CN106842266B - A kind of instant reference station localization method and system - Google Patents
A kind of instant reference station localization method and system Download PDFInfo
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- CN106842266B CN106842266B CN201710037577.3A CN201710037577A CN106842266B CN 106842266 B CN106842266 B CN 106842266B CN 201710037577 A CN201710037577 A CN 201710037577A CN 106842266 B CN106842266 B CN 106842266B
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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
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- 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
- G01S19/51—Relative positioning
Abstract
The invention discloses a kind of instant reference station localization method and its systems, including choose fixed reference station；Fixed reference station observation data are chosen, pseudorange residuals and carrier phase residual error is calculated and sends reference station control centre to；Rover station coarse positioning simultaneously sends reference station control centre to；The corresponding reference station of matching rover station is simultaneously sent to rover station；Rover station receives observation data and standard coordinate position；Rover station carries out high accuracy positioning.The present invention also provides a kind of systems positioned with the localization method, the communication link including carrying out data exchange between a reference station control centre, several fixed reference stations, several rover stations and reference station control centre, fixed reference station and rover station.Positioning accuracy of the present invention is high, and data processing pressure is small when large-scale application, efficiently solves critical issue existing for technology of network RTK, is very beneficial for the large-scale application of high accuracy positioning navigation.
Description
Technical field
Present invention relates particularly to a kind of instant reference station localization method and systems.
Background technique
RTK (Real Time Kinematic) technology is a kind of real time kinematic survey system based on carrier phase difference part,
It is built upon on the basis of two survey station carrier phase observed quantities of processing in real time, provides 3 dimension positioning knots in specified coordinate system
Fruit, Real-Time Positioning can achieve Centimeter Level, and have many advantages, such as that real-time is good, speed is fast.The basic principle of RTK is to join
It examines station and rover station receives satellite-signal simultaneously, reference station will observe data (predominantly carrier phase, pseudorange) and reference station mark
Quasi coordinates position is transferred to rover station by data-link (modem, radio station or communication network), and rover station is logical using software
Difference Calculation is crossed, the observation error of rover station is reduced, the relative coordinate between rover station and reference station is calculated, according to reference station
Standard coordinate, realize precision positioning, positioning accuracy is up to Centimeter Level.RTK technology is widely used in outdoor high accuracy positioning and leads
It navigates relevant industry, for example, mapping, Driving Test, intelligent control is unmanned, unmanned plane, remote sensing etc..
The core of RTK technology is in view of observed data value has identical ionosphere mistake between reference station and rover station
Difference, the common error of tropospheric error and other forms, eliminate common error in the way of difference, obtain reference station and flowing
The integer ambiguity with real-time phase of carrier phase are poor between standing, and then realize high accuracy positioning.However, RTK technology is for ginseng
Examining the distance between station and rover station has certain limitation.Typically, the distance between reference station and rover station be no more than
20km, referred to as short baseline RTK.If the distance between reference station and rover station are more than 20km, reference station and rover station tool
The correlation in standby ionosphere and tropospheric error will be greatly reduced, so that Real-Time Positioning is greatly lowered.For
The RTK technology of the distance between reference station and rover station more than 20km or more is referred to as Long baselines RTK.Long baselines are solved at present
The key technology of RTK precision positioning is technology of network RTK.The schematic illustration of technology of network RTK is as shown in Figure 1.Firstly, there are
One network RTK data center generates the virtual ginseng under different location using the observation data at multiple reference stations (station CORS)
It examines station (VRS-Virtual Reference Station) and the dummy observation of virtual reference station is calculated, and then establish
The list of one virtual reference station and dummy observation, and the data by collecting all RTK reference stations, real-time update are virtual
The virtual reference value of reference station.Secondly, rover station obtains the positioning of precision within 10 meters by coarse positioning (pseudorange One-Point Location)
As a result, giving its result to network RTK data center, RTK data center calculates corresponding virtual ginseng according to its positioning result
Position and the observation at station are examined, and sends the dummy observation of corresponding virtual reference station to rover station.Finally, rover station is sharp
Difference is done with the dummy observation of virtual reference station and our station observation data, conventional fast ambiguity computation is recycled to obtain
It takes the integer ambiguity of rover station and virtual reference station poor with real-time phase, further obtains the positioning result of Centimeter Level.
