CN108490464B - Network RTK broadcasting method suitable for consumption terminal - Google Patents
Network RTK broadcasting method suitable for consumption terminal Download PDFInfo
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- CN108490464B CN108490464B CN201810237856.9A CN201810237856A CN108490464B CN 108490464 B CN108490464 B CN 108490464B CN 201810237856 A CN201810237856 A CN 201810237856A CN 108490464 B CN108490464 B CN 108490464B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/009—Transmission of differential positioning data to mobile
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/51—Discovery or management thereof, e.g. service location protocol [SLP] or web services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mobile Radio Communication Systems (AREA)
- Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a network RTK broadcasting method suitable for a consumer terminal, which comprises the following steps: step 1, a terminal initiates a positioning request and establishes connection with a server; step 2, the terminal acquires the probability position of the terminal and reports the probability position to the server; step 3, the server side selects a VRS grid and broadcasts differential data according to the probability position reported by the terminal; step 4, optionally, the terminal sends a message of 'stop broadcasting immediately' to the server; step 5, optionally, if the server receives the message of 'stop broadcasting immediately' from the terminal, stopping broadcasting the differential data immediately; step 6, repeating the steps 2 to 5 according to the requirements and actual conditions of the terminal; and 7, the terminal is powered off or enters a sleep state, and the connection is disconnected. The invention solves the problems of power consumption and flow of consumer terminals such as mobile phones and the like when high-precision positioning service is used.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a network RTK broadcasting method suitable for a consumption terminal.
Background
Network RTK (Real-time Kinematic), also known as reference station RTK, is a new technology established on the basis of conventional RTK and differential GPS. We generally refer to positioning methods for establishing multiple (typically three or more) GPS reference stations within an area, forming a mesh coverage of the area, and calculating and broadcasting GPS correction information based on one or more of the reference stations to correct GPS users in the area in real time, as GPS network RTK, also known as multi-reference RTK.
Virtual Reference Stations (VRS-Virtual Reference states). Firstly, a certain number of base stations are erected in a certain area, a base station receives satellite signals and then transmits the information to an information processing center, a mobile station firstly transmits the position information of a receiver to the data processing center, the data processing center can select the information of a plurality of base stations with good positions nearby according to the position of the mobile station, one reference station is virtually arranged, and then the virtually arranged reference station correction data are broadcasted to the mobile station.
The basic principle of network RTK is: the reference station (also called base station or reference station) with known precise coordinates calculates the distance correction number from itself to the satellite and uploads the distance correction number to the data center in a unified manner, and the ground augmentation system (differential broadcast platform) is formed by the reference station and the data center. The differential broadcast platform sends the data to the terminal equipment (such as survey and drawing equipment, mobile phone, automobile, unmanned aerial vehicle, bicycle, etc.) needing positioning in real time. The terminal equipment receives the differential data sent by the differential broadcasting platform while carrying out satellite observation, and corrects the positioning result, thereby improving the positioning precision.
The existing network RTK technology, also called multi-reference station RTK, is generally applicable to a measurement-type terminal in surveying and mapping industry, and the specific process is as follows (as shown in fig. 1):
1. the (measurement type) terminal accesses a service end (cloud end) (a server platform (running in a cloud environment) for providing high-precision positioning service) and establishes connection through an NTRIP (network Transport of RTCM via Internet Protocol) Protocol (Protocol for performing RTCM network transmission through the Internet);
2. the terminal calculates the probability position of the terminal through single-point positioning or other modes;
3. the terminal uploads the probability position of the terminal by a GGA format defined by NMEA (National Marine Electronics Association, short for American National ocean Electronics Association, which is now the RTCM standard protocol unified by GPS navigation equipment);
4. the server side broadcasts the differential correction data of the corresponding VRS grids to the terminal according to the probability position of the terminal;
5. the terminal continuously uploads the GGA, and the server continuously broadcasts the difference data;
6. and (4) until the measuring personnel think that the measuring task is finished, positioning is not needed any more, and the connection with the service end is actively disconnected through the terminal.
