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CN-121978718-A - Real-time inspection method and system for positioning accuracy and reliability of open sea GNSS

CN121978718ACN 121978718 ACN121978718 ACN 121978718ACN-121978718-A

Abstract

The invention provides a real-time checking method and a real-time checking system for the positioning accuracy and the reliability of an open sea GNSS, wherein N GNSS receivers are arranged on open sea equipment, N is more than or equal to 3, phase centers are distributed on N vertexes of a TIN triangular network, relative position parameters among the phase centers of the N GNSS receivers are calibrated, synchronous observation and data acquisition are carried out, the N GNSS receivers synchronously receive and acquire satellite observation signals and/or open sea reference station differential correction signals to form observation data, real-time resolving is carried out according to the observation data of the N GNSS receivers based on a GNSS RTK carrier wave phase difference resolving engine and a LAMBDA whole-cycle ambiguity quick fixing algorithm, real-time resolving is carried out to obtain actual relative position parameters among the N receiver phase centers, accuracy checking is carried out, a positioning error threshold is set, deviation values among the actual relative position parameters among the N receiver phase centers are resolved in real time, and the positioning error threshold are compared, and whether positioning accuracy is qualified is determined.

Inventors

  • CHENG YIPIN
  • ZHU YONGSHUAI

Assignees

  • 中国交通建设股份有限公司南方分公司

Dates

Publication Date
20260505
Application Date
20260123

Claims (10)

  1. 1. A real-time detection method for the positioning accuracy and reliability of an open sea GNSS is characterized by comprising the following steps: S1, setting N GNSS receivers on open sea equipment, wherein N is more than or equal to 3, constructing a TIN triangular network comprising N vertexes in the horizontal direction, wherein any triangle in the TIN triangular network is an isosceles or equilateral triangle, the phase centers of the N GNSS receivers are distributed on the N vertexes of the TIN triangular network, and calibrating relative position parameters among the phase centers of the N GNSS receivers to obtain calibrated relative position parameters; s2, synchronously observing and collecting data, namely synchronously receiving and collecting satellite observation signals and/or differential correction signals of a remote sea reference station by N GNSS receivers to form observation data; S3, real-time resolving, namely resolving the actual relative position parameters among the N receiver phase centers in real time according to the observed data of the N GNSS receivers based on a GNSS RTK carrier phase difference resolving engine and a LAMBDA integer ambiguity quick fixing algorithm; S4, checking and comparing the accuracy, namely setting a positioning error threshold value, resolving deviation values between actual relative position parameters and calibrated relative position parameters among N receiver phase centers in real time, comparing the deviation values with the positioning error threshold value, and determining whether positioning accuracy is qualified or not.
  2. 2. The method according to claim 1, wherein in the step S1, N=3, and the phase centers of the 3 GNSS receivers are distributed on three points of an isosceles or equilateral triangle.
  3. 3. The method according to claim 2, wherein in the step S1, the horizontal distance between the phase centers of the adjacent GNSS receivers is 3-8m.
  4. 4. The method of real-time inspection according to claim 1, wherein in the step S1, a total station with 0.1 mm-level precision is used for precisely calibrating the relative position parameters among the N GNSS receiver phase centers.
  5. 5. The method of claim 1, wherein in step S4, the positioning error threshold is determined according to a standard threshold parameter library of class D, class E and engineering measurement specific precision levels in GB/T18314-2024 Global navigation satellite System measurement Specification.
  6. 6. The method according to claim 1, wherein in the step S1, the calibrated relative position parameter includes a horizontal distance and a height difference, in the step S3, the actual relative position parameter also includes a horizontal distance and a height difference, and in the step S4, the calibrated relative position parameter and the actual relative position parameter are subjected to a point-by-point difference calculation to obtain a deviation value including a horizontal distance deviation value, a height difference deviation value and a comprehensive distance deviation value.
  7. 7. A real-time testing system for the positioning accuracy and reliability of a far-sea GNSS, for implementing the real-time testing method of claims 1 to 6, comprising a GNSS receiver array module, a system database module, a data transmission module, a real-time resolving module, a threshold setting module and a checking comparison module, wherein: The GNSS receiver array module comprises N GNSS receivers which are used for being installed on open sea equipment, wherein N is more than or equal to 3, a TIN triangular net comprising N vertexes is constructed in the horizontal direction, any triangle in the TIN triangular net is isosceles or equilateral triangle, and the phase centers of the N GNSS receivers are distributed on the N vertexes of the TIN triangular net; The system database module is used for storing data, including calibration relative position parameters among N GNSS receiver phase centers in the GNSS receiver array module; the data transmission module is used for establishing communication between the N GNSS receivers and the real-time resolving module and transmitting the observation data of the N GNSS receivers to the real-time resolving module, and establishing communication between the real-time resolving module and the checking comparison module and transmitting the resolving fruits of the real-time resolving module to the checking comparison module; The real-time resolving module is internally provided with a GNSS RTK carrier wave phase difference resolving engine and an LAMBDA integer ambiguity quick fixing algorithm, and can obtain actual relative position parameters among N GNSS receiver phase centers by real-time settlement based on the received observation data of N GNSS receivers; the threshold setting module is used for setting a positioning error threshold and establishing data communication with the checking comparison module; the checking comparison module is used for establishing data communication with the system database module and the threshold setting module, calling the positioning error threshold value in the threshold setting module and the calibrated relative position parameters among N GNSS receiver phase centers in the system database module, comparing the received actual relative position parameters among the N GNSS receiver phase centers with the called calibrated relative position parameters among the N GNSS receiver phase centers to obtain an offset value, comparing the offset value with the positioning error threshold value, determining whether positioning accuracy is qualified or not, and outputting a judgment result.
  8. 8. The real-time inspection system of claim 7, further comprising an alarm module, wherein data communication is established between the alarm module and the inspection comparison module, the judgment result of the inspection comparison module can be accepted, and an alarm is executed according to the judgment result.
  9. 9. The real-time inspection system according to claim 7, further comprising a construction control module, wherein data communication is established between the construction control module and the inspection comparison module, the construction control module is used for being in control connection with a construction device on the open sea equipment, can receive the judgment result of the inspection comparison module, and sends a stop instruction or a recovery operation instruction to the construction device of the open sea equipment according to the judgment result.
  10. 10. The real-time inspection system of claim 7, wherein the data transmission module is configured with a wired and wireless dual-link communication architecture.