However, network RTK has some limitations.Firstly, it is necessary to establish a RTK data center, data center with
The position of all RTK reference stations needs to consider.It can ensure between RTK data center and reference station and rover station logical in real time
Letter, and have certain requirement to traffic rate.And in some remote districts, temporarily without mobile communications network or when communication
When RTK observation data transmission rates demands are not achieved in rate, technology of network RTK cannot be used.Secondly as network RTK skill
There are the solutions that problem proposes mainly for Long baselines RTK for art, and therefore, technology of network RTK can not pass through short distance radio station
Mode realize, the observation of reference station can only be believed by way of cable network, wireless cellular network or WLAN
Breath is aggregated into network RTK data center by internet, and there are certain transmission delays and processing to postpone for observation data,
There is certain limitation for the high accuracy positioning under dynamic environment.Finally, RTK data center needs to maintain huge virtual ginseng
Station data are examined to update and rover station data interaction.Also, the complexity and virtual reference observation of technology of network RTK algorithm be with
The increase of the quantity of rover station and increase, and then bring to data center server processing and communication network transmission greatly negative
Load and pressure.In recent years, the application of high-precision satellite positioning and navigation system has extended to Driving Test, intelligence from traditional survey field
It can control, unmanned, unmanned plane, the fields such as remote sensing, the quantity so as to cause high-precision satellite navigation terminal (rover station) exists
It is continuously increased.The drawbacks of ever-increasing high-precision satellite positioning navigation is applied and positioning terminal makes technology of network RTK is more next
It is more obvious.
Summary of the invention
Small one of the objects of the present invention is to provide data processing pressure when a kind of positioning accuracy height, large-scale application
When reference station localization method.
The second object of the present invention is to provide a kind of system positioned using the instant reference station localization method.
This instant reference station localization method provided by the invention and system, include the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；
S3. the pseudorange residuals and carrier phase residual error of fixed reference station are calculated according to the step S2 observation data obtained；
S4. the standard that the obtained pseudorange residuals of step S3 and carrier phase residual error and step S1 are arranged fixed reference station
Coordinate position sends reference station control centre to；
S5. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；
S6. rover station sends the coarse positioning result that step S5 is obtained to reference station control centre；
S7. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, and
The coarse positioning position result of rover station matches reference station corresponding to rover station；
S8. the reference station unique identification that rover station is matched is sent to rover station by reference station control centre；
S9. rover station receives the observation data and standard coordinate of corresponding reference station according to the unique identification of corresponding reference station
Position；
S10. rover station completes rover station according to the observation data and the observation data of itself of the correspondence reference station received
High accuracy positioning.
Reference station described in step S7 includes fixed reference station and instant reference station.
The instant reference station localization method further includes following steps:
S11. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can become instant reference station: if judging successfully, rover station is converted to instant reference station；
S12. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain time
Residual error, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this reference immediately
Station converts back rover station.
Rover station described in step S11 judges whether itself can become instant reference station, specially using following rule
Judged:
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters,
And carrier phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station.
Judge whether instant reference station can continue to become instant reference station described in step S12, if specially reference immediately
Station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful, then instant reference station is converted to rover station.
Specially fixed reference is arranged in the place of known exact position in the selection of fixed reference station described in step S1
It stands, or fixed reference station is set at an arbitrary position, and obtain the exact position of fixed reference station by location algorithm.
The exact position that fixed reference station is obtained by location algorithm, specifically by PPP Static Precise Point Positioning
Algorithm obtains the exact position of fixed reference station for a long time.