The method is applicable to the application scene of the measurement and mapping industry, but for consumer terminals (such as mobile phones), the use mode of high-precision positioning service is slightly different from that of measurement type terminals. Multiple Applications (APP) on the mobile phone may require high-precision location services at irregular intervals, but for reasons of power consumption and traffic of the mobile phone, the receiving of differential data may be stopped after a certain period of time or immediately.
Disclosure of Invention
The invention provides a network RTK broadcasting method suitable for a consumption terminal, which solves the technical problem that the consumption terminal cannot stop receiving differential data in time in the prior art, so that the power consumption and the flow of the consumption terminal are increased. The technical scheme adopted by the invention is as follows:
a network RTK broadcasting method suitable for a consumer terminal is characterized by comprising the following steps:
step 1, a terminal initiates a positioning request and establishes connection with a server;
step 2, the terminal acquires the probability position of the terminal and reports the probability position to the server;
step 3, the server side selects a VRS grid and broadcasts differential data according to the probability position reported by the terminal;
step 4, optionally, the terminal sends a message of 'stop broadcasting immediately' to the server;
step 5, optionally, if the server receives the message of 'stop broadcasting immediately' from the terminal, stopping broadcasting the differential data immediately;
step 6, repeating the steps 2 to 5 according to the requirements and actual conditions of the terminal;
and 7, the terminal is powered off or enters a sleep state, and the connection is disconnected.
Further, in the step 2, the terminal acquires its probability position by a single-point calculation mode and reports to the server.
Further, the terminal reports the probability position of the terminal to the server side in a GGA mode defined by NMEA.
Further, in step 2, the terminal reports an additional field "broadcast time" at the same time, where the broadcast time refers to a time for automatically stopping the differential data from being broadcast after the server receives the probability location reported last time by the terminal.
Further, in step 3, the server side broadcasts the differential data to the terminal, and the terminal performs positioning calculation according to the received differential data.
Further, the server side judges whether the terminal reports the broadcasting time at the same time in the step 3, if so, an automatic stop timer is started, the broadcasting of differential data to the terminal is automatically stopped after the timer expires, and the terminal is waited to report the probability position again; if not, go to step 4.
Further, the terminal stops reporting the probability position in the step 4, and keeps connecting with the server side.
Further, in step 5, the server maintains a long connection with the terminal while stopping the distribution of the differential data.
Further, in step 7, the terminal sends a request for disconnecting to the server, so as to disconnect.
Further, when the terminal enters the sleep state, disconnection or connection maintenance is selected according to the conditions of power consumption and flow.
The network RTK broadcasting method applicable to the consumer terminal has the advantages that the network RTK broadcasting method applicable to the consumer terminal is provided, and the technical problem that the consumer terminal cannot be disconnected with a server in time in the prior art is solved.
Drawings
FIG. 1 is a prior art workflow diagram;
FIG. 2 is a flowchart illustrating the interaction between the server and the terminal according to the present invention;
FIG. 3 is a flow chart of a specific implementation of the server according to the present invention;
fig. 4 is a flowchart of a specific implementation of the terminal of the present invention.
Detailed Description
The invention provides a network RTK broadcasting method suitable for a consumption terminal, and also provides a specific implementation mode of a corresponding service end system, terminal equipment and an interaction protocol. The invention is further illustrated below with reference to the figures and examples.
Fig. 2 shows a flowchart of interaction between a server and a terminal, which includes the following steps:
step 1, the terminal initiates a positioning request and establishes connection with a server.
The interaction between the general server and the terminal is based on the NTRIP protocol, and the interaction mode provided by the invention needs to be expanded based on the NTRIP protocol or define a new bidirectional interaction protocol without limiting the specific interaction protocol.
And 2, the terminal acquires the probability position of the terminal through single-point calculation or other modes and reports the probability position to the server.
Optionally, the terminal reports an additional field "broadcast time" at the same time, which means how long the server automatically stops the differential data from being broadcast after receiving the probability location reported last time by the terminal. For example, if the "broadcast time" is set to 60 seconds, the server broadcasts 60 seconds of differential data after receiving the probability location reported last time by the terminal. If no new probabilistic location has been received after 60 seconds, the dissemination of the differential data is automatically stopped.
The terminal reports the probability position generally through a GGA field defined by NMEA, or through other methods, without limiting the specific method of reporting the probability position.
