CN111060941A - High-precision positioning method and device in shielding environment - Google Patents
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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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The invention relates to the technical field of high-precision satellite positioning, and discloses a high-precision positioning method in a shielding environment, which comprises the following steps: marking a target point at the occlusion; selecting a first reference point at the position which is not blocked, acquiring the position information of the first reference point through a satellite positioning system, and measuring a first distance L1 from the first reference point to a target point; selecting a second reference point at the position which is not blocked, acquiring the position information of the second reference point through a satellite positioning system, and measuring a second distance L2 from the second reference point to the target point; judging the position of the target point relative to the first reference point or the second reference point; and calculating the position information of the target point by combining the position information of the first reference point, the position information of the second reference point, the first distance L1 and the second distance L2. The invention makes up the defect of insufficient precision of satellite signals in the sheltering environment by utilizing the positioning accuracy of the reference point, and the measurement process is simple and flexible.
Description
Technical Field
The invention relates to the technical field of high-precision satellite positioning, in particular to a high-precision positioning method and device in a shielding environment.
Background
In recent years, with the development of high-precision positioning technology, many high-precision devices of various types are available on the market to realize high-precision centimeter-level positioning. Various control measurement, topographic mapping, construction lofting and the like need to apply the accurate data source provided by the high-precision RTK acquisition measurement technology, so that reliable basis is provided for various constructions and constructions. However, in places with occlusions, the satellite signals become weak, so that the positioning accuracy becomes worse, and in the case of more severe occlusions, even no satellite signals. In general, due to shielding, an RTK receiver antenna cannot receive signals of 4 (or more than 4) satellites at the same time, and thus cannot acquire positioning coordinates in real time, or the solution accuracy of the RTK receiver antenna is poor, which is far from meeting practical requirements.
In many environments needing RTK positioning, positioning measurement is often needed to be carried out under trees, building eaves or viaducts, satellite signals are shielded in the environments, RTK positioning accuracy is affected, high-precision positioning inaccuracy is caused, and positioning work efficiency is seriously affected. Particularly, with the development of cities, the urban environment is more complex, and how to improve the rapid and accurate high-precision positioning under the environment that the satellite signals are shielded becomes one of the problems to be solved urgently.
Disclosure of Invention
In order to solve the technical problem of improving the rapid and accurate high-precision positioning under the shielding environment of satellite signal reception, the invention provides a high-precision positioning method and a device thereof under the shielding environment, and the technical scheme is as follows:
a high-precision positioning method under a sheltering environment mainly comprises the following steps: marking a target point at the occlusion; selecting a first reference point at the position which is not blocked, acquiring the position information of the first reference point through a satellite positioning system, and measuring a first distance L1 from the first reference point to a target point; selecting a second reference point at the position which is not blocked, acquiring the position information of the second reference point through a satellite positioning system, and measuring a second distance L2 from the second reference point to the target point; judging the position of the target point relative to the first reference point or the second reference point; and calculating the position information of the target point by combining the position information of the first reference point, the position information of the second reference point, the first distance L1 and the second distance L2.
Preferably, the marking of the target point at the occlusion comprises setting a flag, a road cone, a sticker, a pole or a stone block at the target point.
Preferably, the position information of the first position and the second position is acquired and displayed by a positioning device.
Preferably, the positioning device comprises a mobile communication terminal and a positioning sensor; the positioning sensor acquires satellite signals for positioning and resolving; and the mobile communication terminal performs positioning calculation to obtain and display the position information of the first reference point and the second reference point.
Preferably, the position of the target point relative to the first reference point or the second reference point is obtained by mobile communication terminal measurement.
Preferably, the first and second distances L1 and L2 from the first and second reference points to the target point are measured by means of infrared measurement, laser measurement, acoustic measurement, or tape measure.
