Collaborative RTK positioning method and system

Abstract

The invention discloses a collaborative RTK positioning method, including the following steps: a fixed reference station is selected; observation data of the fixed reference station are obtained and a pseudorange residual error and a carrier phase residual error are calculated; information of the fixed reference station is transmitted to a reference station dispatching center; moving station coarse positioning is performed and a positioning result is transmitted to the reference station dispatching center; the reference station dispatching center dispatches a candidate reference station group matched with the moving station and sends a unique identifier of the matched candidate reference station group to the moving station; the moving station receives observation data and a standard coordinate position, and selects a standard reference station; and the moving station performs high-precision positioning. The invention also provides a system using the positioning method to perform positioning, and the system includes a reference station dispatching center, a plurality of fixed reference stations, a plurality of moving stations and a communication link for data exchange among the reference station dispatching center, the fixed reference stations and the moving stations. The collaborative RTK positioning method and system provided by the invention are high in positioning precision, and have low data processing pressure when applied on a large scale.

Description

technical field [0001] The invention specifically relates to a cooperative RTK positioning method and system. Background technique [0002] RTK (Real Time Kinematic) technology is a real-time dynamic positioning technology based on carrier phase difference. It is based on real-time processing of carrier phase observations of two stations, and provides 3D positioning results in the specified coordinate system. The real-time positioning accuracy can reach the centimeter level, and has the advantages of good real-time performance and fast speed. The basic principle of RTK is that the reference station and the rover receive satellite signals at the same time, and the reference station transmits the observation data (mainly carrier phase, pseudo-range) and the standard coordinate position of the reference station to the rover through a data link (modem, radio or communication network). Station, the mobile station uses software to reduce the observation error of the mobile statio...

AI Technical Summary

Problems solved by technology

Moreover, the complexity of the network RTK technology algorithm and the virtual reference observation value increase with the increase of the number of rover stations, which in turn brings great burden and pressure to the data center server processing and communication network transmission

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