Calculating pseudorange residuals and carrier phase residual error described in step S3 are specially calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error, the pseudorange on every t frequency point of i-th satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data be respectively
WithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)。
Reference station corresponding to rover station is matched described in step S7, is specially matched using following rule:
The reference station h that rover station is matchedjForArgmin () is where being maximized in formula
Index, γ={ h=1 ..., 3, Δ Dj,h< SD }；Wherein
The precision positions of h-th of reference station arePseudorange residuals and carrier phase residual error areWithJth
The coarse positioning position of a rover station isThe value of SD is related with the precision of short baseline RTK, and SD value is got over
It is big then RTK positioning accuracy is smaller.
Mark described in step S8 includes station channel, network ip address, modulation frequency or encryption ID.
The present invention also provides a kind of systems positioned using the instant reference station localization method, including a ginseng
The control centre Kao Zhan, several fixed reference stations, several rover stations and reference station control centre, fixed reference station and flowing
The communication link of data exchange is carried out between standing；The reference station control centre is for matching the letter of reference station corresponding to rover station
Breath, and the match information is sent into rover station by communication link；Rover station is to need to carry out pinpoint rover station；Gu
Reference station is determined for obtaining the exact position of itself position, calculates the pseudorange residuals of itself and carrier phase residual error and is sent
Reference station control centre is also used to be matched and positioned with rover station the position of rover station；Ginseng corresponding to the rover station
Examining station includes fixed reference station and instant reference station, and the instant reference station is converted by the rover station after high accuracy positioning.
This instant reference station localization method provided by the invention and system, based on rover station/reference station can dynamic immediately
The mode of switching utilizes the large-scale rover station/position of reference station and observation data, and specific reference station scheduling immediately
Algorithm provides a specific reference station for each rover station and is matched, to realize the high accuracy positioning of rover station；Its
Secondary, each rover station is after completing high accuracy positioning, by certain decision rule, can become candidate reference station for
Other rover stations make reference；The present invention needs a reference station control centre, however this control centre is only needed according to flowing
The coarse positioning result stood executes reference station dispatching algorithm, realizes reference station-rover station pairing, one of reference station can with it is more
A rover station pairing；After pairing is completed, reference station sends observation data to all rover stations of pairing, so as to rover station reality
Existing high accuracy positioning；The present invention is to provide a kind of instant reference station technologies at completely new no data center, efficiently solve
Critical issue existing for technology of network RTK is very beneficial for the large-scale application of high accuracy positioning navigation.
Detailed description of the invention
Fig. 1 is the positioning principle schematic diagram of existing technology of network RTK.
Fig. 2 is system operation schematic diagram of the invention.
Fig. 3 is flow chart of the method for the present invention.
Specific embodiment
It is illustrated in figure 2 positioning system operation schematic diagram of the invention: this realization instant ginseng provided by the invention
Examine station positioning system, including a reference station control centre, several fixed reference stations, several rover stations and reference station tune
The communication link of data exchange is carried out between degree center, fixed reference station and rover station；The reference station control centre for
Rover station is sent by communication link with reference station information corresponding to rover station, and by the match information；Rover station is to need
Carry out pinpoint rover station；Fixed reference station is used to obtain the exact position of itself position, calculates the puppet of itself
Away from residual sum carrier phase residual error and reference station control centre is sent, is also used to that rover station is matched and positioned with rover station
Position；Reference station corresponding to the rover station includes fixed reference station and instant reference station, and the instant reference station is by high-precision
Rover station after degree positioning converts.