Correspondingly, a high accuracy positioner under sheltering from environment, its characterized in that, high accuracy positioner includes: the device comprises positioning equipment and measuring equipment, wherein the positioning equipment comprises a positioning sensor and a mobile communication terminal; the positioning sensor is used for acquiring satellite signals at the first reference point and the second reference point respectively for positioning calculation; the mobile communication terminal is used for positioning and resolving to obtain and display the position information of the first reference point and the second reference point; the measuring device is used for measuring and obtaining a first distance L1 and a second distance L2 from the first reference point and the second reference point to the target point.
Preferably, the positioning device is an RTK.
Preferably, the mobile communication terminal establishes communication contact with the positioning sensor in a wired or wireless mode,
preferably, the measuring device is one of a laser rangefinder, an infrared rangefinder, a sonic rangefinder and a tape measure.
Some technical effects of the invention are as follows: on the basis of acquiring the position information of the reference point, the position information from the first reference point or the second reference point to the target point to be measured is acquired by marking the target point and measuring the target point by using simple measuring equipment, the azimuth of the target point relative to the first reference point or the second reference point is acquired by using the compass, the position information of the target point is quickly and accurately acquired by real-time calculation, the defect that the precision of a satellite signal is insufficient in a sheltered environment is overcome by using the positioning accuracy of the reference point, and the measuring process is simple and flexible.
The high-precision positioning device and the measuring equipment can be moved and are convenient to install, the whole positioning device has good moving performance, can complete positioning tasks in different environments, and has wide applicability.
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For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:
FIG. 1 is a schematic diagram of a high progress positioning apparatus in one embodiment;
FIG. 2 is a schematic flow chart of a high-precision positioning method according to an embodiment;
FIG. 3 is a schematic diagram illustrating a solution formed by the first reference point, the second reference point and the target point according to an embodiment.
Detailed Description
The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.
Some of the highlighted statements referred to herein are explained as follows:
the satellite positioning system refers to GNSS: global Navigation Satellite System, Global Navigation Satellite System. Including but not limited to BDS: BeiDou Navigation Satellite System, BeiDou Navigation Satellite System; GPS: global Positioning System, developed in the united states; GLONASS: global satellite positioning systems developed by glonass, russia; galileo: a global Satellite Navigation positioning System developed and established by Galileo Satellite Navigation System, Galileo, the european union.
Rtk (real Time kinematic) refers to real-Time dynamic carrier-phase differential techniques.
Rtd (real Time differential), which refers to a real-Time dynamic code phase difference technique.
The invention provides a high-precision positioning device under a shielding environment, which comprises: the device comprises a positioning device and a measuring device, wherein the positioning device comprises a positioning sensor and a mobile communication terminal, the mobile communication terminal is used for recording information in the high-precision positioning process, and performs calculation and display of data, the positioning sensor is used for establishing real-time communication with the satellite positioning system, acquiring communication information of the satellite positioning system, the positioning sensor sends high-precision satellite positioning information to the mobile communication terminal, the mobile communication terminal carries out position calculation on the positioning information to obtain a more accurate high-precision positioning result, the positioning sensor is in communication connection with the mobile communication terminal in a wired or wireless mode, the measuring device is used for measuring the horizontal straight-line distance from one point to another point, and the measuring device can be connected with the mobile communication terminal or can be operated independently.
On the general idea, a high-precision positioning method under a shielding environment mainly comprises the following steps: marking a target point at the occlusion; selecting a first reference point at the position which is not blocked, acquiring the position information of the first reference point through satellite positioning, and measuring a first distance L1 from the first reference point to a target point; selecting a second reference point at the position which is not blocked, acquiring the position information of the second reference point through satellite positioning, and measuring a second distance L2 from the second reference point to the target point; judging the position of the target point relative to the first reference point or the second reference point; and calculating the position information of the target point by combining the position information of the first reference point, the position information of the second reference point, the first distance L1 and the second distance L2.
In some embodiments, marking the target point at the occlusion comprises placing a flag, road cone, sticker, pole, or stone at the target point. The mode of marking the target point can be manual setting or setting at a selected position through a machine such as an unmanned aerial vehicle, a robot and the like.
