CN110545519A

CN110545519A - network RTK service method, network RTK server, communication base station, and storage medium

Info

Publication number: CN110545519A
Application number: CN201910980035.9A
Authority: CN
Inventors: 陈孔哲
Original assignee: Core Star (shanghai) Technology Co Ltd; HEXIN XINGTONG TECHNOLOGY (BEIJING) Co Ltd
Current assignee: Core Star (shanghai) Technology Co Ltd; HEXIN XINGTONG TECHNOLOGY (BEIJING) Co Ltd
Priority date: 2019-10-15
Filing date: 2019-10-15
Publication date: 2019-12-06

Abstract

The embodiment of the invention discloses a network RTK service method, a network RTK server, communication base stations and a storage medium, wherein the method comprises the steps that the network RTK server acquires the position information of one or more communication base stations; the network RTK server distributes a corresponding RTK base station correction number for the communication base station according to the position information, wherein the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to the position information; and the network RTK server sends the distributed RTK base station correction number to the communication base station. According to the embodiment of the invention, the corresponding RTK base station correction number is distributed to the communication base station according to the position information of the communication base station, the communication base station sends the received RTK base station correction number to the network RTK user, and the network RTK server and the network RTK user do not need to carry out bidirectional communication, so that the calculation amount, the complexity and the data transmission amount of the network RTK server are reduced.

Description

network RTK service method, network RTK server, communication base station, and storage medium

Technical Field

the embodiment of the invention relates to the technical field of satellite navigation positioning, in particular to a network RTK service method, a network RTK server, a communication base station and a storage medium.

Background

A Global Navigation Satellite System (GNSS) is a Satellite System with multiple satellites that transmits signals containing position and time information to a terrestrial GNSS receiver, by which the receiver can perform positioning. Currently, the main GNSS systems include the european union Galileo (Galileo) satellite navigation System, the united states Global Positioning System (GPS), the russian GLONASS (GLONASS) satellite navigation System, and the chinese beidou navigation System. With the development of global satellite positioning technology, the positioning precision requirement of centimeter or even millimeter level is more and more urgent, and the requirement range is more and more extensive, such as the fields of surveying and mapping, fine agriculture, intelligent robot, unmanned driving, unmanned aerial vehicle and the like all need higher precision position information.

In the prior art, a single satellite positioning receiver without precise data support cannot complete centimeter-to-decimeter-level positioning. Technologies capable of providing centimeter to decimeter level satellite Positioning services mainly include a Real-Time Kinematic (RTK) technology and a Precision Point Positioning (PPP) technology, where the RTK technology is the most widely applied high-precision satellite Positioning technology at present.

the RTK technique can be classified into a single station RTK technique and a network RTK technique. The single station RTK technique builds a receiver as a reference station at a known point and provides differential data to the receiver (rover) that needs positioning. Network RTK technology establishes multiple reference stations within a local or wide area and using the multiple reference station data, a server can compute differential data based on the user position (rover). The mobile station can completely eliminate the clock error of the satellite by using the differential data, also can eliminate most of the orbit and atmosphere propagation errors of the satellite, and has the positioning precision of 1 cm.

the RTK needs base station support, and for single-station RTK, the usable range of differential data is relatively limited, and the action range of the RTK base station generally cannot exceed 50 km. In order to reduce the density of base Stations, network RTK technologies have been greatly developed, such as Virtual Reference States (VRS), area modifiers (FKP), Master and slave Stations (Mac), and the like, wherein VRS is the most widely used network RTK technology.

The large-range high-precision RTK such as intelligent driving, high-precision logistics and the like is applied in the future, the coverage range is wide, and the number of users is large. The server needs to provide RTK corrections to tens of millions of users nationwide at the same time. The server in the current network RTK mode needs to know the position of each user in order to provide a differential correction of the RTK virtual base station based on the position of the rover station or a differential correction of the RTK physical base station closest to the rover station. This requires support for two-way communication and the requirements on the server are extremely high. For the VRS mode, the server needs to process the requests of tens of millions of users at the same time, and generate a difference correction number of the RTK virtual base station based on the real-time position of each user, which is extremely large in computation amount. The current mode can meet the requests of thousands of users, but cannot meet the requests of tens of millions of users in the future. Even in the single-station mode, the server needs to allocate the latest physical base station data to each user, and searches the latest base station for tens of millions of users from thousands of base stations, so that the calculation amount is huge, and the current mode cannot be completed.

