CN113507714B

CN113507714B - RTK fixed base station coverage area determining and site selection deploying method, device and medium

Info

Publication number: CN113507714B
Application number: CN202110738411.0A
Authority: CN
Inventors: 钟柱坚; 杨理钦
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-12-27
Anticipated expiration: 2041-06-30
Also published as: CN113507714A

Abstract

The invention provides a method and a device for determining the coverage area and positioning and deploying an RTK fixed base station. The coverage area determining method comprises the following steps: obtaining log data transmitted by a mobile station; processing according to the log data to obtain the distance between the mobile station and the corresponding fixed base station, and the error probability and the success probability of successful calculation of the mobile station for performing positioning coordinate calculation based on the positioning data provided by the fixed base station; determining the maximum effective coverage range of the fixed base station based on the distance between the mobile station and the fixed base station, the error probability and the success probability; the maximum effective coverage is used for indicating the site selection deployment of the newly added fixed base station. The method obtains the distance, the error probability and the success probability between the mobile station and the fixed base station according to the log data processing, thereby determining the maximum effective coverage range of the fixed base station, wherein the maximum effective range is used for indicating the address selection deployment of the newly added fixed base station, and the effective coverage range of each base station can be fully utilized.

Description

RTK fixed base station coverage area determining and site selection deploying method, device and medium

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a method for determining the coverage range of an RTK fixed base station, a device for determining the coverage range of the RTK fixed base station, a method for adjusting the coverage range of the RTK fixed base station, a device for adjusting the coverage range of the RTK fixed base station, a method for locating and deploying the RTK fixed base station, a device for locating and deploying the RTK fixed base station, an RTK positioning system, an electronic device and a machine-readable storage medium.

Background

An RTK (Real-time kinematic) carrier phase differential technology is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and the carrier phase acquired by a reference station is sent to a user receiver for difference solving. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the RTK is a major milestone applied by a GPS, the appearance of the RTK is engineering lofting and topographic mapping, a new measurement principle and method are brought for various control measurements, and the operation efficiency is greatly improved.

In order to ensure that a high-precision coordinate can be effectively calculated by using an RTK positioning method, it is necessary to ensure that a mobile station is always within an effective coverage area of a fixed base station.

Disclosure of Invention

The method obtains the distance between the mobile station and the fixed base station, the error probability and the success probability according to log data processing, thereby determining the maximum effective coverage range of the fixed base station, wherein the maximum effective range of the fixed base station is used for indicating the address selection deployment of a newly added fixed base station, and the effective coverage range of each base station can be fully utilized.

In order to achieve the above object, a first aspect of the present invention provides an RTK fixed base station coverage determining method, the method comprising:

obtaining log data transmitted by a mobile station;

processing according to the log data to obtain the distance between the mobile station and the corresponding fixed base station, the error probability of the mobile station for performing positioning coordinate calculation based on the positioning data provided by the fixed base station and the success probability of successful calculation;

determining a maximum effective coverage area of a fixed base station based on a distance between the mobile station and the fixed base station, the error probability, and the success probability.

A second aspect of the present invention provides a method for adjusting a coverage of an RTK fixed base station, including:

acquiring the maximum effective coverage range of a target fixed base station; the maximum effective coverage range is determined by the RTK fixed base station coverage range determination method;

and when the current allowable communication range of the target fixed base station is smaller than or larger than the maximum effective coverage range, adjusting the allowable communication range of the target fixed base station to the maximum effective coverage range.

The third aspect of the present invention provides a method for locating and deploying an RTK fixed base station, including:

acquiring the maximum effective coverage range of a fixed base station in a target area; the maximum effective coverage range is determined by the RTK fixed base station coverage range determination method;

determining an area which is not covered by the base station signal in the target area as an address selection area based on the maximum effective coverage area of the fixed base station;

and determining the deployment address of the newly added fixed base station from the address selection area so that the coverage range of the newly added fixed base station and the coverage range of the existing fixed base station have the overlap of a preset threshold range. The deployment of the newly-added fixed base station is guided based on the maximum effective coverage range of the fixed base station, so that on one hand, the resource waste caused by erecting the fixed base station by using a fixed distance is reduced, and on the other hand, the effective coverage range of each base station can be fully utilized.

A fourth aspect of the present invention provides an RTK fixed base station coverage area determining apparatus, including:

a first acquisition module for acquiring log data transmitted by a mobile station;

the processing module is used for processing the log data to obtain the distance between the mobile station and the corresponding fixed base station, the error probability of the mobile station for performing positioning coordinate calculation based on the positioning data provided by the fixed base station and the success probability of successful calculation;

a first determining module for determining a maximum effective coverage of a fixed base station based on a distance between the mobile station and the fixed base station, the error probability and the success probability; and the maximum effective coverage range is used for indicating the site selection deployment of the newly added fixed base station.

A fifth aspect of the present invention provides an RTK fixed base station coverage adjusting apparatus, including:

the second acquisition module is used for acquiring the maximum effective coverage range of the target fixed base station; the maximum effective coverage range is determined by the RTK fixed base station coverage range determination method;

and the adjusting module is used for adjusting the allowed communication range of the target fixed base station to the maximum effective coverage range when the current allowed communication range of the target fixed base station is smaller than or larger than the maximum effective coverage range.

A sixth aspect of the present invention provides an RTK fixed base station site selection deployment apparatus, including:

a third obtaining module, configured to obtain a maximum effective coverage area of a fixed base station in a target area; the maximum effective coverage range is determined by the RTK fixed base station coverage range determination method;

a third determining module, configured to determine, based on a maximum effective coverage area of a fixed base station, that an area not covered by a base station signal in the target area is an address selection area; and determining the deployment address of the newly added fixed base station from the address selection area so that the coverage range of the newly added fixed base station and the coverage range of the existing fixed base station have the overlap of a preset threshold range.

A seventh aspect of the present invention provides an RTK positioning system, including a mobile station, a server, and a fixed base station; the mobile station is used for requesting positioning data from the fixed base station, determining position information of the mobile station according to the positioning data, generating corresponding log data and sending the log data to a server; the server is used for determining the maximum effective coverage range of the fixed base station based on the log data through the RTK fixed base station coverage range determining method, and determining whether to send an adjusting instruction to the fixed base station according to the current allowable communication range and the maximum effective coverage range of the fixed base station; and the fixed base station is used for sending positioning data to the mobile station and receiving the adjusting instruction so as to adjust the current allowable communication range according to the adjusting instruction. The positioning system can adjust the allowable communication range of the fixed base station according to the maximum effective coverage range of the fixed base station, on one hand, the normal communication between the mobile station and the fixed base station is guaranteed, the mobile station can accurately determine the position information of the mobile station, on the other hand, the coverage range of the fixed base station is fully utilized, and the resource waste of erecting the fixed base station is reduced.

An eighth aspect of the present invention provides an electronic device, comprising a processor and a memory; the memory stores a computer program readable by the processor; wherein, when the processor executes the computer program, the steps of the RTK fixed base station coverage determining method are implemented, and/or the steps of the RTK fixed base station coverage adjusting method are implemented, and/or the steps of the RTK fixed base station address selecting and deploying method are implemented.