And 3, the server side selects a VRS grid and broadcasts the differential data according to the probability position reported by the terminal and the optional uploaded broadcasting time.
Step 4, optionally, the terminal may send a message of "stop broadcasting immediately" to the server.
Step 5, optionally, if the server receives the message of "stop broadcasting immediately" from the terminal, the server ignores the settings of "stop broadcasting automatically", and stops broadcasting the differential data immediately.
The differential data dissemination should be stopped while maintaining a long connection with the terminal in order to resume the dissemination of the differential data immediately the next time the terminal needs it.
And 6, repeating the steps 2 to 5 according to the requirements and actual conditions of the terminal.
And 7, the terminal is powered off or enters a sleep state, and the connection is disconnected.
The request for disconnection is initiated by the terminal, and the policy can be defined by the terminal itself. Generally, when a terminal (mobile phone) is powered off, the terminal can be disconnected or kept connected according to the conditions of power consumption and flow when the terminal enters a sleep state or other states.
Fig. 3 shows a specific implementation flowchart of the server system, which specifically includes the following steps:
step 11, the server side initializes and prepares to receive the positioning request and connection from the terminal.
And step 12, after receiving the request from the terminal, establishing connection.
And step 13, waiting for the probability position reported by the receiving terminal.
And step 14, receiving the probability position reported by the terminal, selecting a VRS grid, and broadcasting differential data.
And step 15, judging whether the terminal uploads the 'broadcasting time' at the same time. And if the 'broadcasting time' is uploaded, starting an automatic stop timer, automatically stopping broadcasting the differential data to the terminal equipment after the timer expires, and waiting for the terminal to upload the probability position again. If the "time of broadcast" is not uploaded, the next step is entered.
Step 16, judging whether the terminal sends the message of 'stopping broadcasting immediately'. If the message of 'stopping broadcasting immediately' is received, the broadcasting of the differential data is stopped immediately and waits again. If not, then go to the next step.
And step 17, continuously receiving the latest probability position reported by the terminal, and broadcasting the differential data. And repeats steps 13 to 16.
And step 18, receiving a disconnection request of the terminal, or disconnecting the terminal for other reasons such as a network and the like.
Fig. 4 shows a specific implementation flowchart of the terminal device (apparatus), which specifically includes the following steps:
step 21, the terminal initializes (boots up) to prepare for connecting the server when the high-precision positioning request is needed for the first time.
And step 22, connecting the server side when the first high-precision positioning service is needed, and obtaining the probability position according to a single point or other modes.
And step 23, reporting the probability position of the user, and optionally uploading the 'broadcasting time'.
And 24, receiving the differential data sent by the server side, and performing positioning calculation.
If the differential data does not need to be received any more, step 25, a message of 'stop broadcasting immediately' is optionally sent to the server.
And step 26, stopping reporting the probability position, keeping connection, and waiting for the next positioning service to start.
Step 27, disconnect (power off or enter sleep state).