Disclosure of Invention

The embodiment of the invention provides a network RTK service method, a network RTK server, a communication base station and a storage medium, which can reduce the computation of the network RTK server and do not need to perform bidirectional communication between the network RTK server and a network RTK user.

The embodiment of the invention provides a network real-time dynamic RTK service method, which comprises the following steps:

The method comprises the steps that a network RTK server obtains position information of one or more communication base stations;

the network RTK server distributes a corresponding RTK base station correction number for the communication base station according to the position information, wherein the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to the position information;

And the network RTK server sends the distributed RTK base station correction number to the communication base station.

in an exemplary embodiment, the network RTK server allocating a corresponding RTK base station correction to the communication base station according to the position information includes:

The network RTK server performs the following operations on each communication base station:

Detecting whether an RTK physical base station is included in a first preset distance range of the communication base station;

If the first preset distance range of the communication base station contains an RTK physical base station, distributing the difference correction number of the RTK physical base station to the communication base station;

And if the first preset distance range of the communication base station does not contain the RTK physical base station, generating a difference correction number of the RTK virtual base station according to the position information, and distributing the difference correction number to the communication base station.

in an exemplary embodiment, the generating the differential corrections of the RTK virtual base station according to the position information includes:

Searching a mesh point area to which the communication base station belongs according to the position information;

and calculating the difference correction number of the RTK virtual base station at the preset position in the mesh point area.

embodiments of the present invention also provide a storage medium storing one or more programs, which are executable by one or more processors to implement the steps of the network RTK service method as described in any one of the above.

The embodiment of the invention also provides a network RTK server, which comprises a processor and a memory, wherein: the processor is configured to execute a network RTK service program stored in the memory to implement the steps of the network RTK service method as described in any one of the above.

the embodiment of the invention also provides a network RTK service method, which comprises the following steps:

The method comprises the steps that a communication base station receives an RTK base station correction number sent by a network RTK server, wherein the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to position information of the communication base station;

And the communication base station sends the received RTK base station correction number to one or more network RTK users connected with the communication base station.

in one exemplary embodiment, the communication base station sending the received RTK base station corrections to one or more network RTK users to which the communication base station is connected includes:

The communication base station stores registration information of one or more network RTK users connected with the communication base station;

And the communication base station sends the received RTK base station correction number to one or more network RTK users connected with the communication base station in a broadcasting mode.

the embodiment of the invention also provides a communication base station, which comprises a processor and a memory, wherein: the processor is configured to execute a network RTK service program stored in the memory to implement the steps of the network RTK service method as described in any one of the above.

the embodiment of the invention also provides a network RTK server, which comprises a position acquisition module, an RTK distribution module and a communication module, wherein:

the position acquisition module is used for acquiring the position information of one or more communication base stations and informing the RTK distribution module;

The RTK distribution module is used for receiving the notification of the position acquisition module, distributing a corresponding RTK base station correction number for the communication base station according to the position information, wherein the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to the position information, and notifying the communication module;

and the communication module is used for receiving the notice of the RTK distribution module and sending the distributed RTK base station correction number to the communication base station.

The embodiment of the invention also provides a communication base station, which comprises an RTK receiving module and an RTK sending module, wherein:

The RTK receiving module is used for receiving an RTK base station correction number sent by the network RTK server, wherein the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to the position information of the communication base station and informs the RTK sending module;

and the RTK sending module is used for receiving the notification of the RTK receiving module and sending the received RTK base station correction number to one or more network RTK users connected with the communication base station.

According to the network RTK service method, the network RTK server, the communication base station and the storage medium provided by the embodiment of the invention, the corresponding RTK base station correction number is distributed to the communication base station according to the position information of the communication base station, the communication base station sends the received RTK base station correction number to the network RTK user, bidirectional communication between the network RTK server and the network RTK user is not needed, the calculated amount, the complexity and the data transmission amount of the network RTK server are reduced, and the requirements of a large number of intelligent driving, intelligent robots and unmanned aerial vehicles on wide area network RTK service in the future are met.

additional features and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention. Other advantages of embodiments of the invention may be realized and attained by the instrumentalities and methods described in the specification, claims, and drawings.

