thereon a broadcast-based meshed differential data dissemination program which, when executed by a processor, implements the steps of the broadcast-based meshed differential data dissemination method as described above.
The invention provides a broadcast-based gridding differential data broadcasting method, which divides a target area into a plurality of grid intervals according to a preset radius, sets a virtual station for each grid interval according to a reference point by determining the reference point of each grid interval, generates a data packet to be sent according to differential data of the virtual station, broadcasts the data packet to be sent in a broadcast mode, reduces the baseline distance of a single area and improves the positioning precision, thereby selecting proper differential data to achieve the optimal positioning enhancement effect.
Drawings
Fig. 1 is a schematic structural diagram of a broadcast-based gridding differential data broadcasting server in a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a broadcast-based gridding differential data broadcasting method according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of a grid interval position information format in the broadcast-based gridding differential data broadcasting method of the present invention;
FIG. 4 is a flowchart illustrating a second embodiment of a broadcast-based gridding differential data broadcasting method according to the present invention;
fig. 5 is a flowchart illustrating a broadcast-based gridding differential data broadcasting method according to a third embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The solution of the embodiment of the invention is mainly as follows: dividing a target area into a plurality of grid intervals according to a preset radius, determining a reference point of each grid interval, setting a virtual station for the grid interval according to the reference point, generating a data packet to be sent according to differential data of the virtual station, broadcasting the data packet to be sent in a broadcasting mode, reducing the baseline distance of a single area and improving the positioning precision, so that proper differential data is selected to achieve the optimal positioning enhancement effect, and the problem that the positioning precision cannot be improved by utilizing the differential data provided by a plurality of CORS stations like network RTK due to the lack of a return channel when the differential signals are broadcasted by a broadcasting technology is solved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a broadcast-based gridding differential data broadcasting server in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the broadcast-based gridded differential data broadcasting server may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
It will be appreciated by those skilled in the art that the broadcast-based meshed differential data dissemination server architecture shown in fig. 1 does not constitute a limitation of the broadcast-based meshed differential data dissemination server and may include more or fewer components than shown, or combine certain components, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a broadcast-based gridded differential data broadcasting program.
In the broadcast-based meshed differential data distribution server shown in fig. 1, the network interface 1004 is mainly used for connecting the broadcast-based meshed differential data distribution port and performing data communication with the broadcast-based meshed differential data distribution port; the user interface 1003 is mainly used for connecting a user terminal and performing data communication with the terminal; the processor 1001 and the memory 1005 in the charging server of the present invention may be provided in a broadcast-based meshed differential data distribution apparatus that calls a broadcast-based meshed differential data distribution program stored in the memory 1005 via the processor 1001 and performs the following operations:
dividing a target area into a plurality of grid intervals according to a preset radius;
determining a reference point of each grid interval;
setting a virtual station for the grid interval according to the reference point;
generating a data packet to be sent according to the differential data of the virtual station;
and broadcasting the data packet to be sent in a broadcasting mode.
Further, the processor 1001 may call the broadcast-based gridded differential data dissemination program stored in the memory 1005, and also perform the following operations:
establishing a space correlation error model by utilizing a continuously operating reference station;
and obtaining differential data of the virtual station according to the space correlation error model.
Further, the processor 1001 may call the broadcast-based gridded differential data dissemination program stored in the memory 1005, and also perform the following operations:
receiving real-time differential data uploaded by each continuously operating reference station;
establishing a space correlation error model according to the real-time differential data and the longitude and latitude positions of the virtual stations; the real-time differential data is a difference value obtained by comparing the longitude and latitude positions of the continuously operating reference station according to the continuously received navigation positioning signals with the longitude and latitude positions of the continuously operating reference station.
Further, the processor 1001 may call the broadcast-based gridded differential data dissemination program stored in the memory 1005, and also perform the following operations:
acquiring longitude and latitude positions of the virtual station, and calculating differential data between the virtual station and each continuously-operating reference station through the space-related error model;
and selecting the minimum value from the differential data between the virtual station and each continuously-operating reference station as the differential data of the virtual station.
Further, the processor 1001 may call the broadcast-based gridded differential data dissemination program stored in the memory 1005, and also perform the following operations:
and comparing the differential data of the virtual station with the preset radius, and when the preset radius is larger than the differential data of the virtual station, adjusting the preset radius to ensure that the preset radius does not exceed the differential data of the virtual station.