In another aspect, the present invention also provides a machine-readable storage medium storing a computer program; said program, when executed by a processor, implements the steps of said RTK fixed base station coverage determination method, and/or the steps of said RTK fixed base station coverage adjustment method, and/or the steps of said RTK fixed base station address deployment method.

Through the technical scheme, the first aspect of the invention provides a method for determining the coverage area of an RTK fixed base station, which is characterized in that the distance, the error probability and the success probability between a mobile station and the fixed base station are obtained according to log data processing, so as to determine the maximum effective coverage area of the fixed base station, wherein the maximum effective coverage area of the fixed base station is used for indicating the address selection deployment of a newly added fixed base station, and the effective coverage area of each base station can be fully utilized.

The second aspect of the present invention provides a method for adjusting a coverage area of an RTK fixed base station, which can adjust a current allowable communication range of the RTK fixed base station according to a maximum effective coverage area of the fixed base station, thereby ensuring effectiveness and communication accuracy of external communication of the fixed base station.

The third aspect of the invention provides an RTK fixed base station site selection deployment method, the method determines the site selection area in the target area based on the maximum effective coverage area of the fixed base station, and determines the deployment address of the newly added base station according to the maximum effective coverage area of different sub-areas in the site selection area, on one hand, the effective coverage area of each base station can be fully utilized, on the other hand, the resource investment of base station deployment can be reduced, and the rationality and effectiveness of base station deployment can be improved.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

fig. 1 is a flowchart of a method for determining a coverage area of an RTK fixed base station according to a first embodiment of the present invention;

fig. 2 is a flowchart of a method for determining a coverage of an RTK fixed base station according to a second embodiment of the present invention;

fig. 3 is a flowchart of a method for determining a coverage of an RTK fixed base station according to a third embodiment of the present invention;

fig. 4 is a flowchart of a method for determining a coverage of an RTK fixed base station according to a fourth embodiment of the present invention;

FIG. 5 is a hardware block diagram of a fixed base station according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of latitude and longitude divisions provided by one embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

The RTK positioning method can effectively solve and calculate high-precision coordinates, mainly because the ionosphere, the troposphere and other factors which influence signal propagation above two places of the fixed base station and the mobile station have certain correlation, and the time delays generated by the influence of weather on the propagation speeds of the two-place satellite signals are approximately equal. If the distance between the fixed base station and the mobile station is too far, the error caused by weather environment is too large, and the coordinate error calculated by the mobile station is increased to dozens of centimeters or cannot be calculated. Because the ionosphere activity degrees of different regions are different, the maximum distances of two places with approximately equal weather are different, and therefore the effective coverage ranges of the fixed base stations in different regions are different. The ionosphere is more active in low latitude areas, the effective coverage area of a fixed base station can be within thirty kilometers, and the effective coverage area of the fixed base station in areas with less active ionosphere and more plains in high latitude areas can reach seventy-eight kilometers. The same distance, the same distance at a critical point, may cause different errors in each solution due to different weather at different times. If the fixed base stations are installed at a distance of thirty kilometers, more resources are required, and if the fixed base stations are installed at a distance of fifty kilometers, the coordinates with larger errors may be calculated in some regions. Based on this, the inventor thinks that the optimal scheme is to perform difference setting according to different regions, which not only ensures to calculate correct coordinates, but also reduces the waste of resources.

The invention provides a method for determining the coverage range of an RTK fixed base station, which can at least accurately determine the effective coverage ranges of the fixed base stations at different positions, and further can determine the effective coverage ranges of the fixed base stations at different positions in different time periods so as to ensure the rationality of site selection and deployment of the fixed base stations.

Example one

Fig. 1 is a flowchart of a method for determining a coverage of an RTK fixed base station according to a first embodiment of the present invention. As shown in fig. 1, the method includes:

step 1, obtaining log data transmitted by a mobile station, the log data generally comprising: the positioning data from the fixed base station includes reference coordinates of the fixed base station and the satellite positioning data received by the fixed base station. The mobile station can calculate the positioning error of the fixed base station according to the reference coordinate of the fixed station and the satellite positioning data received in real time, the error is mostly caused by factors influencing signal propagation, such as an ionosphere, a troposphere and the like above the fixed base station, and because the factors influencing the signal propagation of the mobile station and the factors influencing the signal propagation of the fixed base station have relevance, the mobile station corrects the error existing in the self positioning by referring to the positioning error to obtain an RTK solution, namely a centimeter-level high-precision coordinate.

And 2, processing according to the log data to obtain the distance between the mobile station and the corresponding fixed base station, the error probability of the mobile station for performing positioning coordinate calculation based on the positioning data provided by the fixed base station and the success probability of successful calculation.

The distance between the mobile station and the fixed base station can be calculated according to the satellite positioning data received in real time by the mobile station in the log data and the reference coordinate of the fixed base station. Calculating the RTK solution requires that the satellite positioning data received by the mobile station in real time and the satellite positioning data received by the fixed base station have positioning data from the same satellite, generally speaking, the number of satellites is not less than 6, if the mobile station can normally pass through the fixed base station, but the satellite positioning data does not meet the requirement of calculating the RTK solution, the mobile station cannot calculate the RTK solution, the calculation fails, and the success probability of successful calculation is correspondingly reduced. If the mobile station can normally pass through the fixed base station, the satellite positioning data also meets the requirement for calculating the RTK solution, but is influenced by factors such as an ionosphere and a troposphere above the fixed base station, the RTK solution calculated by the mobile station has a large error and exceeds a reasonable range, the RTK solution calculated by the mobile station can be considered to have an error, and the error probability is increased. Therefore, the log data can be processed according to the statistical principle, and the error probability and the success probability of resolving the positioning coordinate of the mobile station based on the positioning data provided by the fixed base station are further counted.

Step 3, determining the maximum effective coverage range of the fixed base station based on the distance between the mobile station and the fixed base station, the error probability and the success probability; specifically, the method comprises the following steps:

the distance between the fixed base station and the mobile station comprises a plurality of communication distances, and each communication distance is associated with corresponding error probability and success probability;

determining to obtain a plurality of effective communication distances by determining the communication distances of which the error probability is less than or equal to a preset error probability threshold and the success probability is greater than or equal to a preset success probability threshold;

and determining the effective communication distance with the maximum value from the plurality of effective communication distances so as to determine and obtain the maximum effective coverage range of the fixed base station. The maximum value in the determined maximum effective communication distance is used as the maximum effective coverage range of the fixed base station, the maximum utilization rate of the fixed base station can be met by the effective coverage range, and the lower error probability and the higher success probability can be effectively guaranteed.

In this embodiment, the determined maximum effective coverage area of the fixed base station and the corresponding fixed base station may be stored in the database together.

It should be noted that after the maximum effective coverage range is determined, the maximum effective coverage range may be used to implement reasonable address selection and deployment of the fixed base station or a newly added fixed base station, and the maximum effective coverage range may also be used to adjust the currently allowable communication range of the fixed base station, so that the adjusted communication range of the fixed base station can meet the normal communication requirement.