It is illustrated in figure 3 flow chart of the method for the present invention: this instant reference station localization method provided by the invention and being
System, includes the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set: being specially known
Fixed reference station is arranged in the place of exact position, or fixed reference station is arranged at an arbitrary position, and fixed by PPP accurate one-point
Position algorithm obtains the exact position of fixed reference station for a long time；
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；
S3. the pseudorange residuals and carrier phase residual error of fixed reference station are calculated according to the step S2 observation data obtained；Tool
Body is to be calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error, the pseudorange on every t frequency point of i-th satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data be respectively
WithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)；
S4. the standard that the obtained pseudorange residuals of step S3 and carrier phase residual error and step S1 are arranged fixed reference station
Coordinate position sends reference station control centre to；
S5. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；
S6. rover station sends the coarse positioning result that step S5 is obtained to reference station control centre；
S7. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, and
The coarse positioning position result of rover station match reference station corresponding to rover station (including fixed reference station and/or immediately reference
It stands)；Specially matched using following rule:
The reference station h that rover station is matchedjForArgmin () is is maximized in formula
Index, γ={ h=1 ..., 3, Δ Dj,h< SD }；Wherein
The precision positions of h-th of reference station arePseudorange residuals and carrier phase residual error areWithJth
The coarse positioning position of a rover station isWherein the value of SD determines the precision of short baseline RTK, SD value
Conference is crossed to make the decline of RTK positioning accuracy or even cannot get calculation result.SD value is too small will lead to may there is no with it is current
The reference station of rover station pairing；A kind of proper mode is to set 5km for SD first, if discovery has reference station, is matched
It is right, if not finding the reference station that can be matched, then SD is increased into 5km, until discovery has the reference station of pairing, wherein SD
At most it is added to 20km；
Reference station that S8. rover station is matched in reference station control centre (including fixed reference station and/or reference immediately
Stand) unique identification (such as station channel, network ip address, modulation frequency or encryption ID etc.) is sent to rover station；
S9. rover station is received according to the unique identification of corresponding reference station (including fixed reference station and/or instant reference station)
The observation data of corresponding reference station and standard coordinate position；
S10. rover station is according to the observation of the correspondence reference station (including fixed reference station and/or instant reference station) received
The observation data of data and itself, complete the high accuracy positioning of rover station；
S11. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can become instant reference station:
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters,
And carrier phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station；Wherein, N can use arbitrary integer
Value.N value is too small, be easy to cause the false-alarm of instant reference station to judge by accident, and then lead to error accumulation, so that changing instant reference station institute
The rover station of pairing all generates positioning mistake, causes the sprawling formula of mistake to spread on entire RTK network.N value is excessive, is easy to make
Reference station can be become at only a few rover station, so that the instant reference station that can be used in RTK network is very few.Therefore, the value of N
There is different selection modes according to different scenes.For example, under unmanned environment, needing sub_meter position smart in unmanned plane
It spends under environment, N value can be 100-200 or so, it is assumed that 1 second renewal frequency, then rover station is needed as instant reference station
By 2-3 minutes time decisions.In the case where surveying and drawing environment, centimeter-level positioning precision is needed, the value of N can be 1000-3000
Left and right, it is assumed that 1 second renewal frequency, then rover station needs the time decision by 20-60 minutes or so as instant reference station；
S12. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain time
Residual error, and combine and judge whether this instant reference station can continue to become instant reference station: if reference station has continuous N time complete cycle immediately
Ambiguity resolution is unsuccessful, then instant reference station is converted to rover station；The value of M is more appropriate at 10-20 times or so.
Claims (10)
1. a kind of instant reference station localization method, includes the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；
S3. the pseudorange residuals and carrier phase residual error of fixed reference station are calculated according to the step S2 observation data obtained；
S4. the standard coordinate that the obtained pseudorange residuals of step S3 and carrier phase residual error and step S1 are arranged fixed reference station
Position sends reference station control centre to；
S5. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；
S6. rover station sends the coarse positioning result that step S5 is obtained to reference station control centre；
S7. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, and flowing
The coarse positioning position result stood matches reference station corresponding to rover station；
S8. the reference station unique identification that rover station is matched is sent to rover station by reference station control centre；
S9. rover station receives observation data and the standard coordinate position of corresponding reference station according to the unique identification of corresponding reference station；
S10. rover station completes the height of rover station according to the observation data and the observation data of itself of the correspondence reference station received
Precision positioning.
2. instant reference station localization method according to claim 1, it is characterised in that reference station described in step S7 includes
Fixed reference station and instant reference station.
3. instant reference station localization method according to claim 2, it is characterised in that the instant reference station positioning side
Method further includes following steps:
S11. rover station obtains result, pseudorange residuals and the carrier phase residual error of the Carrier Phase Ambiguity Resolution in setting time, and
Joint judges whether itself can become instant reference station: if judging successfully, rover station is converted to instant reference station；
S12. the result of the Carrier Phase Ambiguity Resolution in instant reference station acquisition certain time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this instant reference station
Convert back rover station.