Further, the processor 1001 may call the broadcast-based gridded differential data dissemination program stored in the memory 1005, and also perform the following operations:
judging whether a target broadcasting station or a continuous operation reference station exists in the grid interval, and when the target broadcasting station or the continuous operation reference station exists in the grid interval, taking the position of an actual station in the grid interval as a reference point; when the target broadcasting station or the continuous operation reference station does not exist in the grid interval, taking the center position of the grid interval as a datum point.
Further, the processor 1001 may call the broadcast-based gridded differential data dissemination program stored in the memory 1005, and also perform the following operations:
and receiving the differential data of the virtual station and the position information of the virtual station, and generating the data packet to be sent according to the differential data of the virtual station and the position information of the virtual station.
According to the scheme, the target area is divided into the grid intervals according to the preset radius, the datum points of the grid intervals are determined, the virtual stations are set for the grid intervals according to the datum points, the data packet to be sent is generated according to the differential data of the virtual stations, the data packet to be sent is broadcasted in a broadcasting mode, the base line distance of a single area is reduced, the positioning precision is improved, and therefore the proper differential data are selected to achieve the optimal positioning enhancement effect.
Based on the hardware structure, the embodiment of the broadcast-based gridding differential data broadcasting method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a broadcast-based gridding differential data broadcasting method according to a first embodiment of the present invention.
In a first embodiment, the broadcast-based gridded differential data broadcasting method comprises the following steps:
step S10, dividing the target area into a plurality of grid intervals according to a preset radius;
it should be noted that the preset radius is a radius of the grid interval, and may also be other parameters capable of determining the size of the grid interval, which is not limited in this embodiment; the target area is an area within a range that a signal of a target broadcasting station can cover, a plurality of Continuously Operating Reference Stations (CORS) exist in the area, and the whole area range is divided into a plurality of grid intervals where a preset radius is found.
It is understood that the preset radius may be a preset value at will of those skilled in the art, may be a predicted value calculated through a large number of experiments or calculations, and may also be a value determined in other ways or a data range, which is not limited in this embodiment;
in a specific implementation, the shape of the grid section is a regular hexagon, and the regular hexagon can cover the region with the same area by using the least grid section compared with a triangle or a square, and an overlapping region is not generated like a circular section, so that the trouble of signal switching is avoided; of course, the distribution and shape of the grid intervals can be flexibly planned according to actual requirements, each grid interval can be divided into different shape intervals according to the geographic environment, and this embodiment is not limited to this;
step S20, determining the reference point of each grid interval;
further, the determining the reference point of each grid interval specifically includes:
judging whether a target broadcasting station or a continuous operation reference station exists in the grid interval, and when the target broadcasting station or the continuous operation reference station exists in the grid interval, taking the position of an actual station in the grid interval as a reference point; when the target broadcasting station or the continuous operation reference station does not exist in the grid interval, taking the center position of the grid interval as a datum point.
It can be understood that the reference point of each grid interval is determined by judging whether the target broadcast station or the continuous operation reference station exists in the grid interval, so that the positioning point of each grid interval can be more accurately determined, the subsequent more accurate calculation of differential information can be facilitated, the positioning precision of the user terminal in each grid interval is improved, and the user experience is improved.
It should be noted that the reference point is a point determined by a longitude and latitude position in a grid interval, and when the target broadcasting station or the continuously operating reference station exists in the grid interval, a position where an actual station is located in the grid interval is used as the reference point; when the target broadcasting station or the continuous operation reference station does not exist in the grid interval, taking the center position of the grid interval as a datum point.
In a specific implementation, the distance between the user terminal and the reference point of the currently located grid interval is smaller than the distance between the user terminal and each continuously-operating reference station, and is smaller than the precision attenuation distance, and when the user uses the differential data corresponding to the grid interval to correct the positioning result, the precision is higher than that when the user directly uses the differential data given by the continuously-operating reference stations.
Step S30, setting a virtual station for the grid interval according to the reference point;
it is understood that the virtual station is set according to the reference point determined in each grid interval, and the data of the virtual station may be stored in a database, or may also be stored in other similar devices with a storage function, so as to facilitate subsequent operations, which is not limited in this embodiment.