Corresponding to the embodiment of the method for determining the coverage of the RTK fixed base station, the present invention also provides a device for determining the coverage of the RTK fixed base station, including:

a first determining module for determining a maximum effective coverage of a fixed base station based on a distance between the mobile station and the fixed base station, the error probability, and the success probability.

When the fixed base station is pre-erected, the preset communication range of the fixed base station is generally determined according to the test performance of the base station, but the test environment and the actual use environment often have differences, so that the preset communication range of the fixed base station does not necessarily meet the requirements of the actual use environment. The maximum effective coverage determined by the RTK fixed base station coverage determining method may be used to adjust the allowable communication range of the base station assumed in advance, and further, the present invention provides an RTK fixed base station coverage adjusting method, including:

acquiring the maximum effective coverage range of a target fixed base station; the maximum effective coverage is determined by the RTK fixed base station coverage determination method;

and when the current allowable communication range of the target fixed base station is smaller than or larger than the maximum effective coverage range, adjusting the allowable communication range of the target fixed base station to be the maximum effective coverage range.

It should be noted that, in some other embodiments, the maximum effective coverage area of the target fixed base station may also be obtained from a database in which relevant data is stored in the server.

Corresponding to the method for adjusting the coverage of the RTK fixed base station, the present invention also provides a device for adjusting the coverage of the RTK fixed base station, comprising:

the second acquisition module is used for acquiring the maximum effective coverage range of the target fixed base station; the maximum effective coverage is determined by the RTK fixed base station coverage determination method in this embodiment;

The pre-erected fixed base station can only be erected in a regional mode and cannot achieve overall coverage, therefore, the pre-erected fixed base station needs to be additionally erected, and the maximum effective coverage range determined by the RTK fixed base station coverage range determining method can be used for guiding the fixed base station to be located and deployed so as to save the erection cost of the fixed base station. Based on the above, the present invention further provides a RTK fixed base station site selection deployment method, which includes:

It should be noted that, in other embodiments, the maximum effective coverage area of the target fixed base station may also be obtained from a database in which relevant data is stored in the server.

Corresponding to the embodiment of the RTK fixed base station site selection deployment method, the present invention also provides an RTK fixed base station site selection deployment apparatus, including:

It should be noted that the preset threshold range may be determined according to actual experience or actual communication requirements, and is not described herein again.

Correspondingly, the invention also provides the electronic equipment depending on the embodiment, which comprises a processor and a memory; the memory stores a computer program readable by the processor; wherein, when the processor executes the computer program, the steps of the RTK fixed base station coverage determining method in this embodiment are implemented, and/or the steps of the RTK fixed base station coverage adjusting method in this embodiment are implemented, and/or the steps of the RTK fixed base station address selecting and deploying method in this embodiment are implemented.

Correspondingly, the invention also provides a machine-readable storage medium depending on the embodiment, which stores a computer program; the program when executed by a processor implements the steps of the RTK fixed base station coverage determination method in the present embodiment, and/or the steps of the RTK fixed base station coverage adjustment method in the present embodiment, and/or the steps of the RTK fixed base station address deployment method in the present embodiment.

Example two

Fig. 2 is a flowchart of a method for determining a coverage of an RTK fixed base station according to a second embodiment of the present invention. As shown in fig. 2, the method includes:

step 1, log data transmitted by a mobile station is acquired.

And 2, processing the log data to obtain the distance between the mobile station and the corresponding fixed base station, the error probability of the mobile station for performing positioning coordinate calculation based on the positioning data provided by the fixed base station and the success probability of the calculation success.

Step 3, determining the maximum effective coverage area of the fixed base station based on the distance between the mobile station and the fixed base station, the error probability and the success probability, specifically comprising:

determining the region of each fixed base station according to the reference coordinates of the fixed base stations recorded in the log data;

for each fixed base station, the distance between the fixed base station and the mobile station comprises a plurality of communication distances, and each communication distance is associated with a corresponding error probability and success probability;

for at least one fixed base station in each area, determining a communication distance of which the error probability is less than or equal to a preset error probability threshold and the success probability is greater than or equal to a preset success probability threshold so as to determine and obtain a plurality of effective communication distances of the fixed base station;

and determining the effective communication distance with the maximum value from a plurality of effective communication distances of the fixed base station in each region so as to determine the maximum effective coverage range of the fixed base station in each region. The method comprises the steps of determining the maximum effective coverage range of the fixed base station, additionally considering area factors to which the fixed base station belongs, determining the maximum effective coverage range of the area based on the fixed base stations in the same area, wherein the maximum effective coverage range of the area can be used for guiding the deployment of the fixed base stations in the area.

When two or more fixed base stations exist in each region, the plurality of fixed base stations in each region can determine and obtain a plurality of effective communication distances of the plurality of fixed base stations, and for each fixed base station in each region, the effective communication distance with the largest value is determined from the plurality of effective communication distances of the fixed base stations so as to obtain the maximum effective communication distance of the fixed base station;

for each area, determining and obtaining the maximum effective coverage area of the fixed base station of each area based on the maximum effective communication distance of the plurality of fixed base stations in the area, specifically:

for each region, taking the average value or the weighted average value or the minimum value of the maximum effective communication distances of a plurality of fixed base stations in the region as the maximum effective coverage range of the fixed base stations in the region. If a plurality of fixed base stations exist in the same area, the maximum effective coverage area of the area needs to be determined according to the maximum effective coverage areas of all the fixed base stations in the area, and the condition of each base station is integrated to effectively ensure that the finally determined coverage area of the area has lower error probability and higher success probability.

In this embodiment, the determined maximum effective coverage area of the fixed base station and the corresponding fixed base station and the area information to which the fixed base station belongs may be stored in the database together.

Corresponding to the RTK fixed base station coverage area determining method of the second embodiment, the present invention further provides an RTK fixed base station coverage area determining apparatus, including:

When the fixed base station is pre-erected, the preset communication range of the fixed base station is generally determined according to the test performance of the base station, but the test environment and the actual use environment often have differences, so that the preset communication range of the fixed base station does not necessarily meet the requirements of the actual use environment. Meanwhile, because the ionosphere, the troposphere and other factors above the fixed base stations in different areas affect signal propagation differently, the coverage areas of the fixed base stations in different areas also differ. The method for determining the coverage of the RTK fixed base station determines the maximum effective coverage of the fixed base stations in different areas, which is then used to adjust the allowable communication ranges of the pre-established base stations in different areas, and further, the invention provides a method for adjusting the coverage of the RTK fixed base station, which comprises:

acquiring the maximum effective coverage range of a target fixed base station; the maximum effective coverage is determined by the RTK fixed base station coverage determining method, and specifically includes:

determining the region of the target fixed base station according to the position information of the target fixed base station, and determining the maximum effective coverage range corresponding to the region of the target fixed base station as the maximum effective coverage range of the target fixed base station;

It should be noted that, in some other embodiments, the maximum effective coverage area of the target fixed base station in different regions may also be obtained from a database in which relevant data is stored in the server.