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (3)
1. A network RTK broadcasting method suitable for a consumer terminal is characterized by comprising the following steps:
step 1, a terminal initiates a positioning request and establishes connection with a server;
step 2, the terminal acquires the probability position of the terminal and reports the probability position to the server, and simultaneously reports an additional field of 'broadcasting time', and the terminal acquires the probability position of the terminal in a single-point calculation mode and reports the probability position to the server;
step 3, the server side selects a VRS grid and broadcasts differential data according to the probability position reported by the terminal; the server side judges whether the terminal reports the broadcasting time at the same time, if so, an automatic stop timer is started, the differential data is automatically stopped from being broadcasted to the terminal after the timer expires, and the probability position is reported by the terminal again; if not, entering step 4;
step 4, the terminal sends a message of 'stopping broadcasting immediately' to the server, and the terminal stops reporting the probability position and keeps connecting with the server;
step 5, if the server receives the message of 'stop broadcasting immediately' from the terminal, the differential data broadcasting is stopped immediately; the long connection with the terminal should be maintained while the differential data broadcasting is stopped, so as to immediately restart the differential data broadcasting when the terminal needs the next time;
step 6, repeating the steps 2 to 5 according to the requirements and actual conditions of the terminal;
step 7, the terminal is powered off or enters a sleep state, and the connection is disconnected;
the broadcasting time refers to the time for automatically stopping the broadcasting of the differential data after the server receives the probability position reported last time by the terminal;
the server-side system specifically comprises the following steps:
step 11, the server side initializes and prepares to receive a positioning request and connection from the terminal;
step 12, after receiving the request from the terminal, establishing connection;
step 13, waiting for the probability position reported by the receiving terminal;
step 14, receiving the probability position reported by the terminal, selecting a VRS grid, and broadcasting differential data;
step 15, judging whether the terminal uploads the 'broadcasting time' at the same time; if the 'broadcasting time' is uploaded, starting an automatic stop timer, automatically stopping broadcasting the differential data to the terminal equipment after the timer expires, and waiting for the terminal to upload the probability position again, and if the 'broadcasting time' is not uploaded, entering the next step;
step 16, judging whether the terminal sends the message of 'stop broadcasting immediately', if the terminal receives the message of 'stop broadcasting immediately', stopping the broadcasting of the differential data immediately and waiting again, if not, entering the next step;
step 17, continuously receiving the latest probability position reported by the terminal, broadcasting differential data, and repeating the steps 13 to 16;
step 18, receiving a disconnection request of the terminal, or disconnecting the terminal due to other reasons such as a network and the like;
the terminal is a mobile phone and specifically comprises the following steps:
step 21, starting the terminal, and preparing to connect a server when a high-precision positioning request is needed for the first time;
step 22, when the first high-precision positioning service is needed, connecting a server, and obtaining a probability position according to a single point or other modes;
step 23, reporting the probability position of the user, and selecting and uploading 'broadcasting time';
step 24, receiving differential data issued by a server, and performing positioning calculation;
step 25, if the differential data does not need to be received any more, optionally sending a message of 'stopping broadcasting immediately' to the server;
step 26, stopping reporting the probability position, keeping connection, and waiting for the next positioning service to start;
step 27, the terminal is powered off or enters a sleep state, and the connection is disconnected;
in the step 5, the server keeps long connection with the terminal while stopping the broadcasting of the differential data;
in the step 7, the terminal sends a disconnection request to the server to disconnect the connection;
the disconnection request is initiated by the terminal, the strategy is also defined by the terminal, and the terminal selects disconnection or connection maintenance according to the conditions of power consumption and flow when entering a sleep state.
2. The network RTK propagation method for consumer terminals as claimed in claim 1, wherein the terminal reports its probabilistic location to the server via the GGA defined by NMEA.
3. The network RTK broadcasting method suitable for the consumer terminal as recited in claim 1, wherein in step 3, the server broadcasts differential data to the terminal, and the terminal performs positioning solution according to the received differential data.
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| CN201810237856.9A CN108490464B (en) | 2018-03-21 | 2018-03-21 | Network RTK broadcasting method suitable for consumption terminal |
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| CN201810237856.9A CN108490464B (en) | 2018-03-21 | 2018-03-21 | Network RTK broadcasting method suitable for consumption terminal |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111198394B (en) * | 2018-11-19 | 2022-07-19 | 千寻位置网络有限公司 | Method and device for quickly fixing ambiguity of virtual reference station switching |
| CN109782226B (en) * | 2019-01-24 | 2021-04-09 | 成都优艾维智能科技有限责任公司 | Unmanned aerial vehicle autonomous tracking positioning system and method based on network RTK |
| CN111585773A (en) * | 2019-02-18 | 2020-08-25 | 广东星舆科技有限公司 | Method, memory and system for broadcasting text data |
| CN113079455B (en) * | 2020-05-22 | 2022-01-21 | 中移(上海)信息通信科技有限公司 | Wireless positioning method, terminal, server, system and computer storage medium |
| CN117980779A (en) * | 2021-09-29 | 2024-05-03 | 高通股份有限公司 | Differential Global Navigation Satellite System (DGNSS) augmentation |
| CN116879930A (en) * | 2023-05-31 | 2023-10-13 | 广东省国土资源测绘院 | High-precision positioning method and device for public service vehicle |
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