In a specific implementation, the information of the virtual station is stored in the data processing and control center to be processed after the data of the reference station is collected, and may also be stored in other similar devices or databases with a storage function, which is not limited in this embodiment.
Step S40, generating a data packet to be transmitted according to the differential data of the virtual station;
it will be appreciated that the differential data is a pseudorange correction or a position correction determined from information provided by the continuously operating reference station; the data packet to be transmitted contains differential data of the virtual station.
Further, the generating a data packet to be transmitted according to the differential data of the virtual station specifically includes:
and receiving the differential data of the virtual station and the position information of the virtual station, and generating the data packet to be sent according to the differential data of the virtual station and the position information of the virtual station.
It can be understood that the data packet to be sent is generated according to the differential data of the virtual station and the position information of the virtual station, so that when the user terminal receives the data packet broadcast in the broadcast, the source of the differential data can be rapidly identified, the differential data of the current position can be rapidly calculated and analyzed, and the current navigation positioning can be corrected, thereby further improving the accuracy of the navigation positioning and improving the user experience.
In a specific implementation, the required information provided by a plurality of continuously operating reference stations is required to be utilized to calculate the differential data of each virtual station, and generally at least 3 pieces of required information provided by the continuously operating reference stations, that is, the real-time differential data, is required, which is not limited in this embodiment. The real-time differential data is a difference value obtained by comparing the longitude and latitude positions of the continuously operating reference station according to the continuously received navigation positioning signals with the longitude and latitude positions of the continuously operating reference station.
The position information of the virtual station includes: an interval type, an interval ID, a latitude value, and a longitude value of the virtual station;
it should be understood that the interval type of the virtual station is a type representing a grid interval, for example, 00 represents a reference point being a continuously operating reference station, CORS; reference point 11 denotes a broadcast station; 01, the reference point is a grid interval virtual station, so that after interval type division is carried out, the receiving terminal can be favorably and quickly determined to identify the source of the received differential data; of course, the type division manner of the grid interval is not limited to the above manner, and the type division may be performed in other manners, which is not limited in this embodiment; the section ID is a unique identifier of each grid section within the coverage area of the broadcast station, and may be an identification code, a code or a different icon, or other information playing a role in identification or verification, which is not limited in this embodiment;
it should be understood that the longitude values include a coarse longitude value and a coarse longitude extension value, where the coarse longitude value is (180/2)15) Longitude values expressed in units, positive numbers represent east longitude, and negative numbers represent west longitude; the longitude extension value is used for further improving the positioning precision of the longitude and is represented by an unsigned number, and the value is multiplied by (180 DEG/2)19) Then adding the longitude rough value to obtain a more accurate longitude value; the latitude value comprises a latitude coarse value and a latitude extension value, wherein the latitude coarse value is expressed in (90 °/2)15) The latitude value is expressed in unit, positive numbers represent north latitudes, and negative numbers represent south latitudes; the latitude extension value is used for further improving the positioning accuracy of the longitude and is represented by an unsigned number, and the value is multiplied by (90 degrees/2)19) And then adding the latitude rough value to obtain a more accurate latitude value.
In a specific implementation, the latitude extension value and the longitude extension value are parameters used when the positioning precision requirement is high, and a user can automatically select and set whether the latitude extension value and the longitude extension value are needed or not when the precision requirement is not fine in common positioning requirements; a schematic diagram of a grid interval position information format in the broadcast-based gridding differential data broadcasting method is shown in fig. 3, wherein an interval type occupies 2 bits, an interval ID occupies 8 bits, a latitude coarse value occupies 16 bits, a longitude coarse value occupies 16 bits, a latitude extended value occupies 4 bits, and a longitude extended value occupies 4 bits; of course, the format of the grid interval position information is not necessarily limited to the format shown in fig. 3, and may be other formats, which is not limited in this embodiment.
And step S50, broadcasting the data packet to be sent in a broadcast mode.
It can be understood that broadcasting the data packet to be transmitted in a broadcast manner can achieve a differential enhancement effect similar to a network Real Time Kinematic (RTK) mode in a broadcast RTK mode.