Corresponding to the method for adjusting the coverage of the RTK fixed base station in the second embodiment, the present invention further provides an apparatus for adjusting the coverage of the RTK fixed base station, including:

The pre-erected fixed base stations can only be erected in different regions and cannot realize overall coverage, so that the pre-erected fixed base stations are required to be additionally erected, and meanwhile, because the factors of ionosphere, troposphere and the like above the fixed base stations in different regions, which influence signal propagation, are different, the coverage areas of the fixed base stations in different regions are different. The maximum effective coverage areas of different areas determined by the RTK fixed base station coverage area determining method can be used for guiding the fixed base station site selection and deployment of the different areas so as to save the erection cost of the fixed base station. The invention also provides a RTK fixed base station site selection and deployment method, which comprises the following steps: acquiring the maximum effective coverage range of a fixed base station in a target area; the maximum effective coverage is determined by the coverage determination method of the RTK fixed base station according to any of the embodiments; determining an area which is not covered by the base station signal in the target area as an address selection area based on the maximum effective coverage area of the fixed base station; and determining the deployment address of the newly added fixed base station from the address selection area so that the coverage range of the newly added fixed base station and the coverage range of the existing fixed base station have the overlap of a preset threshold range.

The maximum effective coverage area of the fixed base station in the target area can be obtained through the following different schemes:

the first scheme is as follows:

dividing the target area according to the area of each fixed base station in the target area to obtain a plurality of sub-areas corresponding to the area of the fixed base station, wherein different sub-areas correspond to different areas;

and for each sub-area, determining the maximum effective coverage range of the area corresponding to the sub-area as the maximum effective coverage range of the fixed base station in the sub-area.

The second scheme is as follows:

determining the region of each fixed base station according to the position of each fixed base station in the target region;

and for each fixed base station, determining the maximum effective coverage range corresponding to the region to which the fixed base station belongs as the maximum effective coverage range of the fixed base station.

It can be understood that, in the first scheme, the target area may be divided into sub-areas corresponding to different regions according to the region mode based on the maximum effective coverage areas of the base stations in different regions, and then the maximum effective coverage areas corresponding to the regions may be used as the maximum effective coverage areas of all the fixed base stations in the sub-areas corresponding to the regions in the divided sub-areas, so that a certain data processing amount may be reduced. In the second scheme, the target area does not need to be divided, but the area to which the fixed base station belongs is directly determined based on the position information of each fixed base station, and for each fixed base station, the maximum effective coverage range corresponding to the area to which the fixed base station belongs is directly taken as the maximum effective coverage range of the fixed base station.

Thus, after the maximum effective coverage range of each fixed base station in the target area is obtained, which areas in the target area are not covered by the existing fixed base station signals can be known, and then the address selection area can be obtained. The method for determining the area which is not covered by the existing fixed base station signal may be any of the following:

the first mode is as follows:

for each fixed base station, determining a communication coverage area of the fixed base station by taking the position of the fixed base station as a circle center and taking the radius distance corresponding to the maximum effective coverage area of the fixed base station as a radius;

and determining an area which is not overlapped with the communication coverage area in the target area and/or an area which is not required by the preset threshold range in the overlapping degree between the communication coverage areas of the two adjacent fixed base stations as an address selection area based on the communication coverage areas of all the fixed base stations in the target area.

The second mode is as follows:

firstly, the target area is mapped to a map formed by the region to which the fixed base station belongs, and then the target area is divided into a plurality of sub-areas according to different regions in the map. And further determining an area which is not covered by the base station signal in the target area as an address selection area based on the maximum effective coverage area of the fixed base station.

In summary, the deployment address of the newly added fixed base station is determined from the address selection area, so that the coverage area of the newly added fixed base station and the coverage area of the existing fixed base station have an overlap of a preset threshold range. The deployment of the newly-added fixed base station is guided based on the maximum effective coverage range of the fixed base station, so that on one hand, the resource waste caused by erecting the fixed base station by using a fixed distance is reduced, and on the other hand, the effective coverage range of each base station can be fully utilized.

In some embodiments, in order to facilitate the user to know the communication coverage of the fixed base station in the target area, the method may further include: and graphically displaying the target area based on the position information of the fixed base station and the maximum effective coverage area of the fixed base station. For example, the shape of a target area is drawn in proportion, the positions of all fixed base stations in the target area are determined according to the position information of the fixed base stations, then the circles drawn by different fixed base stations are displayed in the same or different colors by taking each target area as the center of a circle and taking the maximum effective coverage area of each fixed base station as a radius to draw circles after being reduced in proportion, and the overlapping positions of the coverage areas can be displayed in different colors in a distinguishing manner, so that the target area after graphical display is convenient for a user to visually observe the covered area and the address selection area of the fixed base station.

Based on the above scheme for graphically displaying the target area, in some embodiments, in order to enable the user to participate in the site selection deployment of the base station, and visually reflect the communication coverage between the virtual base station formed after the site selection of the user and the existing base station, so as to facilitate the user to further adjust and improve the accuracy of the user in selecting the deployment, in some embodiment modes, the step of determining the deployment address of the newly added fixed base station from the site selection area so that the coverage range of the newly added fixed base station overlaps the coverage range of the existing fixed base station by a preset threshold range may include:

displaying a pre-addressing position corresponding to an addressing instruction in the target area based on the addressing instruction for triggering the selection of the pre-addressing position from the addressing area;

updating and displaying the target area based on the pre-selected address position and the maximum effective coverage range of the area to which the pre-selected address position belongs; the method comprises the steps that a virtual base station at a pre-address position and the maximum effective coverage area graph of an existing base station are displayed in an updated and displayed target area;

when the maximum effective coverage ranges of the virtual base station and the existing base station do not overlap with a preset threshold range, outputting an instruction for prompting a user to adjust a pre-selection address position or increase the pre-selection address position;

and returning to execute the step of displaying the pre-selection address position corresponding to the address selection instruction in the target area based on the address selection instruction for triggering the pre-selection address position selected from the address selection area until the maximum effective coverage range of the virtual base station and the existing base station is overlapped by a preset threshold range.

Therefore, when a user participates in site selection and deployment of the fixed base station, the influence of the site selection of the user on the communication range of the fixed base station in the target area can be reflected in time, the user is reminded to adjust the position of the preselected site in time when adverse influence is caused, and the rationality and the effectiveness of the site selection of the user can be guaranteed.

For the scheme of deploying the fixed base stations in the pre-selected address of the user, in practical application, the shape of a target area can be drawn in proportion on a user interface, the positions of all the fixed base stations in the target area are determined according to the position information of the fixed base stations, and then the target areas are taken as circle centers, the maximum effective coverage area of each fixed base station is reduced in proportion and then the reduced maximum effective coverage area is taken as a radius to draw a circle; determining the position of the pre-selected address in the target area according to the pre-selected address position, and drawing a circle according to the maximum effective coverage range corresponding to the position and the same method of the fixed base station; the pre-addressing position and the circle drawn by the existing fixed base station are displayed in different colors, and the overlapping part of the coverage range is displayed in different colors, so that the coverage area, the addressing area and the coverage area of the pre-addressing position of the existing fixed base station can be visually displayed, the coverage effect achieved by different pre-addressing positions can be conveniently observed, and the addressing of the newly added fixed base station can be guided.