4. instant reference station localization method according to claim 3, it is characterised in that the judgement of rover station described in step S11
Whether itself can become instant reference station, specially be judged using following rule:
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters, and carries
Wave phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station.
5. instant reference station localization method according to claim 4, it is characterised in that judgement described in step S12 is joined immediately
Examine whether station can continue to become instant reference station, if specially reference station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful immediately,
Then instant reference station is converted to rover station.
6. instant reference station localization method described according to claim 1~one of 5, it is characterised in that fixation described in step S1
Specially fixed reference station is arranged in the place of known exact position in the selection of reference station, or setting is fixed at an arbitrary position
Reference station, and pass through the exact position of location algorithm acquisition fixed reference station.
7. instant reference station localization method according to claim 6, it is characterised in that described to be obtained by location algorithm
The exact position of fixed reference station obtains the accurate of fixed reference station specifically by PPP Static Precise Point Positioning algorithm for a long time
Position.
8. instant reference station localization method described according to claim 1~one of 5, it is characterised in that calculating described in step S3
Pseudorange residuals and carrier phase residual error are specially calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfPseudo-range Observations for carrier phase residual error, on every t frequency point of i-th satellite
It is respectively with single-point coarse positioning result corresponding to carrier phase observation data and precision positioning resultWithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)。
9. instant reference station localization method according to claim 5, it is characterised in that match flowing described in step S7
Reference station corresponding to standing specially is matched using following rule:
The reference station h that rover station is matchedjForArgmin () is where being maximized in formula
Index, γ={ h=1 ..., 3, Δ Dj,h< SD }；Wherein
The precision positions of h-th of reference station arePseudorange residuals and carrier phase residual error areWithJth
The coarse positioning position of a rover station isThe value of SD is related with the precision of short baseline RTK, and SD value is got over
It is big then RTK positioning accuracy is smaller.
10. a kind of using the system that instant reference station localization method is positioned described in one of claim 1~9, feature
It is to include a reference station control centre, several fixed reference stations, several rover stations and reference station control centre, is solid
Determine the communication link that data exchange is carried out between reference station and rover station；The reference station control centre is for matching rover station institute
Corresponding reference station information, and the match information is sent into rover station by communication link；Rover station is to need to carry out accurately
The rover station of positioning；Fixed reference station is used to obtain the exact position of itself position, calculates itself pseudorange residuals and load
Wave phase residual error simultaneously sends reference station control centre, is also used to be matched and positioned with rover station the position of rover station；It is described
Reference station corresponding to rover station includes fixed reference station and instant reference station, after the instant reference station is by high accuracy positioning
Rover station converts.
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| CN107479066A (en) * | 2017-09-14 | 2017-12-15 | 北方信息控制研究院集团有限公司 | A kind of step-by-step movement moves ground Enhancement Method |
| CN108061910B (en) * | 2017-12-06 | 2021-02-19 | 广州极飞科技有限公司 | Networking method and device based on phase difference and differential positioning system |
| CN109991632B (en) * | 2017-12-29 | 2023-10-24 | 沃尔沃汽车公司 | Positioning system and method |
| CN108680183B (en) * | 2018-03-29 | 2020-06-09 | 中国有色金属长沙勘察设计研究院有限公司 | Navigation positioning accuracy evaluation method |
| CN111103603B (en) * | 2018-10-29 | 2023-01-06 | 千寻位置网络有限公司 | Cloud positioning method and device based on CORS system, positioning system and cloud server |
| CN110988940A (en) * | 2019-12-06 | 2020-04-10 | 长沙海格北斗信息技术有限公司 | Satellite navigation station working mode switching method and monitoring system |
| CN111045053B (en) * | 2019-12-26 | 2022-03-08 | 广东星舆科技有限公司 | Differential positioning method and system under VRS data interruption |
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