In the embodiment, the target area is divided into a plurality of grid intervals according to the preset radius, the reference point of each grid interval is determined, the virtual station is set for the grid interval according to the reference point, the data packet to be sent is generated according to the differential data of the virtual station, and the data packet to be sent is broadcasted in a broadcasting mode, so that the baseline distance of a single area is reduced, the positioning precision is improved, and therefore proper differential data are selected to achieve the optimal positioning enhancement effect.
Further, as shown in fig. 4, a second embodiment of the broadcast-based gridding differential data broadcasting method according to the present invention is proposed based on the first embodiment, and in this embodiment, before the step S40, the method further includes the steps of:
step S31, establishing a space correlation error model by utilizing a continuously operating reference station;
further, the establishing a spatial correlation error model by using the continuously operating reference station specifically includes:
receiving real-time differential data uploaded by each continuously operating reference station;
establishing a space correlation error model according to the real-time differential data and the longitude and latitude positions of the virtual stations; the real-time differential data is a difference value obtained by comparing the longitude and latitude positions of the continuously operating reference station according to the continuously received navigation positioning signals with the longitude and latitude positions of the continuously operating reference station.
It can be understood that by receiving the real-time differential data uploaded by each continuously operating reference station, and establishing a space-related error model according to the real-time differential data and the longitude and latitude positions of each virtual station, the differential data of the virtual stations in each grid interval can be quickly searched or calculated through the space error model, so that when a user terminal is in a certain grid interval, the corresponding differential data can be quickly calculated, the current navigation positioning is corrected, the positioning accuracy is improved, and the user experience is improved.
It should be noted that the differential data of each virtual station can be calculated through the real-time differential data of the continuously operating reference station in the area; the continuously operating reference stations which are mutually associated with all grid intervals in the coverage area of the target broadcast station are called continuously operating reference stations belonging to the area;
in a specific implementation, the real-time differential data is transmitted to a data processing and control center after being obtained. After receiving the data from each continuous operation reference station, the data processing and control center comprehensively utilizes the data and establishes a space correlation error model according to the real-time differential data and the longitude and latitude positions of each virtual station; of course, the real-time difference data may also be stored in other similar devices or databases with storage functions, which is not limited in this embodiment.
And S32, obtaining the differential data of the virtual station according to the space correlation error model.
It can be understood that, after the real-time differential data is obtained, a space-related error model is established with the longitude and latitude positions of each virtual station, which is not limited to the mode of establishing the model, a mapping relationship list between the real-time differential data and the longitude and latitude of each virtual station may also be established, and the differential data of the virtual stations may also be obtained by calculation in other modes, which is not limited in this embodiment.
Further, after obtaining the differential data of the virtual station according to the spatial correlation error model, the method further includes:
and comparing the differential data of the virtual station with the preset radius, and when the preset radius is larger than the differential data of the virtual station, adjusting the preset radius to ensure that the preset radius does not exceed the differential data of the virtual station.
It should be noted that, by comparing the differential data of the virtual station with the preset radius, when the preset radius is greater than the differential data of the virtual station, the preset radius is adjusted, so that the differential data of the virtual station in each grid interval can be timely and flexibly adjusted, and a value range of the differential data of the virtual station which is more appropriate is selected, so that the most appropriate differential data of the virtual station is selected to more accurately correct the navigation positioning of the user terminal in the grid interval, and thus the positioning accuracy is improved, the optimal positioning enhancement effect is achieved, and the user experience is improved.
It can be understood that the preset radius of the grid interval is based on the positioning accuracy meeting the planning requirement, and generally does not exceed the distance for keeping the differential data relatively stable; the radius of each grid interval can be determined according to actual propagation conditions, the radius can be properly enlarged in areas with less interference, and the radius can be properly reduced in areas with serious interference.
In the embodiment, real-time differential data uploaded by each continuously operating reference station is received; establishing a space correlation error model according to the real-time differential data and the longitude and latitude positions of the virtual stations; the method and the device can quickly acquire the relation between each virtual station and the real-time differential data, facilitate the subsequent calculation of the differential data of the virtual stations, and improve the efficiency of determining the differential data of the virtual stations.