Drawings

The accompanying drawings are included to provide an understanding of the embodiments of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the embodiments of the invention serve to explain the principles of the invention and not to limit the embodiments of the invention.

fig. 1 is a first flowchart illustrating an exemplary network RTK service method according to an embodiment of the present invention;

fig. 2 is a second flowchart illustrating an exemplary network RTK service method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an exemplary network RTK server according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an exemplary communication base station according to an embodiment of the present invention.

Detailed Description

the present invention has been described in terms of several embodiments, but the description is intended to be exemplary, rather than limiting and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible that are within the scope of the described embodiments of the invention. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or instead of any other feature or element in any other embodiment, unless expressly limited otherwise.

embodiments of the present invention include and contemplate combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements of the present invention that have been disclosed may also be combined with any conventional features or elements to form unique inventive aspects as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive aspects to form yet another unique inventive aspect, as defined by the claims. It should therefore be understood that any of the features shown and/or discussed in the embodiments of the present invention may be implemented separately or in any suitable combination. Accordingly, the embodiments are not limited except as by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

Further, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other orders of steps are possible as will be understood by those of ordinary skill in the art. Therefore, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Furthermore, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present invention.

RTK can realize centimeter-level high-precision positioning rapidly, is the most widely applied high-precision satellite positioning technology at present, but needs the support of base station correction. By utilizing the relativity of errors which influence the positioning precision, such as satellite orbit errors, satellite clock errors, ionosphere errors, troposphere errors and the like between the base station and the user mobile station, the base station correction number can completely eliminate the satellite clock errors of the mobile station and can weaken most of the satellite orbit errors, the ionosphere errors and the flow path errors. But satellite orbit errors, ionosphere and troposphere errors have diminished correlation as the distance between the base station and the mobile station increases. In areas where the ionosphere is active, a single base station can only provide RTK corrections for users within a radius of 20 kilometers. The single station method provides correction numbers for the RTK users in a large range, and a large number of RTK reference stations need to be built.

the network RTK models errors such as an ionosphere, a troposphere, a satellite orbit and the like in a coverage area by establishing a continuous operation tracking station (CORS) network, so that the density of base Stations can be greatly reduced, and the number of the base Stations can be reduced. The inter-base station distance can be extended to over a hundred kilometers. The existing CORS network is regional generally, and a plurality of cities establish the CORS network. The CORS network of the area makes great contribution to the application with smaller static or dynamic range, such as surveying and mapping, deformation monitoring, fine agriculture and the like. With the emergence of large-scale dynamic high-precision application in the intelligent era, particularly the cross-city and even cross-province application of intelligent driving and high-precision logistics, the support of a wider range of CORS networks is needed, and the CORS networks also cross the era of one network in the whole country. For such a large CORS network, one network in the country, there are disadvantages in VRS, FKP, and Mac.

VRSs require two-way communication. The VRS needs to know the user real-time position in order to generate a differential correction of the RTK virtual base station based on the user position. In addition, the VRS server cannot meet the real-time solution requirements of a large number of users. The VRS needs to generate a differential correction number for each user based on its position of the RTK virtual base station. And the correction number needs to be calculated through a specific algorithm. For the current local area VRS or wide area VRS with a small number of users, the server can meet the real-time requests of tens of thousands of users. However, for a network in the whole country in the future, even a cloud server faces huge pressure in the face of real-time requests of tens of millions of intelligent driving users, intelligent robots, unmanned aerial vehicles and the like in an intelligent era.

FKP are unable to generate wide-area error models. FKP, no special correction numbers need to be generated for each user, although the need for two-way communication is not required. FKP, the local correction model or local correction model, is only suitable for providing error models such as ionosphere, troposphere, satellite orbit, etc. for users in a local area. FKP can only be fitted to the linear changes of ionosphere, troposphere, satellite orbit, etc. errors in the east-west and north-south directions by parameters. For small ranges, the variation of these errors is close to linear variation, and the fitting error is small. For a large CORS network, such as a national network, errors of ionosphere, troposphere, satellite orbit and the like cannot be changed linearly in the national range, and therefore fitting cannot be carried out through two parameters, namely the east-west direction and the south-north direction. Therefore, the FKP method is not satisfactory for future large CORS networks, i.e., national networks facing intelligent driving.