In some embodiments, the user may determine the pre-addressed location by entering coordinates; in other embodiments, the user may determine the pre-addressed location on the touch-sensitive presentation device by touching a point on the target area image presented by the device.

In some embodiments, the actual distance between the boundary of the coverage area corresponding to the pre-addressed location and the boundary of the coverage area of the fixed base station may also be calculated and presented. The distance is calculated from the target area drawing scale and the distance in the graph.

Although the foregoing provides a manner of user location deployment, in other embodiments, the location deployment may be automatically implemented without user participation, and based on this, the step of determining the deployment address of the newly added fixed base station from the location area so that the coverage area of the newly added fixed base station overlaps with the coverage area of the existing fixed base station by a preset threshold range may include another scheme, as follows:

for each addressing area, determining a target addressing position from the addressing area based on the maximum effective coverage range corresponding to the addressing area, the area of the addressing area and the maximum effective coverage range of the existing fixed base station adjacent to the addressing area;

and after the newly added fixed base station is installed at the target site selection position, the coverage ranges of the newly added fixed base station and the existing fixed base station are overlapped by a preset threshold range.

Corresponding to the RTK fixed base station site selection deployment method in the second embodiment, the present invention further provides an RTK fixed base station site selection deployment apparatus, including:

In some embodiments, the apparatus further comprises: the display module is used for graphically displaying the target area based on the position information of the fixed base station and the maximum effective coverage area of the fixed base station;

or graphically displaying the coverage range of the pre-selected address position and the coverage range of the fixed base station based on the pre-selected address position, the maximum effective coverage range of the area to which the pre-selected address position belongs, the position information of the fixed base station and the maximum effective coverage range of the fixed base station. Correspondingly, the invention also provides the electronic equipment depending on the embodiment, which comprises a processor and a memory; the memory stores a computer program readable by the processor; wherein, when the processor executes the computer program, the steps of the RTK fixed base station coverage determining method in this embodiment are implemented, and/or the steps of the RTK fixed base station coverage adjusting method in this embodiment are implemented, and/or the steps of the RTK fixed base station address selecting and deploying method in this embodiment are implemented.

EXAMPLE III

Fig. 3 is a flowchart of a method for determining a coverage of an RTK fixed base station according to a third embodiment of the present invention. As shown in fig. 3, the method includes:

step 1, log data transmitted by a mobile station is acquired.

determining the time period to which the distance between the mobile station and the fixed base station belongs according to the positioning data acquisition time recorded in the log data;

determining a communication distance in which the error probability of the fixed base station in each time period is less than or equal to a preset error probability threshold and the success probability is greater than or equal to a preset success probability threshold so as to determine and obtain a plurality of effective communication distances of the fixed base station in each time period;

and determining the effective communication distance with the maximum value from a plurality of effective communication distances of the fixed base station in each time period so as to determine and obtain the maximum effective coverage range of the fixed base station in each time period. The maximum effective coverage range of the fixed base station in different time periods can be used for guiding the setting of the coverage range values of the same fixed base station in different time periods.

In the present embodiment, the time periods are divided by day and night, or month, or quarter; alternatively, different time periods are used to characterize different meteorological conditions, such as a wind season, a rain season, a freezing season, and the like.

In this embodiment, the determined maximum effective coverage of the fixed base station, the corresponding fixed base station, and the time periods corresponding to different maximum effective coverage are stored in the database together.

Corresponding to the method for determining the coverage of the RTK fixed base station in the third embodiment, the present invention further provides an apparatus for determining the coverage of the RTK fixed base station, including:

When the fixed base station is pre-erected, the preset communication range of the fixed base station is generally determined according to the test performance of the base station, but the test environment and the actual use environment often have differences, so that the preset communication range of the fixed base station does not necessarily meet the requirements of the actual use environment. Meanwhile, because the ionosphere, the troposphere and other factors above the fixed base stations in different time periods affect signal propagation differently, the coverage areas of the fixed base stations in different time periods also differ. The maximum effective coverage of the fixed base station in different time periods determined by the RTK fixed base station coverage determining method may be used to adjust the allowable communication range of the same fixed base station in different time periods, and further, the present invention provides an RTK fixed base station coverage adjusting method, including: acquiring the maximum effective coverage range of a target fixed base station; and when the current allowable communication range of the target fixed base station is smaller than or larger than the maximum effective coverage range, adjusting the allowable communication range of the target fixed base station to be the maximum effective coverage range.

In the foregoing, the step of obtaining the maximum effective coverage area of the target fixed base station may include:

and determining the time period to which the target fixed base station belongs according to the current time, and determining the maximum effective coverage range corresponding to the time period to which the target fixed base station belongs as the maximum effective coverage range of the target fixed base station.

It should be noted that, in other embodiments, the maximum effective coverage area of the target fixed base station in different regions may also be obtained from a database in which relevant data is stored in the server.

In order to guarantee that the communication between the fixed base station and the mobile station is effective constantly, when the time period of the current time is changed, whether the allowable communication range of the target fixed base station is adjusted or not is determined according to the maximum effective coverage range corresponding to the time period of the current time. The maximum effective coverage range of the fixed base station is different along with the change of the time period, the allowable communication range of the fixed base station is also adjusted along with the time period, on one hand, the communication between the fixed base station and the mobile station can be ensured to be effective, and on the other hand, the communication capability of the fixed base station can be fully utilized.

Correspondingly, the invention also provides an RTK fixed base station coverage adjusting device, comprising:

The pre-erected fixed base station can only be erected in a regional mode and cannot achieve overall coverage, therefore, the pre-erected fixed base station needs to be additionally erected, the maximum effective coverage range which is universal in the whole time period of the fixed base station can be determined according to the maximum effective coverage ranges which are determined by the RTK fixed base station coverage range determining method and obtained in different time periods, and the maximum effective coverage which is universal in the whole time period can be used for guiding the fixed base station to select and deploy addresses, so that the erection cost of the fixed base station is saved. The invention also provides an RTK fixed base station site selection and deployment method, which comprises the following steps:

acquiring the maximum effective coverage range of a fixed base station in a target area; the maximum effective coverage is determined by the method for determining the coverage of the RTK fixed base station according to any of the embodiments described above, and the maximum effective coverage may be the maximum effective coverage which is universal in a whole time period;

and determining the deployment address of the newly added fixed base station from the address selection area so that the coverage range of the newly added fixed base station and the coverage range of the existing fixed base station have the overlap of a preset threshold range. The deployment of the newly added fixed base station is guided based on the maximum effective coverage range of the fixed base station, so that on one hand, the resource waste caused by erecting the fixed base stations by using fixed intervals is reduced, and on the other hand, the effective coverage range of each base station can be fully utilized.