Further, as shown in fig. 5, a third embodiment of the broadcast-based gridded differential data broadcasting method according to the present invention is proposed based on the second embodiment, and in this embodiment, the step S32 specifically includes the steps of:
step S33, acquiring longitude and latitude positions of the virtual station, and calculating differential data between the virtual station and each continuous operation reference station through the space correlation error model;
it is understood that, by inputting the longitude and latitude position of the current virtual station, the differential data between the virtual station and each continuously operating reference station can be quickly calculated through the space-dependent error model, and these differential data are stored as a set in the data processing and control center, or the real-time differential data may also be stored in other similar devices or databases with storage functions, which is not limited in this embodiment.
Step S34, selecting the minimum value from the difference data between the virtual station and each continuously operating reference station as the difference data of the virtual station.
It should be understood that, the selection of the minimum value from the differential data between the virtual station and each continuously operating reference station as the differential data of the virtual station is a manner of screening the differential data, and of course, the differential data of the virtual station may be selected by other screening manners or rules, which is not limited in this embodiment.
In the specific implementation, after receiving the real-time differential data from each continuously operating reference station, the data processing and control center comprehensively utilizes the real-time differential data to select information of a group of continuously operating reference stations according to the longitude and latitude position information of the virtual stations to establish the space correlation error model, thereby estimating the space correlation error between each virtual station and each continuously operating reference station, namely the differential data of each virtual station, and then selecting the minimum value from the differential data as the differential data of the virtual stations.
It should be noted that, in the conventional broadcast RTK, since the user terminal is located in a large range of a broadcast coverage area, and only fixed differential data can be received wherever the user terminal is located, when the user terminal is far away from a broadcast station, the accuracy of navigation positioning is inevitably reduced, and the positioning accuracy can be greatly improved by receiving the gridded differential data by the method of the embodiment, so as to achieve an effect similar to that of the network RTK; the user terminal may receive the meshed differential data to improve the positioning accuracy as follows: firstly, the user terminal obtains the self approximate position through a common navigation positioning method, and the user terminal establishes a positioning resolving equation according to the directly received satellite signals to obtain a preliminary positioning result. Because of the influence of satellite ephemeris error, satellite clock error, ionosphere error and troposphere error, etc., the positioning accuracy is generally lower. Then, the user terminal receives the digital broadcast signal, demodulates the encrypted data packet to be sent, obtains the position information of each grid interval after demodulation, analyzes the differential data of the virtual station corresponding to the grid interval, namely the differential data of the current virtual station, after the user terminal searches for the minimum value by calculating the distance between the approximate position and each grid interval and finds the grid number corresponding to the minimum value, and finally corrects the preliminary positioning result according to the differential data of the virtual station, so as to obtain a navigation positioning result with higher precision.
In the embodiment, by acquiring the longitude and latitude positions of a virtual station, differential data between the virtual station and each continuously-operating reference station is calculated through the space-dependent error model; selecting the minimum value from the differential data between the virtual station and each continuous operation reference station as the differential data of the virtual station; the method can utilize the spatial error model to quickly determine the differential data of the virtual station, improves the speed of determining the differential data of the virtual station, improves the accuracy of the differential data, and can achieve the optimal positioning enhancement effect by using the proper differential data.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a broadcast-based gridded differential data broadcasting program is stored on the computer-readable storage medium, and when executed by a processor, the broadcast-based gridded differential data broadcasting program implements the following operations:
dividing a target area into a plurality of grid intervals according to a preset radius;
determining a reference point of each grid interval;
setting a virtual station for the grid interval according to the reference point;
generating a data packet to be sent according to the differential data of the virtual station;
and broadcasting the data packet to be sent in a broadcasting mode.
Further, the broadcast-based gridded differential data dissemination program when executed by a processor further implements the following operations:
establishing a space correlation error model by utilizing a continuously operating reference station;
and obtaining differential data of the virtual station according to the space correlation error model.
Further, the broadcast-based gridded differential data dissemination program when executed by a processor further implements the following operations:
receiving real-time differential data uploaded by each continuously operating reference station;
establishing a space correlation error model according to the real-time differential data and the longitude and latitude positions of the virtual stations; the real-time differential data is a difference value obtained by comparing the longitude and latitude positions of the continuously operating reference station according to the continuously received navigation positioning signals with the longitude and latitude positions of the continuously operating reference station.
Further, the broadcast-based gridded differential data dissemination program when executed by a processor further implements the following operations:
acquiring longitude and latitude positions of a virtual station, and calculating differential data between the virtual station and each continuous operation reference station through the space correlation error model;
and selecting the minimum value from the differential data between the virtual station and each continuously-operating reference station as the differential data of the virtual station.