The Mac master-slave station mode transmission data amount is too large. The mode of the master station and the slave station needs to release the observed value of the master station and the correction information of all the slave stations relative to the master station, and for thousands of tracking stations in one network in China, the data volume is too large to transmit in real time. And because the distance is too far, the satellites tracked by the slave station and the master station are different, and the correction number of the slave station relative to the master station only comprises the satellite viewed by the slave station and the master station, so that the correction number of the satellite number available for a user can be greatly reduced, and the RTK performance can be influenced even if the user receives the correction number.

Through research of the inventor of the application, the current VRS network RTK users basically adopt a 4G wireless communication mode to interact with a network RTK server, the real-time positions of the users are uploaded to the network RTK server, and the network RTK server calculates the difference correction number of the RTK virtual base station based on the positions according to the positions of the users and sends the difference correction number back to the users. During the interaction between the user and the server, the purpose of the two-way communication is to inform the server of the user's location. Since the user communicates via the 4G wireless network, the user must connect to a communication base station with the strongest signal (typically the closest to him) whose location is generally known, and even if some communication base stations are temporary or even mobile, the location of these communication base stations can be calculated in a number of ways, such as by installing satellite positioning devices or by determining the location from the signal strength of surrounding communication base stations whose location is known. The network RTK server can generate differential corrections of the RTK virtual base station based on the position of each communication base station, which are broadcast by these communication base stations to the mobile communication terminal connected to this communication base station, i.e. the network RTK user. Because the range served by the communication base station is limited, the urban area is generally within one kilometer range, the remote area can not exceed 5 kilometers, and the effective range (exceeding 20 kilometers) of the differential correction number of the RTK virtual base station far exceeds the coverage range of the communication base station by 5 kilometers, the differential correction number of the RTK virtual base station based on the position of the communication base station is effective for users capable of connecting to the communication base station. Therefore, the network RTK user does not need to report the position of the user to the server and does not need to perform two-way communication; the server also does not need to generate the correction number of the virtual base station for each network RTK user, and the calculation amount of the server is greatly reduced.

As shown in fig. 1, a network RTK service method according to an embodiment of the present invention includes the following steps:

step 101: the method comprises the steps that a network RTK server obtains position information of one or more communication base stations;

In an exemplary embodiment, the network RTK server pre-stores or periodically receives the location information of one or more communication base stations.

specifically, for a fixed communication base station, the network RTK server only needs to store the position information (e.g., coordinates) of each communication base station, and can allocate an RTK base station correction number based on the position information for each communication base station. For a temporary communication base station or a mobile communication base station which is set up for relieving communication pressure, the base station only needs to report the real-time position of the base station to a network RTK server periodically, and the network RTK server can distribute an RTK base station correction number based on the position information of the base station. The temporary or mobile communication base station may determine its position by installing a satellite positioning device or by a communication base station whose surrounding location is known (e.g., from the received signal strength of the wireless signals of the surrounding communication base station).

In an exemplary embodiment, the communication base station may be a short-range wireless communication base station, such as a WiFi base station, or may also be a mobile communication base station, such as a General Packet Radio Service (GPRS) base station, a 3G base station, a 4G base station, or a 5G base station.

Step 102: the network RTK server distributes a corresponding RTK base station correction number for the communication base station according to the position information of the communication base station, wherein the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to the position information of the communication base station;

In one exemplary embodiment, the network RTK server allocating a corresponding RTK base station correction to the communication base station according to the position information of the communication base station includes:

detecting whether an RTK physical base station is included in a first preset distance range of a communication base station;

if the first preset distance range of the communication base station contains the RTK physical base station, distributing the differential correction number of the RTK physical base station to the communication base station;

And if the first preset distance range of the communication base station does not contain the RTK physical base station, generating a difference correction number of the RTK virtual base station according to the position information of the communication base station, and distributing the difference correction number to the communication base station.

in this embodiment, if there is an RTK physical base station near the communication base station, the network RTK server may directly use the data of the RTK physical base station as the differential correction number without calculating the differential correction number of the RTK virtual base station for the communication base station. The data of the RTK physical base station is valid for all communication base stations with radii within the first preset distance range, for example, assuming that the first preset distance is 2 km, that is, all communication base stations located within 2 km of the RTK physical base station can use the data of the RTK physical base station as the difference correction number, the network RTK server does not need to calculate the difference correction number of the RTK virtual base station for the communication base stations, which further reduces the calculation amount of the network RTK server.