Correspondingly, the invention also provides an RTK fixed base station address selecting and deploying device, which comprises:

Correspondingly, the invention also provides an electronic device depending on the embodiment, which comprises a processor and a memory; the memory stores a computer program readable by the processor; when the processor executes the computer program, the step of the coverage determining method for the RTK fixed base station in this embodiment is implemented, and/or the step of the coverage adjusting method for the RTK fixed base station in this embodiment is implemented, and/or the step of the address selecting and deploying method for the RTK fixed base station in this embodiment is implemented.

Example four

Fig. 4 is a flowchart of a method for determining a coverage of an RTK fixed base station according to a fourth embodiment of the present invention. As shown in fig. 4, the method includes:

step 1, log data transmitted by a mobile station is acquired.

determining the region to which each fixed base station belongs and the time period to which the distance between the mobile station and the fixed base station belongs according to the log data;

for at least one fixed base station in each area, determining a communication distance of the fixed base station, wherein the error probability of the fixed base station in each time period is less than or equal to a preset error probability threshold, and the success probability of the fixed base station in each time period is greater than or equal to a preset success probability threshold, so as to determine and obtain a plurality of effective communication distances of the fixed base station in each time period;

and determining the effective communication distance with the maximum value from a plurality of effective communication distances of the fixed base station in each area in each time period so as to determine the maximum effective coverage range of the fixed base station in each area in each time period. And when the maximum effective coverage range of the fixed base station is determined, additionally considering area factors and corresponding time factors to which the fixed base station belongs to obtain the maximum effective coverage range of the fixed base station in each area in each time period, wherein the maximum effective coverage range is used for guiding the setting of the coverage ranges of the fixed base stations in different areas in different time periods.

In this embodiment, the determined maximum effective coverage of the fixed base station, the corresponding fixed base station, the time periods corresponding to different maximum effective coverage, and the region to which the fixed base station belongs are stored in the database together.

Correspondingly, the invention also provides an RTK fixed base station coverage determining device, comprising:

a first determining module for determining a maximum effective coverage area of a fixed base station based on a distance between the mobile station and the fixed base station, the error probability and the success probability.

When the fixed base station is pre-erected, the preset communication range of the fixed base station is generally determined according to the test performance of the base station, but the test environment and the actual use environment often have differences, so that the preset communication range of the fixed base station does not necessarily meet the requirements of the actual use environment. Meanwhile, because the factors that influence signal propagation, such as the ionosphere and the troposphere, above the fixed base stations in different time periods and different areas are different, the coverage areas of the fixed base stations in different time periods and different areas are also different. The maximum effective coverage areas of the fixed base stations in different time periods and different areas determined by the RTK fixed base station coverage area determining method can be used for adjusting the allowable communication ranges of the fixed base stations in different areas in different time periods, and further, the invention also provides an RTK fixed base station coverage area adjusting method, which comprises the following steps: acquiring the maximum effective coverage range of a target fixed base station; the maximum effective coverage is determined by the RTK fixed base station coverage determination method; and when the current allowable communication range of the target fixed base station is smaller than or larger than the maximum effective coverage range, adjusting the allowable communication range of the target fixed base station to be the maximum effective coverage range.

In the foregoing, the obtaining the maximum effective coverage area of the target fixed base station may include: determining the area of the target fixed base station according to the position information of the target fixed base station, determining the current time period of the target fixed base station according to the current time, and determining the maximum effective coverage range of the area of the target fixed base station corresponding to the current time period as the maximum effective coverage range of the target fixed base station.

It should be noted that, in some other embodiments, the maximum effective coverage areas of the target fixed base stations in different regions at different time periods may also be obtained from the database in which the relevant data is stored in the server.

Correspondingly, the invention also provides an RTK fixed base station coverage adjusting device, which comprises:

The pre-erected fixed base station can only be erected in a regional mode and cannot achieve overall coverage, so that the pre-erected fixed base station needs to be additionally erected, the maximum effective coverage range of different regions in different time periods is determined according to the RTK fixed base station coverage range determining method, the maximum effective coverage range universal in the whole time period of the plurality of fixed base stations in different regions can be determined, and the maximum effective coverage universal in the whole time period can be used for guiding address selection and deployment of the fixed base stations in different regions, so that the erection cost of the fixed base station is saved. The invention also provides an RTK fixed base station site selection and deployment method, which comprises the following steps: acquiring the maximum effective coverage range of a fixed base station in a target area; the maximum effective coverage range is determined by the RTK fixed base station coverage range determining method, and the area which is not covered by the base station signal in the target area is determined as an address selection area based on the maximum effective coverage range of the fixed base station; and determining the deployment address of the newly added fixed base station from the address selection area so that the coverage range of the newly added fixed base station and the coverage range of the existing fixed base station have the overlap of a preset threshold range.

In the foregoing, obtaining the maximum effective coverage area of the fixed base station in the target area may include:

and for each sub-area, determining the maximum effective coverage range of the area corresponding to the sub-area in the current time period as the maximum effective coverage range of the fixed base station in the sub-area.

The deployment of the newly-added fixed base station is guided based on the maximum effective coverage range of the fixed base station, so that on one hand, the resource waste caused by erecting the fixed base station by using a fixed distance is reduced, and on the other hand, the effective coverage range of each base station can be fully utilized.

Therefore, when a user participates in site selection and deployment of the fixed base station, the influence of the site selection of the user on the communication range of the fixed base station in the target area can be reflected in time, the user is reminded to adjust the position of the pre-selected site in time when adverse influence is caused, and the rationality and the effectiveness of the site selection of the user can be ensured.

For the scheme of deploying the fixed base stations in the pre-selected address of the user, in practical application, the shape of a target area can be drawn in proportion on a user interface, the positions of all the fixed base stations in the target area are determined according to the position information of the fixed base stations, and then circles are drawn by taking each target area as the center of a circle and taking the maximum effective coverage area of each fixed base station as the radius after being reduced in proportion; determining the position of the pre-addressed position in the target area according to the pre-addressed position, and drawing a circle according to the maximum effective coverage range corresponding to the position and the same method of the fixed base station; the pre-addressing position and the circle drawn by the existing fixed base station are displayed in different colors, and the overlapping part of the coverage range is displayed in different colors, so that the coverage area, the addressing area and the coverage area of the pre-addressing position of the existing fixed base station can be visually displayed, the coverage effect achieved by different pre-addressing positions can be conveniently observed, and the addressing of the newly added fixed base station can be guided.

and after the newly-added fixed base station is installed at the target address selection position, the coverage ranges of the newly-added fixed base station and the existing fixed base station are overlapped by a preset threshold range.

or graphically displaying the coverage range of the pre-selected address position and the coverage range of the fixed base station based on the pre-selected address position, the maximum effective coverage range of the area to which the pre-selected address position belongs, the position information of the fixed base station and the maximum effective coverage range of the fixed base station.

Correspondingly, the invention also provides an electronic device depending on the embodiment, which comprises a processor and a memory; the memory stores a computer program readable by the processor; wherein, when the processor executes the computer program, the steps of the RTK fixed base station coverage determining method in this embodiment are implemented, and/or the steps of the RTK fixed base station coverage adjusting method in this embodiment are implemented, and/or the steps of the RTK fixed base station address selecting and deploying method in this embodiment are implemented.