In some embodiments, two different points are arbitrarily selected at the non-occluded position, and the position information of the first position and the second position is acquired and displayed through the positioning equipment. In general, the first and second reference points may be selected in the same way as the target points are marked, including setting flags, road cones, stickers, poles, or stones at the first and second reference points. The first reference point and the second reference point can be selected manually or set at selected positions by a machine such as an unmanned aerial vehicle and a robot; after the reference point is selected, the positioning equipment can be arranged on the ground where the reference point is located or the positioning equipment is held by the hand at the target point; and acquiring high-precision positioning information of the first reference point and the second reference point in real time through the positioning equipment and a satellite positioning system, and recording the high-precision positioning information on the mobile communication terminal.
In some embodiments, the position of the target point relative to the first reference point or the second reference point is obtained by mobile communication terminal measurement. Generally speaking, it should be understood by those skilled in the art that the mobile communication terminal refers to a mobile communication terminal with devices capable of identifying directions, such as an electronic compass, a hall sensor, a gyroscope, and the like, so that in practical applications, if the mobile communication terminal is used to realize a function of determining directions, the existing mobile communication terminal is hardly required to be improved, and the purpose can be realized only by fully utilizing the functions of the existing devices in the existing mobile communication terminal, so that the advantages of easy implementation and operation of the present invention are further embodied, and the application of the mobile communication terminal is also expanded; the azimuth refers to a direction position with east, south, west and north as basic azimuths; after the mobile communication terminal is horizontally placed on the ground where the first reference point or the second reference point is located or is horizontally held by a hand at the first reference point or the second reference point, the top of the mobile communication terminal points to the target point, so that the position of the target point relative to the first reference point or the second reference point can be obtained in an electronic compass of the mobile communication terminal, and the position is recorded on the mobile communication terminal.
In some embodiments, the first distance L1 and the second distance L2 from the first reference point and the second reference point to the target point are measured by means of infrared measurement, laser measurement, acoustic measurement, or tape measure. The measurement method is generally a horizontal linear distance from a selected point setting of the first reference point or the second reference point to the target point setting. Combining the position information of the first reference point, the position information of the second reference point, the first distance L1 and the second distance L2, starting immediately, with the first reference point as a dot, the first distance L1 as a radius, a circle can be generated, with the second reference point as a center of the circle, the second distance L2 as a radius, another circle can be generated, the two circles are intersected inevitably, the specific position information of two intersection points can be obtained by resolving, wherein the position information of one intersection point is the position information of the target point,
as shown in fig. 3, the position information a (x) of the first reference point is obtained by the positioning device1，y1) And position information B (x) of the second reference point2，y2) The first distance L1 is r obtained by the measuring device1And a second distance L2 of r2The position information of the two intersections is C (x) respectivelyc，yc) And D (x)d，yd)
The distance from the first reference point to the second reference point is AB, and the distance between the two intersection pointsFrom CD, AB has a slope of k1The slope of CD is k2The results of the calculations can be used to obtain,
obtain the distance AB and the first distance r1And a second distance r2Then, the vertical intersection E (x) of AB and CD can be calculated0，y0) The distance from the intersection point C to the vertical intersection point E is CE, the distance from the vertical intersection point E to the second reference point B is EB,
thereby calculating the position information E (x) of the E point0，y0)
After obtaining the position information of point E, further obtaining the vertical point F of the triangle △ CEF, the distance EF from the intersection point E to the vertical point F can be calculated, as follows,
the distance EF is obtained as a result of which,
according to the distance of EF, the coordinate relation is combined to obtain,
the settlement can obtain the position information of two intersection points which are respectively C (x)c，yc) And D (x)d，yd)
The target point C (x) can be quickly and accurately calculated after the mobile communication terminal judges the positions of the target point relative to the first reference point and the second reference pointc，yc) Or D (x)d，yd) High precision position information.