if there is no RTK physical base station near the communication base station, the embodiment of the invention only calculates the difference correction number of the RTK virtual base station based on the position of the communication base station by utilizing the characteristic that network RTK users need to request the network RTK correction number through one communication base station and a network RTK server. The differential corrections of the RTK virtual base station based on the position of the communication base station are applicable to all users connected to the communication base station. The network RTK server thus does not need to know the actual position of each network RTK user and does not need to establish two-way communication with the network RTK users. The computation amount of the network RTK server is only related to the number of the communication base stations and is not related to the number of the actual network RTK users, so that the computation pressure of the network RTK server is further reduced.

in an exemplary embodiment, the algorithm for generating the differential corrections of the RTK virtual base station may employ the algorithm disclosed by Lambert w.

In one exemplary embodiment, generating the differential corrections of the RTK virtual base station from the position information of the communication base station includes:

searching a mesh point area to which the communication base station belongs according to the position information of the communication base station;

and calculating the difference correction number of the RTK virtual base station at the preset position in the mesh point area to which the communication base station belongs.

In this embodiment, the shape in the mesh point region may be a grid shape, and the preset position may be a grid center, and the size of the grid is set according to the ionospheric activity level of the position where the grid is located.

For urban areas with dense communication base stations, the distance between communication base stations is often only a few hundred meters. In order to further reduce the calculation amount of the network RTK server, an area with dense communication base stations may be divided into a plurality of regions by a grid, and the side length of each grid may be two kilometers, five kilometers, or ten kilometers. And calculating the difference correction number of the RTK virtual base station by taking the grid center coordinate as a reference, wherein the calculated difference correction number of the RTK virtual base station is suitable for all communication base stations in the grid. The size of the grid can be planned according to the activity degree of the ionized layer, and for a medium-latitude area with a quiet ionized layer, the grid is relatively sparse, and the side length of the grid can reach 5 kilometers or even 10 kilometers; for low latitude and high latitude areas with more active ionosphere, the grid side length is smaller, and is more suitable for 2 kilometers.

In an exemplary embodiment, the method further comprises:

And the network RTK server establishes and stores the corresponding relation between each communication base station and the RTK physical base station or the RTK virtual base station.

specifically, the frequency of generation of network RTK corrections is typically one set per second. The network RTK server transmits a set of network RTK corrections to each communication base station every second, the set of corrections may be a differential correction of an RTK physical base station or a differential correction of an RTK virtual base station. Either the differential corrections of the RTK virtual base station or the differential corrections of the RTK physical base station may be applicable to a plurality of communication base stations. The differential corrections received per second by each communication base station may not be unique. The network RTK server can plan the corresponding relation between the RTK virtual base station or the RTK physical base station and the communication base station according to the position of each communication base station and the position of the RTK physical base station.

Step 103: and the network RTK server sends the distributed RTK base station correction number to the communication base station.

The existing network RTK users usually need to interact with the network RTK server through the communication base station, the embodiment of the invention fully utilizes the characteristics of wireless communication that the position of the communication base station is known and the users connected to the communication base station are near the base station, by generating an RTK base correction number usable by all network RTK users connected to the communication base station according to the position information of the communication base station, broadcasting by the communication base station to the network RTK users connected to the communication base station requesting the RTK base correction number, the network RTK server does not need to know the position of each network RTK user nor generate a differential correction number of an RTK virtual base station for each network RTK user, therefore, the service mode of the network RTK is converted from a bidirectional communication mode to a broadcasting mode, the bidirectional communication problem is solved, the network RTK server is liberated, and the calculation pressure of the network RTK server is relieved.

an embodiment of the present invention also provides a storage medium storing one or more programs, which are executable by one or more processors to implement the steps of the network RTK service method as described in any one of the preceding items.

the embodiment of the invention also provides a network RTK server, which is characterized by comprising a processor and a memory, wherein: the processor is configured to execute a network RTK service program stored in the memory to implement the steps of the network RTK service method as described in any of the previous items.

as shown in fig. 2, an embodiment of the present invention further provides a network RTK service method, including the following steps:

step 201: the method comprises the steps that a communication base station receives an RTK base station correction number sent by a network RTK server, wherein the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to position information of the communication base station;

Step 202: and the communication base station transmits the received RTK base station correction number to one or more network RTK users connected with the communication base station.