The invention also provides an RTK positioning system, which comprises a mobile station, a server and a fixed base station; the mobile station is used for requesting positioning data from the fixed base station, determining position information of the mobile station according to the positioning data, generating corresponding log data and sending the log data to a server; the server is used for determining the maximum effective coverage range of the fixed base station based on the log data through the RTK fixed base station coverage range determining method, and determining whether to send an adjusting instruction to the fixed base station according to the current allowable communication range and the maximum effective coverage range of the fixed base station; and the fixed base station is used for sending positioning data to the mobile station and receiving the adjusting instruction so as to adjust the current allowable communication range according to the adjusting instruction.

The positioning system can adjust the allowable communication range of the fixed base station according to the maximum effective coverage range of the fixed base station, on one hand, the normal communication between the mobile station and the fixed base station is guaranteed, the mobile station can accurately determine the position information of the mobile station, on the other hand, the coverage range of the fixed base station is fully utilized, and the resource waste of erecting the fixed base station is reduced.

In some embodiments of the RTK positioning system, a hardware block diagram of the fixed base station is shown in fig. 5, and the fixed base station includes an MCU, a 4G module, a bluetooth module, an RTK board card and an indicator light, and the 4G module, the bluetooth module, the RTK board card and the indicator light are respectively connected to the MCU. The RTK board card is mainly used for positioning and outputting RTCM data, and the 4G module is used for communicating with the background server to transmit the RTCM data and state data; the Bluetooth module is used for communication between the fixed base station and the ground station, and the ground station can send commands to configure the fixed base station or acquire related information of the fixed base station. Such as a ground station, may input known reference coordinates to a fixed base station via bluetooth. Have 3 pilot lamps on the hardware to be power indicator lamp respectively, whether networking pilot lamp, location status indicator lamp.

After the fixed base station is erected, the fixed base station is started, the ground station is used for connecting the upper equipment through the Bluetooth, and the ground station sends a command to input a known reference coordinate to the RTK board card. After obtaining the reference coordinate, the RTK board card calculates the RTCM data through the positioning data of the RTK board card and the input known reference coordinate and outputs the RTCM data to the MCU, and the MCU transmits the RTCM data to the background server through the mobile network and forwards the RTCM data to the mobile station through the server. After the fixed base station is erected, the mobile station and the like can be normally provided with services.

In some embodiments, the mobile station may be a drone, a mapper, an unmanned vehicle, and so on.

The main idea of the present invention is to fully utilize the resources of the fixed base station while ensuring the communication effectiveness between the fixed base station and the mobile base station, as shown in fig. 6, a map is divided into a plurality of grids according to longitude and latitude, and the maximum effective coverage of the fixed base station preset in the grid is the maximum effective coverage in the grid. Assuming that the area A in the figure is separated out and the maximum effective connectable distance of the fixed base station is set to be 35km, when the unmanned aerial vehicle is 35km away from a certain fixed base station in the area A, the unmanned aerial vehicle can be allowed to connect with the fixed base station, otherwise, the unmanned aerial vehicle cannot be allowed to connect with the fixed base station; and similarly, assuming that the maximum effective connectable distance of the C area is 30km, when the unmanned aerial vehicle is 30km away from a certain fixed base station in the C area, the unmanned aerial vehicle can be connected with the fixed base station, otherwise, the unmanned aerial vehicle cannot be connected with the fixed base station. If a certain area needs to be additionally erected with fixed base stations, the fixed base stations can be erected according to the distance of the maximum coverage range of the fixed base stations in different grid areas, and therefore the total number of the required fixed base stations is effectively reduced.

It should be noted that, for any method subject matter of the present invention, the technical features in any embodiment of the method subject matter can be combined with each other as required, as long as there is no contradiction of combination. Similarly, for any of the schemes of the apparatus theme, the device theme, and the media theme of the present invention, the technical features of any embodiment of each scheme of the theme may also be combined with each other as needed, as long as there is no contradiction between the combinations, where the specific implementation principles of the schemes of the apparatus theme, the device theme, the media theme, etc. are the same as the implementation principles of the corresponding method theme, so that the descriptions of the schemes of the method theme may be referred to for corresponding understanding, which is not described herein again. In addition, the server in the RTK positioning system may implement the RTK fixed base station coverage determining method, the RTK fixed base station coverage adjusting method, and/or the RTK fixed base station address selecting and deploying method in any of the above embodiments.

Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.

Claims

1. A method for RTK fixed base station coverage determination, the method comprising:

obtaining log data transmitted by a mobile station;

processing according to the log data to obtain the distance between the mobile station and the corresponding fixed base station, the error probability of the mobile station for performing positioning coordinate calculation based on positioning data provided by the fixed base station and the success probability of calculation success, wherein the distance between the fixed base station and the mobile station comprises a plurality of communication distances, and each communication distance is associated with the corresponding error probability and success probability;

determining a maximum effective coverage area of a fixed base station based on a distance between the mobile station and the fixed base station, the error probability, and the success probability, comprising:

determining communication distances of which the error probability is smaller than or equal to a preset error probability threshold and the success probability is larger than or equal to a preset success probability threshold so as to determine and obtain a plurality of effective communication distances;

and determining the effective communication distance with the maximum value from the plurality of effective communication distances so as to determine and obtain the maximum effective coverage range of the fixed base station.

2. The RTK fixed base station coverage determination method of claim 1, further comprising: determining the region of each fixed base station according to the reference coordinates of the fixed base stations recorded in the log data;

the determining a maximum effective coverage area of the fixed base station based on the distance between the mobile station and the fixed base station, the error probability, and the success probability comprises:

determining the effective communication distance with the maximum value from a plurality of effective communication distances of the fixed base station in each region to determine and obtain the maximum effective coverage range of the fixed base station in each region, wherein the method comprises the following steps:

for each fixed base station in each region, determining an effective communication distance with the largest value from a plurality of effective communication distances of the fixed base station to obtain the maximum effective communication distance of the fixed base station;

and for each region, determining to obtain the maximum effective coverage range of the fixed base station of each region based on the maximum effective communication distance of the plurality of fixed base stations in the region.

3. The RTK fixed base station coverage determination method of claim 2, wherein the determining, for each zone, the maximum effective coverage of the fixed base station for each zone based on the maximum effective communication distances of the plurality of fixed base stations in the zone comprises:

for each region, taking the average value or the weighted average value or the minimum value of the maximum effective communication distances of a plurality of fixed base stations in the region as the maximum effective coverage range of the fixed base stations in the region.

4. The RTK fixed base station coverage determination method of claim 1, characterized in that the method further comprises: determining a time period corresponding to the distance between the mobile station and the fixed base station according to the positioning data acquisition time recorded in the log data;

and determining the effective communication distance with the maximum value from a plurality of effective communication distances of the fixed base station in each time period so as to determine and obtain the maximum effective coverage range of the fixed base station in each time period.