In some embodiments, in order to obtain accurate target point position information, position information C (x) of two intersection points is obtained in settlementc，yc) And D (x)d，yd) Then, the communication bottom C (x) is measured by the mobile communication terminalc，yc) An angle of direction degree1 with respect to true north and said intersection point D (x)d，yd) With respect to the direction angle degree2 of the true north direction, pointing the mobile communication terminal horizontally to the target point at the first reference point or the second reference point to obtain a compass angle α, calculating the absolute value of the difference between the azimuth angle of the respective intersection point and the compass angle α, i.e. the difference between the compass angle α and degree1 and the difference between the compass angle α and degree2, wherein the intersection point with the smallest absolute value is obtained and is the target point,
by the following calculation, it can be seen that:
|α-degree1|<i α -degree2 then C (x)c，yc) As the information on the position of the target point,
|α-degree2|<i α -degree1 then D (x)d，yd) Is the target point position information.
Correspondingly, the invention also provides a high-precision positioning device in a shielding environment, which comprises: the device comprises positioning equipment and measuring equipment, wherein the positioning equipment comprises a positioning sensor and a mobile communication terminal; the positioning sensor is used for acquiring satellite signals at the first reference point and the second reference point respectively for positioning calculation; the mobile communication terminal is used for positioning and resolving to obtain and display the position information of the first reference point and the second reference point; the measuring device is used for measuring and obtaining a first distance L1 and a second distance L2 from the first reference point and the second reference point to the target point.
In some embodiments, the positioning device completes high-precision positioning by cooperation of the positioning sensor and the mobile communication terminal, and the positioning sensor receives signals of a satellite positioning system through an antenna and then obtains raw observation data including pseudo-range measurement values and carrier phase measurement values after processing through a radio frequency circuit and a baseband in sequence. The positioning sensor sends satellite positioning information to the mobile communication terminal, and the mobile communication terminal carries out position calculation to obtain a more accurate high-precision positioning result.
In some embodiments, the positioning device is mainly used for receiving satellite signals and performing signal processing to obtain position information, such as searching for satellite signals, locking satellite signals, performing analog-to-digital conversion and decoding on satellite signals, and therefore the structure of the positioning device can be designed to be very simple, and the size can be designed to be small. The pointing device should also have a display function, visually display the obtained location information,
some technical effects of the invention are as follows: after the positioning device obtains the position information of the first reference point and the second reference point at the non-shielded position and the differential text through a satellite positioning system, the positioning device performs RTD or RTK calculation to obtain the high-precision positioning information of the first reference point and the second reference point, and then the positioning device can be simply operated to quickly and accurately calculate the high-precision position information result of the target point by combining the position of the target point relative to one of the reference points and the distances from the target point to at least two reference points.
In some embodiments, the mobile communication terminal may include a mobile phone, a tablet computer, a notebook computer, a vehicle-mounted computer, another portable computer, and the like, which may be suitable for various operating systems such as android, apple, microsoft, and the like.
In some embodiments, the mobile communication terminal has any one of the following characteristics:
1. the mobile communication terminal does not have satellite positioning capability;
2. the satellite positioning capability of the mobile communication terminal is inferior to that of the positioning sensor, that is, the mobile communication terminal may also have a satellite signal receiving antenna and a positioning module, but the pseudorange measurement accuracy or the carrier phase measurement accuracy is lower than that of the positioning sensor, and the types and channels of the satellite signals which can be received by the mobile communication terminal are less than those of the positioning sensor.
In some embodiments, the positioning device is an RTK, and the positioning and resolving functions are performed independently by the RTK.
In some embodiments, the mobile communication terminal establishes a communication link with the positioning sensor in a wired or wireless manner, and it should be noted that the mobile device is not integrated with the positioning sensor but at least detachable, and the communication link therebetween may be a wireless or wired manner.
In some embodiments, the mobile device performs an RTD or RTK solution by calling an algorithm program stored in the positioning sensor. This embodiment means that the algorithm program will be stored in the readable medium of the positioning sensor without the mobile device itself having to be adapted to excessive software adaptations.
In some embodiments, the mobile device establishes a connection for the positioning sensor and communicates through a USB mode. The USB data line is used for realizing communication, so that the data transmission is more stable and faster, and meanwhile, a power supply can be provided for the positioning sensor. In the embodiment, the positioning sensor is powered by the mobile communication terminal, a storage battery is not arranged, and the positioning sensor is smaller in size and convenient to carry.