In one exemplary embodiment, step 202 includes:

Each communication base station receives a set of RTK base station corrections from the network RTK server every second, which may be a differential correction of an RTK physical base station or a differential correction of an RTK virtual base station. For communication users connected to the communication base station, some users have a network RTK correction request, such as network RTK users; some users may not require network RTK corrections, e.g., non-network RTK users. The network RTK server may send registration information of the network RTK user to each communication base station and store in a local server of each communication base station. The communication base station may broadcast the RTK base station correction number to the network RTK users that are validated. If the communication facilitator wishes to provide the RTK base station corrections as value-added services to all users for free, such as mobile high-precision RTK positioning services, the RTK base station corrections can be broadcast for all users connected to the communication base station without verifying the user registration information. The smart phone has a GNSS positioning function, the positioning precision can only reach ten meters precision under the condition that no RTK base station correction number exists, if a communication service provider can provide the RTK base station correction number, the positioning precision of the smart phone is improved to a sub-meter level, and the positioning experience of the smart phone is greatly improved. If a certain communication service provider can provide the RTK base station correction value-added service, more communication users are attracted.

The network RTK service method of the embodiment of the invention is very suitable for a communication service provider to establish a CORS network and provide value-added network RTK service for communication users of the communication service provider, so that cooperation with the network RTK service provider is not needed. And if the network RTK facilitator is not cooperative with the communication facilitator, the location of each network RTK user is not available without two-way communication. The need for two-way communication cannot be circumvented if the network RTK facilitator does not cooperate with the communication facilitator. The network RTK service provider and the communication service provider cooperate or the communication service provider establishes a CORS network to provide network RTK service for the user, and the network RTK service method of the embodiment of the invention can be utilized to eliminate the requirement of bidirectional communication and reduce the calculation amount of the network RTK server.

the embodiment of the invention also provides a communication base station, which comprises a processor and a memory, wherein: the processor is configured to execute a network RTK service program stored in the memory to implement the steps of the network RTK service method as described in any of the previous items.

As shown in fig. 3, an embodiment of the present invention further provides a network RTK server, which includes a position acquisition module 301, an RTK allocation module 302, and a communication module 303, where:

a position acquiring module 301, configured to acquire position information of one or more communication base stations and notify the RTK allocating module 302 of the position information;

An RTK allocating module 302, configured to receive the notification from the position obtaining module 301, allocate a corresponding RTK base station correction number to the communication base station according to the position information, where the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to the position information, and notify the communication module 303;

a communication module 303, configured to receive the notification from the RTK allocating module 302, and send the allocated RTK base station correction number to the communication base station.

In an exemplary embodiment, the location obtaining module 301 stores the location information of one or more communication base stations in advance, or receives the location information of one or more communication base stations periodically.

in an exemplary embodiment, the communication base station may be a short-range wireless communication base station, such as a WiFi base station, or may also be a mobile communication base station, such as a GPRS base station, a 3G base station, a 4G base station, or a 5G base station.

in an exemplary embodiment, RTK assignment module 302 is specifically configured to:

The following operations are performed for each communication base station:

In an exemplary embodiment, the algorithm for the RTK assignment module 302 to generate the differential corrections for the RTK virtual base stations may employ the algorithm disclosed by Lambert w.

in an exemplary embodiment, the generating the differential corrections of the RTK virtual base station by the RTK allocation module 302 according to the position information of the communication base station includes:

In an exemplary embodiment, RTK assignment module 302 is further configured to: and establishing and storing the corresponding relation between each communication base station and the RTK physical base station or the RTK virtual base station.

As shown in fig. 4, an embodiment of the present invention further provides a communication base station, including an RTK receiving module 401 and an RTK sending module 402, where:

An RTK receiving module 401, configured to receive an RTK base station correction number sent by the network RTK server, where the RTK base station correction number is a difference correction number of an RTK physical base station within a first preset distance range from the communication base station or a difference correction number of an RTK virtual base station generated according to the position information of the communication base station, and notify the RTK sending module 402 of the RTK base station correction number;

an RTK sending module 402, configured to receive the notification from the RTK receiving module 401, and send the received RTK base station corrections to one or more network RTK users, which are connected to the communication base station.