5. The RTK fixed base station coverage determination method of claim 1, characterized in that the method further comprises: determining the area of each fixed base station and the time period corresponding to the distance between the mobile station and the fixed base station according to the log data;

determining the effective communication distance with the maximum value from a plurality of effective communication distances of the fixed base station in each area in each time period so as to determine and obtain the maximum effective coverage range of the fixed base station in each area in each time period, wherein the method comprises the following steps:

for each fixed base station in each region, determining an effective communication distance with the largest value from a plurality of effective communication distances of the fixed base station in each time slot so as to obtain the maximum effective communication distance of the fixed base station in each time slot;

and for each region, determining to obtain the maximum effective coverage range of the fixed base station of each region in each time period based on the maximum effective communication distance of the plurality of fixed base stations in each time period in the region.

6. The RTK fixed base station coverage determination method according to claim 4 or 5, wherein the time period is divided in units of day and night, or month, or quarter; alternatively, different time periods are used to characterize different meteorological conditions.

7. A method for adjusting a coverage area of an RTK fixed base station is characterized by comprising the following steps:

acquiring the maximum effective coverage range of a target fixed base station; the maximum effective coverage is determined by the RTK fixed base station coverage determination method of any one of claims 1~6;

8. The RTK fixed base station coverage adjustment method of claim 7, wherein the maximum effective coverage is determined by the RTK fixed base station coverage determination method of any of claims 2~3; the acquiring the maximum effective coverage area of the target fixed base station includes: determining the region to which the target fixed base station belongs according to the position information of the target fixed base station, and determining the maximum effective coverage range corresponding to the region to which the target fixed base station belongs as the maximum effective coverage range of the target fixed base station;

alternatively, the maximum effective coverage is determined by the RTK fixed base station coverage determination method of claim 4; the acquiring the maximum effective coverage area of the target fixed base station includes: determining a current time period of the target fixed base station according to the current time, and determining the maximum effective coverage range corresponding to the current time period of the target fixed base station as the maximum effective coverage range of the target fixed base station;

alternatively, the maximum effective coverage is determined by the RTK fixed base station coverage determination method of claim 5 or 6; the acquiring the maximum effective coverage area of the target fixed base station includes: determining the area of the target fixed base station according to the position information of the target fixed base station, determining the current time period of the target fixed base station according to the current time, and determining the maximum effective coverage range corresponding to the current time period of the area of the target fixed base station as the maximum effective coverage range of the target fixed base station.

9. The RTK fixed base station coverage adjustment method of claim 7, wherein the maximum effective coverage is determined by the RTK fixed base station coverage determination method of any one of claims 4~6; after adjusting the allowed communication range of the target fixed base station to the maximum effective coverage range, the method further includes:

and when the time period to which the current time belongs is changed, determining whether to adjust the allowable communication range of the target fixed base station according to the maximum effective coverage range corresponding to the time period to which the current time belongs.

10. An RTK fixed base station site selection deployment method is characterized by comprising the following steps:

acquiring the maximum effective coverage area of a fixed base station in a target area; the maximum effective coverage is determined by the RTK fixed base station coverage determination method of any one of claims 1~6;

and determining the deployment address of the newly added fixed base station from the address selection area so that the coverage range of the newly added fixed base station and the coverage range of the existing fixed base station have the overlap of a preset threshold range.

11. The RTK fixed base station site selection deployment method of claim 10, wherein the maximum effective coverage is determined by the RTK fixed base station coverage determination method of any of claims 2~3 and 5~6;

the acquiring the maximum effective coverage area of the fixed base station in the target area includes:

12. The RTK fixed base station addressing deployment method of claim 10, wherein the maximum effective coverage is determined by the RTK fixed base station coverage determination method of any one of claims 2~3 and 5~6;

13. The RTK fixed base station addressing deployment method of claim 10, wherein the maximum effective coverage is determined by the RTK fixed base station coverage determination method of claim 5 or 6;

and for each fixed base station, determining the maximum effective coverage range corresponding to the time period of the area to which the fixed base station belongs at the current time as the maximum effective coverage range of the fixed base station.

14. The RTK fixed base station siting deployment method of claim 10, further comprising: and graphically displaying the target area based on the position information of the fixed base station and the maximum effective coverage area of the fixed base station.

15. The RTK fixed base station siting deployment method of claim 14, further comprising:

determining a deployment address of the newly added fixed base station from the address selection area so that the coverage range of the newly added fixed base station and the coverage range of the existing fixed base station have overlap of a preset threshold range, wherein the deployment address comprises:

16. The RTK fixed base station addressing deployment method of claim 10,

17. An RTK fixed base station coverage determination apparatus, comprising:

the processing module is used for processing according to the log data to obtain the distance between the mobile station and the corresponding fixed base station, the error probability of the mobile station for performing positioning coordinate calculation based on the positioning data provided by the fixed base station and the success probability of successful calculation, the distance between the fixed base station and the mobile station comprises a plurality of communication distances, and each communication distance is associated with the corresponding error probability and success probability;

a first determining module for determining a maximum effective coverage area of a fixed base station based on a distance between the mobile station and the fixed base station, the error probability and the success probability; the maximum effective coverage range is used for indicating the site selection deployment of the newly added fixed base station, and comprises the following steps:

18. An RTK fixed base station coverage adjustment apparatus, comprising:

the second acquisition module is used for acquiring the maximum effective coverage range of the target fixed base station; the maximum effective coverage is determined by the RTK fixed base station coverage determination method of any one of claims 1~6;

19. An RTK fixed base station site selection deployment device is characterized by comprising:

a third obtaining module, configured to obtain a maximum effective coverage area of a fixed base station in a target area; the maximum effective coverage is determined by the RTK fixed base station coverage determination method of any one of claims 1~6;

20. An RTK positioning system comprising a mobile station, a server and a fixed base station; the mobile station is used for requesting positioning data from the fixed base station, determining position information of the mobile station according to the positioning data, generating corresponding log data and sending the log data to a server; the server is configured to determine a maximum effective coverage of the fixed base station based on the log data by the RTK fixed base station coverage determination method of any one of claims 1~6, and determine whether to issue an adjustment instruction to the fixed base station according to a currently allowed communication range and the maximum effective coverage of the fixed base station; and the fixed base station is used for sending positioning data to the mobile station and receiving the adjusting instruction so as to adjust the current allowable communication range according to the adjusting instruction.

21. An electronic device comprising a processor and a memory; the memory stores a computer program readable by the processor; when the processor executes the computer program, the steps of the coverage determining method for the RTK fixed base station according to any one of claims 1~6 are implemented, and/or the steps of the coverage adjusting method for the RTK fixed base station according to any one of claims 7~9 are implemented, and/or the steps of the address selecting and deploying method for the RTK fixed base station according to any one of claims 10 to 16 are implemented.

22. A machine-readable storage medium, characterized by a computer program stored thereon; the program when executed by a processor implements the steps of the RTK fixed base station coverage determination method of any one of claims 1~6, and/or the steps of the RTK fixed base station coverage adjustment method of any one of claims 7~9, and/or the steps of the RTK fixed base station address deployment method of any one of claims 10 to 16.