Further, the broadcast-based gridded differential data dissemination program when executed by a processor further implements the following operations:
and comparing the differential data of the virtual station with the preset radius, and when the preset radius is larger than the differential data of the virtual station, adjusting the preset radius to ensure that the preset radius does not exceed the differential data of the virtual station.
Further, the broadcast-based gridded differential data dissemination program when executed by a processor further implements the following operations:
judging whether a target broadcasting station or a continuous operation reference station exists in the grid interval, and when the target broadcasting station or the continuous operation reference station exists in the grid interval, taking the position of an actual station in the grid interval as a reference point; when the target broadcasting station or the continuous operation reference station does not exist in the grid interval, taking the center position of the grid interval as a datum point.
Further, the broadcast-based gridded differential data dissemination program when executed by a processor further implements the following operations:
and receiving the differential data of the virtual station and the position information of the virtual station, and generating the data packet to be sent according to the differential data of the virtual station and the position information of the virtual station.
According to the embodiment, the target area is divided into a plurality of grid intervals according to the preset radius, so that the baseline distance of a single area is reduced, and the positioning precision is improved; determining a reference point of each grid interval; setting a virtual station for the grid interval according to the reference point; and generating a data packet to be sent according to the differential data of the virtual station, so as to select proper differential data to achieve the optimal positioning enhancement effect.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A broadcast-based meshed differential data broadcasting method, the method comprising:
dividing a target area into a plurality of grid intervals according to a preset radius;
determining a reference point of each grid interval;
setting a virtual station for the grid interval according to the reference point;
generating a data packet to be sent according to the differential data of the virtual station;
broadcasting the data packet to be sent in a broadcasting mode;
before generating a data packet to be transmitted according to the differential data of the virtual station, the method further includes:
establishing a space correlation error model by utilizing a continuously operating reference station;
obtaining differential data of the virtual station according to the space correlation error model;
the obtaining of the differential data of the virtual station according to the spatial correlation error model specifically includes:
acquiring longitude and latitude positions of the virtual station, and calculating differential data between the virtual station and each continuously-operating reference station through the space-related error model;
and selecting the minimum value from the differential data between the virtual station and each continuously-operating reference station as the differential data of the virtual station.
2. The method of claim 1, wherein the establishing a spatial correlation error model using the continuously operating reference station comprises:
receiving real-time differential data uploaded by each continuously operating reference station;
establishing a space correlation error model according to the real-time differential data and the longitude and latitude positions of the virtual stations; the real-time differential data is a difference value obtained by comparing the longitude and latitude positions of the continuously operating reference station according to the continuously received navigation positioning signals with the longitude and latitude positions of the continuously operating reference station.
3. The method of claim 1, wherein after obtaining differential data for the virtual station according to the spatial correlation error model, the method further comprises:
and comparing the differential data of the virtual station with the preset radius, and when the preset radius is larger than the differential data of the virtual station, adjusting the preset radius to ensure that the preset radius does not exceed the differential data of the virtual station.
4. The method of claim 1, wherein the determining the reference point for each grid interval comprises:
judging whether a target broadcasting station or a continuous operation reference station exists in the grid interval, and when the target broadcasting station or the continuous operation reference station exists in the grid interval, taking the position of an actual station in the grid interval as a reference point; when the target broadcasting station or the continuous operation reference station does not exist in the grid interval, taking the center position of the grid interval as a datum point.
5. The method of claim 1, wherein the generating a data packet to be transmitted according to the differential data of the virtual station specifically comprises:
and receiving the differential data of the virtual station and the position information of the virtual station, and generating the data packet to be sent according to the differential data of the virtual station and the position information of the virtual station.
6. The method of claim 5, wherein the location information of the virtual station comprises:
an interval type, an interval ID, a latitude value, and a longitude value of the virtual station.
7. A broadcast-based meshed differential data dissemination server, characterized in that the broadcast-based meshed differential data dissemination server comprises: a memory, a processor and a broadcast-based meshed differential data dissemination program stored on the memory and executable on the processor, the broadcast-based meshed differential data dissemination program being configured to implement the steps of the broadcast-based meshed differential data dissemination method as claimed in any of the claims 1 to 6.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a broadcast-based meshed differential data dissemination program, which when executed by a processor implements the steps of the broadcast-based meshed differential data dissemination method as claimed in any one of claims 1 to 6.
