Research On RTK Positioning Technology In Minefield Detection

In order to solve the safety detection problem of actual minefield,in the minefield multi-source information synchronous detection system composed of a detection control host and i detection extensions Si with flight function and multi-source information detection function,it is necessary to pass the detection extension Si To determine the range of suspicious areas in the minefield,which requires a device or system that can provide accurate positions in real time.RTK(Real-time Kinematic)is a technology for real-time dynamic relative positioning based on carrier phase observations,which is widely used in various projects to improve work efficiency.Although the existing RTK positioning system can achieve fast and accurate measurement and positioning,it is a self-contained system and does not disclose the interface protocol.It has a large and bulky appearance and is expensive.The extension is integrated to complete the simultaneous detection of multi-source information in the minefield.Therefore,it is of great significance to develop a miniaturized,low-cost RTK positioning system suitable for minefield detection applications.In view of the above practical engineering problems,the main research contents of this article are as follows:RTK positioning system in minefield detection: The RTK positioning system in minefield detection is designed.The system is composed of an RTK reference station integrated in the ground control host and N RTK mobile stations integrated in the detection extension.The RTK reference station and each RTK mobile station pass through The wireless data communication link is connected.The RTK reference station is set at a safe position beyond 200 m of the detection area.The detection extension equipped with the RTK mobile station is flying at low altitude under the control of the ground control host to complete the minefield detection mission.The RTK base station based on NEO-M8P-2 and the RTK system mobile station based on NEO-M8P-0 are designed to integrate RTK base station and detection control host.The embedded structure and low cost are used to improve minefield detection.The accuracy,reliability and safety of the system are of great significance.Tested and analyzed the system based on M8 P.RTK positioning ambiguity fixed solution search based on ICSO: In order to further improve the speed and accuracy of RTK positioning,the RTK positioning algorithm is studied,the core content of which is the solution of ambiguity(fixed solution of ambiguity)can get centimeter or even millimeter positioning accuracy.In the ambiguity solution space,CSO(chicken swarm optimization,chicken flock optimization algorithm)is used to search for the fixed ambiguity solution.There are three different types of chickens in the CSO,namely cock,hen and chicken,corresponding to different positions Update method.When searching for CSO fixed ambiguity solutions,in most cases,the algorithm will prematurely converge and fall into the optimal solution,which seriously affects the accuracy of the ambiguity fixed solution.The location update method was improved,and ICSO was proposed to search for the fixed solution of RTK positioning ambiguity.Simulation experiments were conducted on CSO and ICSO.The simulation results show that ICSO can effectively improve the ambiguity search speed and solution success rate in the search process of fixed ambiguity solutions.