In some embodiments, the measuring device is one of a laser rangefinder, an infrared rangefinder, a sonic rangefinder, and a tape measure. The distance from the first reference point or the second reference point to the target point is measured, surveying devices such as a laser distance meter, an infrared distance meter, a sound wave distance meter and a tape measure are simple and easy, a surveying method is mature, the surveying equipment can be recorded into the mobile communication terminal after data are measured through manual operation, the mobile communication terminal carries out unified data calculation, the data can also be known with the mobile communication equipment through a wired or wireless mode, and the information of the surveying equipment is transmitted to the mobile communication equipment in real time.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A high-precision positioning method under a shielding environment is characterized by comprising the following steps:
marking a target point at the occlusion;
selecting a first reference point at the position which is not blocked, acquiring the position information of the first reference point through a satellite positioning system, and measuring a first distance L1 from the first reference point to a target point;
selecting a second reference point at the position which is not blocked, acquiring the position information of the second reference point through a satellite positioning system, and measuring a second distance L2 from the second reference point to the target point;
judging the position of the target point relative to the first reference point or the second reference point;
and calculating the position information of the target point by combining the position information of the first reference point, the position information of the second reference point, the first distance L1 and the second distance L2.
2. The method of claim 1, wherein:
and marking a target point at the sheltering position, wherein a flag, a road cone, a sticker, a pole or a stone block is arranged at the target point.
3. The method of claim 1, wherein:
the step of obtaining the position of the first reference point and the position information of the second reference further comprises the steps of:
and acquiring and displaying the position information of the first position and the second position through positioning equipment.
4. The method of claim 3, wherein:
the positioning equipment comprises a mobile communication terminal and a positioning sensor;
the positioning sensor acquires satellite signals for positioning and resolving;
and the mobile communication terminal performs positioning calculation to obtain and display the position information of the first reference point and the second reference point.
5. The method of claim 4, wherein:
and measuring and obtaining the position of the target point relative to the first reference point or the second reference point through a mobile communication terminal.
6. The method of claim 1, wherein:
the first distance L1 and the second distance L2 from the first reference point and the second reference point to the target point are measured by means of infrared measurement, laser measurement, sound wave measurement, or tape measure.
7. A high accuracy positioning apparatus in a sheltered environment, comprising: a positioning device and a measuring device, wherein,
the positioning equipment comprises a positioning sensor and a mobile communication terminal;
the positioning sensor is used for acquiring satellite signals at the first reference point and the second reference point respectively for positioning calculation;
the mobile communication terminal is used for positioning and resolving to obtain and display the position information of the first reference point and the second reference point;
the measuring device is used for measuring and obtaining a first distance L1 and a second distance L2 from the first reference point and the second reference point to the target point.
8. The high accuracy positioning apparatus according to claim 7, wherein:
the positioning apparatus is an RTK.
9. The high accuracy positioning apparatus according to claim 7, wherein:
and the mobile communication terminal establishes communication contact with the positioning sensor in a wired or wireless mode.
10. The apparatus of claim 7, wherein: the measuring device is one of a laser rangefinder, an infrared rangefinder, an acoustic rangefinder and a tape measure.
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| CN111474519A (en) * | 2020-04-28 | 2020-07-31 | 广东博智林机器人有限公司 | Positioning method, device, equipment and storage medium |
| CN113959270A (en) * | 2021-10-11 | 2022-01-21 | 中国人民解放军陆军工程大学 | A landmine location location method, control center, landmine and laying system |
| CN113866809A (en) * | 2021-11-19 | 2021-12-31 | 中国人民武装警察部队工程大学 | Calculation method of general position information in mountain environment |
| CN115175095A (en) * | 2022-07-20 | 2022-10-11 | Oppo广东移动通信有限公司 | Indoor positioning method, device, storage medium and terminal |
| CN115175095B (en) * | 2022-07-20 | 2024-05-07 | Oppo广东移动通信有限公司 | Indoor positioning method, device, storage medium and terminal |
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Application publication date: 20200424 |