主辅站技术定位原理及算法研究
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摘要
主辅站技术是一种新颖的网络RTK技术,它发播的差分改正数采用的是标准的网络RTK差分改正数据格式,它克服了早期一些网络RTK技术的缺点,逐渐在我国的连续运行参考站网络中得到越来越广泛的应用,由于其理论研究涉及到一些专有知识产权,国内对其理论的研究非常少,本文通过对主辅站网络的数据采集、处理、计算、分发、服务等方面作进一步梳理,对主辅站技术的定位原理和实现方式进行了深入的探讨,详细阐述主辅站技术的原理以及实现方法,提供一个较完备的主辅站构建思路,同时为后续的研究工作做技术积累。
本文从网络RTK技术的起源及特点开始论述,将其与传统的RTK技术进行对比,从五个方面对网络RTK技术的优点进行分析。简要介绍了几种主要的网络RTK技术,包括了VRS技术、FKP技术、CBI技术、ARS技术以及本文主要研究的对象MAC技术。然后,对主辅站技术的关键技术给出了分析结果,提出主辅站的关键技术有三个方面,其中最主要的是整周模糊度的解算方法和差分改正数的计算方法,并指出主辅站技术的实现必须首先解决上述两个算法问题。
针对主辅站技术的定位算法展开研究,阐明了弥散性差分改正和非弥散性差分改正的来源和作用,阐明了它们的改正数是主辅站技术中最主要的差分改正。推导了主辅站技术的数学模型,从基本的观测方程出发,分析了公共整周模糊度水平的作用和意义,并通过公式说明它产生的过程。在确定公共整周模糊度水平的基础上,推导了主辅站差分改正数的公式,并对差分改正数在流动站的应用进行了详细分析。
阐述了主辅站技术的实现过程,从最基础的硬件需求出发,阐述了连续运行参考站系统在主辅站技术的实现过程中的平台作用。通过对主辅站定位业务流程的分析,说明了数据处理的过程,并引出了主辅站与流动站之间通信的基本协议NTRIP协议和NMEA协议。讨论了主辅站技术的两种改正方式,MAX主辅站改正和i-MAX针对性的主辅站改正,分析了它们的作用和区别。最后从网络RTK的基本数据格式RTCM出发,对最新的RTCM Ver3.1数据进行了详细的分析,通过编程实现了RTCM传输电文的解码。
详细论述了几种内插算法的原理和模型以及它们在主辅站技术中的应用,其中包括了加权平均法、线性内插法、低次曲面模型法、偏导算法、最优三角形内插法和最小二乘配置法,推导了差分改正数生成的公式
MAC is a novel network RTK technology, which sends the corrections difference using standard data format. It overcomes all of the weakness of the previous network RTK technology and gradually gaining a wide range of applications. Because of its theoretical research involves much proprietary information, the study of this theory is very little in china. In this paper, author through network data collecting, processing, computing, distribution and services to achieve a more in-depth study of the MAC positioning technology, and elaborate the principle and the realization method of MAC technology, provide a more complete idea of the master-auxiliary station. At the same time, the research work done for follow-up technology accumulation. The main work of this article includes the following aspects:
In this paper, the origin and characteristics of network RTK was talked about, network RTK techniques and traditional RTK techniques are compared from five aspects. There introduced several major network RTK technology, including the VRS technology, FKP technique, CBI technology, ARS technology, and MAC technology which is major object of study in this paper. Then, based on the results of the analysis put forward three key technologies in MAC, chief among them is the solution of ambiguity and the arithmetic of the corrections differential, and pointed out that the realization of master-auxiliary station must first solving the above two questions.
Conduct a study aim at location algorithm of MAC to clarify that correction difference can be resolved into two components: i.e., dispersive and non-dispersive parts, and they are the most important correction in MAC. Deduce the mathematical models of MAC technology and graphically explained in detail the common ambiguity level of meaning. Deduce the formula of correction, and carried out a detailed analysis in the rover applications.
Describes the implementation process of the MAC, based on its hardware requirements, point out that the Continuously Operating Reference System is a platform in this process. Illustrates the data processing process and leads to a reference station and rover’s basically protocol that is NTRIP and NMEA, which is used for communication. RTK’s data format is based on the RTCM. It discusses the two correction methods of MAC technology, which is Master-Auxiliary Corrections and Individualized Master-Auxiliary Corrections, Finally, The latest RTCM Ver3.1 messages detailed analysis, and decoding of the message by programming.
Described in detail the principles of several interpolation algorithms and models and their application of MAC technology, including the weighted average method, Linear Interpolation Method, Low-Order Surface Model, Partial Derivative Algorithm, Optimization Triangle Interpolation Algorithm and Least-Squares Collocation, at last a detailed derivation of the formula for generating correction.