Description

Real-time inspection method and system for positioning accuracy and reliability of open sea GNSS Technical Field The invention relates to the technical field of satellite positioning measurement, in particular to a real-time detection method and a system for the positioning accuracy and reliability of a far-sea GNSS. Background Global Navigation Satellite System (GNSS) real-time kinematic (RTK) has been widely used for survey and lofting work in land mapping, engineering construction, etc. fields by virtue of its centimeter-level positioning accuracy. In a land measurement scene, a GNSS-RTK positioning result can be checked and compared in real time through a preset land control point, so that a positioning error can be found and corrected in time, and the measurement lofting precision is ensured. However, in the open sea measurement lofting operation, due to the fact that a land control point for checking comparison is lacking, the existing GNSS-RTK measurement lofting technology has the remarkable defects that on one hand, the accuracy and reliability of a positioning result cannot be verified in real time, if positioning deviation is caused by factors such as satellite signal interference, ionosphere delay, troposphere refraction or receiver equipment failure, the measurement lofting error is directly caused, the offshore engineering construction quality problem is caused, even potential safety hazards are caused, on the other hand, the real-time requirement of open sea construction cannot be met by a traditional post-hoc data checking mode, and once positioning abnormality occurs, construction cannot be stopped in time, and a large amount of manpower and material resource waste is easily caused. In the prior art, the positioning accuracy checking scheme of the GNSS generally depends on an external reference, and is difficult to adapt to a remote sea no-control point scene. For example, the chinese patent publication No. CN114280645A discloses a GNSS navigation message checking method, apparatus and storage medium, whose core is to implement error checking of navigation message by multi-receiver clock error analysis, and only to verify the message correctness of the signal transmission link, the actual accuracy checking of the positioning result is not involved, and the problem of accuracy handling of the remote RTK measurement lofting cannot be solved. Therefore, there is a need for a real-time detection technique for the positioning accuracy of the open sea GNSS that does not depend on land control points, has a compact structure and is quick in response, so as to fill the gap in the prior art. Disclosure of Invention In view of the above drawbacks of the prior art, the present invention is directed to a real-time testing method and system for positioning accuracy and reliability of a offshore GNSS, which does not need to rely on land control points, and has a compact structure and a rapid response. In order to achieve the above purpose, the present invention provides a real-time testing method for positioning accuracy and reliability of a remote GNSS, comprising the following steps: S1, setting N GNSS receivers on open sea equipment, wherein N is more than or equal to 3, constructing a TIN triangular network comprising N vertexes in the horizontal direction, wherein any triangle in the TIN triangular network is an isosceles or equilateral triangle, the phase centers of the N GNSS receivers are distributed on the N vertexes of the TIN triangular network, and calibrating relative position parameters among the phase centers of the N GNSS receivers to obtain calibrated relative position parameters; s2, synchronously observing and collecting data, namely synchronously receiving and collecting satellite observation signals and/or differential correction signals of a remote sea reference station by N GNSS receivers to form observation data; S3, real-time resolving, namely resolving the actual relative position parameters among the N receiver phase centers in real time according to the observed data of the N GNSS receivers based on a GNSS RTK carrier phase difference resolving engine and a LAMBDA integer ambiguity quick fixing algorithm; S4, checking and comparing the accuracy, namely setting a positioning error threshold value, resolving deviation values between actual relative position parameters and calibrated relative position parameters among N receiver phase centers in real time, comparing the deviation values with the positioning error threshold value, and determining whether positioning accuracy is qualified or not. Further, in the step S1, n=3, and the phase centers of the 3 GNSS receivers are distributed on three points of an isosceles or equilateral triangle. Further, in the step S1, a horizontal distance between phase centers of adjacent GNSS receivers is 3-8m. In step S1, a total station with 0.1 mm-level precision is used to precisely calibrate the relative position parameters between the phase