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| CN201710555501.XA CN107426695B (en) | 2017-07-07 | 2017-07-07 | Broadcast-based gridding differential data broadcasting method, server and storage medium |
| PCT/CN2018/072277 WO2019007022A1 (en) | 2017-07-07 | 2018-01-11 | Broadcast-based gridding differential data broadcasting method, server, and storage medium |
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| CN201710555501.XA CN107426695B (en) | 2017-07-07 | 2017-07-07 | Broadcast-based gridding differential data broadcasting method, server and storage medium |
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| CN107426695B (en) * | 2017-07-07 | 2020-03-20 | 深圳思凯微电子有限公司 | Broadcast-based gridding differential data broadcasting method, server and storage medium |
| CN109899932B (en) * | 2017-12-11 | 2021-03-02 | 香港城市大学深圳研究院 | Control method and device of air conditioner |
| CN109525936B (en) * | 2018-01-15 | 2024-03-19 | 四川中电昆辰科技有限公司 | Multi-frequency point position data return system |
| CN108490459B (en) * | 2018-02-12 | 2022-08-05 | 千寻位置网络有限公司 | Method and system for applying precision and risk balance to GNSS position service |
| CN110488332B (en) * | 2018-05-14 | 2021-09-10 | 广州市中海达测绘仪器有限公司 | Positioning information processing method and device based on network RTK technology |
| CN108897025B (en) * | 2018-05-15 | 2021-11-26 | 艾欧创想智能科技（武汉）有限公司 | High-precision positioning method and device, terminal equipment and computer readable storage medium |
| CN108710676A (en) * | 2018-05-17 | 2018-10-26 | 武汉导航与位置服务工业技术研究院有限责任公司 | High precision position towards large-scale distributed user broadcasts service unit and method |
| CN108802765B (en) * | 2018-07-03 | 2022-05-10 | 千寻位置网络有限公司 | Control method and system for grid information transmission, positioning method and terminal |
| CN111277945A (en) * | 2018-11-20 | 2020-06-12 | 北京华信泰科技股份有限公司 | RTK positioning method and device |
| CN111273324A (en) * | 2018-12-05 | 2020-06-12 | 深圳华大北斗科技有限公司 | Satellite positioning enhancement method, device, computer equipment and storage medium |
| CN111045051B (en) * | 2019-07-10 | 2022-02-08 | 广东星舆科技有限公司 | VRS information generation method, positioning service providing method and positioning service device |
| CN110545519A (en) * | 2019-10-15 | 2019-12-06 | 和芯星通科技(北京)有限公司 | network RTK service method, network RTK server, communication base station, and storage medium |
| CN112765759B (en) * | 2019-11-01 | 2023-03-24 | 千寻位置网络有限公司 | Reference station velocity field processing method and device |
| CN112764072B (en) * | 2019-11-01 | 2022-12-16 | 千寻位置网络有限公司 | Differential data broadcasting method and device, service terminal and storage medium |
| CN111641926B (en) * | 2020-05-19 | 2021-11-16 | 深圳思凯微电子有限公司 | Method for meshing broadcast signal coverage areas, server and storage medium |
| CN111427074B (en) * | 2020-06-10 | 2020-10-09 | 天津七一二通信广播股份有限公司 | GBAS-based high-reliability time system service equipment |
| CN111781618B (en) * | 2020-07-08 | 2022-10-18 | 深圳思凯微电子有限公司 | Satellite navigation differential data receiving method, device, equipment and storage medium |
| CN111817807A (en) * | 2020-07-21 | 2020-10-23 | 深圳思凯微电子有限公司 | Broadcast-based differential data broadcasting method, device, equipment and storage medium |
| CN112485812B (en) * | 2020-11-11 | 2025-01-07 | 国广融合（北京）传媒科技发展有限公司 | Positioning method and device |
| CN114236583B (en) * | 2021-12-23 | 2022-10-11 | 国汽大有时空科技(安庆)有限公司 | Space geographic range coding method and global-range GNSS differential enhanced positioning method |
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| WO2019007022A1 (en) | 2019-01-10 |
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