本文从网络RTK技术的起源及特点开始论述,将其与传统的RTK技术进行对比,从五个方面对网络RTK技术的优点进行分析。简要介绍了几种主要的网络RTK技术,包括了VRS技术、FKP技术、CBI技术、ARS技术以及本文主要研究的对象MAC技术。然后,对主辅站技术的关键技术给出了分析结果,提出主辅站的关键技术有三个方面,其中最主要的是整周模糊度的解算方法和差分改正数的计算方法,并指出主辅站技术的实现必须首先解决上述两个算法问题。
针对主辅站技术的定位算法展开研究,阐明了弥散性差分改正和非弥散性差分改正的来源和作用,阐明了它们的改正数是主辅站技术中最主要的差分改正。推导了主辅站技术的数学模型,从基本的观测方程出发,分析了公共整周模糊度水平的作用和意义,并通过公式说明它产生的过程。在确定公共整周模糊度水平的基础上,推导了主辅站差分改正数的公式,并对差分改正数在流动站的应用进行了详细分析。
阐述了主辅站技术的实现过程,从最基础的硬件需求出发,阐述了连续运行参考站系统在主辅站技术的实现过程中的平台作用。通过对主辅站定位业务流程的分析,说明了数据处理的过程,并引出了主辅站与流动站之间通信的基本协议NTRIP协议和NMEA协议。讨论了主辅站技术的两种改正方式,MAX主辅站改正和i-MAX针对性的主辅站改正,分析了它们的作用和区别。最后从网络RTK的基本数据格式RTCM出发,对最新的RTCM Ver3.1数据进行了详细的分析,通过编程实现了RTCM传输电文的解码。
详细论述了几种内插算法的原理和模型以及它们在主辅站技术中的应用,其中包括了加权平均法、线性内插法、低次曲面模型法、偏导算法、最优三角形内插法和最小二乘配置法,推导了差分改正数生成的公式
MAC is a novel network RTK technology, which sends the corrections difference using standard data format. It overcomes all of the weakness of the previous network RTK technology and gradually gaining a wide range of applications. Because of its theoretical research involves much proprietary information, the study of this theory is very little in china. In this paper, author through network data collecting, processing, computing, distribution and services to achieve a more in-depth study of the MAC positioning technology, and elaborate the principle and the realization method of MAC technology, provide a more complete idea of the master-auxiliary station. At the same time, the research work done for follow-up technology accumulation. The main work of this article includes the following aspects:
In this paper, the origin and characteristics of network RTK was talked about, network RTK techniques and traditional RTK techniques are compared from five aspects. There introduced several major network RTK technology, including the VRS technology, FKP technique, CBI technology, ARS technology, and MAC technology which is major object of study in this paper. Then, based on the results of the analysis put forward three key technologies in MAC, chief among them is the solution of ambiguity and the arithmetic of the corrections differential, and pointed out that the realization of master-auxiliary station must first solving the above two questions.
Conduct a study aim at location algorithm of MAC to clarify that correction difference can be resolved into two components: i.e., dispersive and non-dispersive parts, and they are the most important correction in MAC. Deduce the mathematical models of MAC technology and graphically explained in detail the common ambiguity level of meaning. Deduce the formula of correction, and carried out a detailed analysis in the rover applications.
Describes the implementation process of the MAC, based on its hardware requirements, point out that the Continuously Operating Reference System is a platform in this process. Illustrates the data processing process and leads to a reference station and rover’s basically protocol that is NTRIP and NMEA, which is used for communication. RTK’s data format is based on the RTCM. It discusses the two correction methods of MAC technology, which is Master-Auxiliary Corrections and Individualized Master-Auxiliary Corrections, Finally, The latest RTCM Ver3.1 messages detailed analysis, and decoding of the message by programming.
Described in detail the principles of several interpolation algorithms and models and their application of MAC technology, including the weighted average method, Linear Interpolation Method, Low-Order Surface Model, Partial Derivative Algorithm, Optimization Triangle Interpolation Algorithm and Least-Squares Collocation, at last a detailed derivation of the formula for generating correction.
引文
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[2]张锋.基于多参考站网络的VRS算法研究与实现[D].郑州:信息工程大学. 2007
[3]王惠南. GPS导航原理与应用[M].北京:科学出版社, 2003
[4]黄俊华,陈文森.连续运行卫星定位综合服务系统建设与应用[M].北京:科学出版社, 2009
[5] N. Brown, I. Geisler and L. Troyer, RTK Rover Performance using the Master-Auxiliary Concept[J], Journal of Global Positioning Systems, 2006, Vol. 5, No. 1-2:135-144
[6]李凤霞.网络RTK的质量控制[D].昆明:昆明理工大学. 2007
[7]史先领,张书华.网络RTK中几种实用技术的分析比较[J].海洋测绘, 2006(5)
[8]刘彦芳,何建国,张现礼等.几种网络RTK技术的比较分析[J].地理空间信息. 2009(4).
[9] Lambert Wanninger. Introduction to Network RTK[EB/OL]. http://www.network-rtk.info/intro/introduce- tion .html.
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