In an exemplary embodiment, the RTK sending module 402 is specifically configured to:

Acquiring registration information of one or more network RTK users connected with the communication base station;

and transmitting the received RTK base station correction number to one or more network RTK users connected with the communication base station in a broadcasting mode.

Network RTK is the most important positioning mode in the applications of intelligent driving, intelligent robots, unmanned planes, fine agriculture and the like in the future intelligent era. In the current three network RTK solutions, FKP and Mac do not require two-way communication but are only applicable to local area ranges. The VRS is suitable for a wide area, but needs bidirectional communication, and the burden of a server is greatly increased by independently calculating the differential correction number of the RTK virtual base station for each user, so that the requirements of tens of millions of users in an intelligent era cannot be met. In the 4G era, VRS users interact with a network RTK server through a 4G network to provide own positions, and the server calculates the difference correction number of the RTK virtual base station suitable for the user positions according to the user positions and sends the difference correction number to the users. In the future 5G era, users will also receive network RTK corrections through the 5G network. In both 4G and future 5G communication links, users may exchange data through the nearest communication base station (or the base station with the strongest signal). The coverage area of each communication base station is relatively limited, generally only about 1 km in urban areas, and not more than 5 km in remote areas with less population, so that users served by the communication base stations are all located near the base stations. The embodiment of the invention utilizes the characteristic of wireless communication to judge the position of the user through the communication base station connected with the user, so that the user does not need to upload the position of the user when requesting the RTK correction number of the network. For the network RTK server, the difference correction number of the RTK virtual base station does not need to be calculated for each client, and only the difference correction number of the RTK virtual base station based on the position of each communication base station needs to be calculated. The correction for each communication base station is applicable to all users connected to that base station, since the majority of users connected to that base station are within 1 km, while network RTK corrections based on the specified location are valid for users within 20 km.

The embodiment of the invention does not need to carry out two-way communication between the user and the network RTK server, also relieves the operation pressure of the network RTK server, does not need to calculate the differential correction number of the RTK virtual base station for each user, only needs to calculate the differential correction number of the RTK virtual base station for each communication base station, and broadcasts the difference correction number to all users connected to the base station by the communication base station. The current two-way communication is changed into a broadcasting mode, the server does not need to know the position of each user, and the calculation amount of the server is irrelevant to the number of users needing network RTK correction numbers. In an urban area with dense communication base stations, the server does not need to calculate the differential corrections of the RTK virtual base stations even for each communication base station, and only needs to calculate the differential corrections of a group of RTK virtual base stations for a plurality of communication base stations within a certain range, and the group of corrections can provide network RTK corrections for all users connected to the plurality of communication base stations within a specified range. A single communications base station can serve thousands of wireless users, the number of which is much smaller than the number of users connected to all the base stations. Particularly, in the future intelligent era and the era of a large number of clients needing high-precision positioning, the service mode irrelevant to the number of the users solves the problem that the number of the users is increased only by enhancing the computing capability of the network RTK server.

It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

Claims

1. A network real-time kinematic (RTK) service method is characterized by comprising the following steps:

2. The method of claim 1, wherein the network RTK server allocating a corresponding RTK base correction number to the communication base station based on the position information comprises:

3. the method of claim 2, wherein generating the differential corrections for the RTK virtual base station from the position information comprises:

4. A storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the steps of the network RTK service method as claimed in any one of claims 1 to 3.

5. a network RTK server, comprising a processor and a memory, wherein: the processor is configured to execute a network RTK service program stored in the memory to implement the steps of the network RTK service method as claimed in any one of claims 1 to 3.

6. a network RTK service method, comprising:

7. the method of claim 6, wherein the communication base station sending the received RTK base station corrections to one or more network RTK users to which the communication base station is connected, comprises:

8. a storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the steps of the network RTK service method according to any one of claims 6 to 7.

9. a communication base station comprising a processor and a memory, wherein: the processor is configured to execute a network RTK service program stored in the memory to implement the steps of the network RTK service method as claimed in any one of claims 6 to 7.

10. A network RTK server, comprising a position acquisition module, an RTK distribution module and a communication module, wherein:

11. a communication base station comprising an RTK receiving module and an RTK transmitting module, wherein: