CN111885614A - CORS base station networking method, device and storage medium - Google Patents
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Abstract
The invention discloses a CORS base station networking method, which comprises the steps of generating a first Delaunay triangular grid for all base stations according to a Delaunay triangular grid method to form a first CORS network; then, sequentially removing each base station from the first CORS network, and generating a second Delaunay triangular grid for the rest base stations according to a Delaunay triangular grid method until all the base stations are processed; and comparing all the edges of the second Delaunay triangular mesh generated each time with all the edges in the first Delaunay triangular mesh to find out a difference edge, adding the difference edge into the first Delaunay triangular mesh, and forming a second CORS mesh. By adding some baselines in the CORS network, when a certain base station is unavailable, the corresponding baselines are started, and the availability of the CORS network is ensured. The invention also discloses a CORS base station networking device and a storage medium.
Description
Technical Field
The present invention relates to GNSS base station networking, and in particular, to a method, an apparatus, and a storage medium for CORS base station networking.
Background
GNSS, is called Global Navigation Satellite System, and Chinese is a Global Satellite Navigation positioning System, and has wide application in the fields of high-precision mapping and civil Navigation. The CORS is a continuously operating Reference station System, which includes a plurality of base stations and mainly provides differential services for users in coverage areas of all the base stations. CORS generally forms a baseline between two base stations to form a CORS network, and when the CORS is used, differential service is provided for users through the CORA network after baseline solution is completed.
The networking mode of the CORS network generally adopts a Delaunay triangular grid method, and the method is characterized in that no intersecting edge exists and the outermost base station forms a convex hull. However, this method has the following drawbacks: when a base station in the CORS network becomes unavailable, the base line connected with the base station is unavailable, and the triangle where the base line is located is unavailable, so that the use of other base stations is influenced, the influence on the availability of the CORS network is great, and even if the difference service cannot be provided for users in serious cases.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a method for networking a CORS base station, which solves the problem of availability of the whole CORS network caused by unavailability of a certain base station in the CORS network in the prior art.
The second purpose of the present invention is to provide a CORS base station networking device, which solves the problem of the availability of the whole CORS network caused by the unavailability of a certain base station in the CORS network in the prior art.
The invention also aims to provide a storage medium, which solves the problem of availability of the whole CORS network caused by unavailability of a certain base station in the CORS network in the prior art.
One of the purposes of the invention is realized by adopting the following technical scheme:
a CORS base station networking method comprises the following steps:
an acquisition step: acquiring all base stations in the CORS;
networking: generating a first Delaunay triangular grid for all base stations according to a Delaunay triangular grid method to form a first CORS network; each edge in the first Delaunay triangular grid is each base line in the first CORS net;
networking optimization: sequentially removing each base station from the first CORS network, and generating a second Delaunay triangular grid for all the remaining base stations according to a Delaunay triangular grid method until all the base stations are processed;
networking updating step: comparing all the edges of the second Delaunay triangular grid generated each time with all the edges in the first Delaunay triangular grid to find out corresponding difference edges, and then adding all the difference edges into the first Delaunay triangular grid to form a second CORS grid; the difference edge is an edge that exists in the second Delaunay triangulated mesh and that does not exist in the first Delaunay triangulated mesh.
Further, the acquiring step includes: and acquiring the coordinate information of each base station, and generating a first Delaunay triangular grid according to the Delaunay triangular grid method and the coordinate information of each base station.
Further, the method for networking the cosss base station further includes:
a starting step: and when one or more base stations in all the base stations are unavailable, starting a redundant base line connected with the unavailable base station to provide service, wherein the redundant base line is the difference edge.
The second purpose of the invention is realized by adopting the following technical scheme:
a CORS base station networking device comprises a memory and a processor, wherein a CORS base station networking program which can run on the processor is stored on the memory, the CORS base station networking program is a computer program, and the processor executes the CORS base station networking program to realize the following steps:
an acquisition step: acquiring all base stations in the CORS;
networking: generating a first Delaunay triangular grid for all base stations according to a Delaunay triangular grid method to form a first CORS network; each edge in the first Delaunay triangular grid is each base line in the first CORS net;
networking optimization: sequentially removing each base station from the first CORS network, and generating a second Delaunay triangular grid for all the remaining base stations according to a Delaunay triangular grid method until all the base stations are processed;
networking updating step: comparing all the edges of the second Delaunay triangular grid generated each time with all the edges in the first Delaunay triangular grid to find out corresponding difference edges, and then adding all the difference edges into the first Delaunay triangular grid to form a second CORS grid; the difference edge is an edge that exists in the second Delaunay triangulated mesh and that does not exist in the first Delaunay triangulated mesh.
Further, the acquiring step includes: and acquiring the coordinate information of each base station, and generating a first Delaunay triangular grid according to the Delaunay triangular grid method and the coordinate information of each base station.
Further, the processor implements the following steps when executing the CORS base station networking program:
a starting step: and when one or more base stations in all the base stations are unavailable, starting a redundant base line connected with the unavailable base station to provide service, wherein the redundant base line is the difference edge.
The third purpose of the invention is realized by adopting the following technical scheme:
a storage medium, the storage medium being a computer readable storage medium having a CORS base station networking program stored thereon, the CORS base station networking program being a computer program, the CORS base station networking program when executed by a processor implementing the steps of:
an acquisition step: acquiring all base stations in the CORS;
networking: generating a first Delaunay triangular grid for all base stations according to a Delaunay triangular grid method to form a first CORS network; each edge in the first Delaunay triangular grid is each base line in the first CORS net;
networking optimization: sequentially removing each base station from the first CORS network, and generating a second Delaunay triangular grid for all the remaining base stations according to a Delaunay triangular grid method until all the base stations are processed;
networking updating step: comparing all the edges of the second Delaunay triangular grid generated each time with all the edges in the first Delaunay triangular grid to find out corresponding difference edges, and then adding all the difference edges into the first Delaunay triangular grid to form a second CORS grid; the difference edge is an edge that exists in the second Delaunay triangulated mesh and that does not exist in the first Delaunay triangulated mesh.
Further, the acquiring step includes: and acquiring the coordinate information of each base station, and generating a first Delaunay triangular grid according to the Delaunay triangular grid method and the coordinate information of each base station.
Further, when executed by the processor, the CORS base station networking program implements the following steps:
a starting step: and when one or more base stations in all the base stations are unavailable, starting a redundant base line connected with the unavailable base station to provide service, wherein the redundant base line is the difference edge.
Compared with the prior art, the invention has the beneficial effects that:
the CORS network is formed by the networking mode of the traditional Delaunay triangular grid method, and the CORS network is optimized and improved to form a new CORS network, so that the original base line and the base line formed after optimization exist in the new CORS network, and when a certain base station is unavailable, corresponding service is continuously provided by starting the base line formed after optimization, and the problem that the availability of the whole CORS network is influenced because the base line related to the base station is unavailable due to the fact that the certain base station is unavailable in the prior art is solved.
Drawings
Fig. 1 is a distribution diagram of all base stations in a CORS according to the present invention;
fig. 2 is a CORS network formed by all base stations in fig. 1 according to the Delaunay triangulation network method;
fig. 3 is a schematic diagram of a Delaunay triangular mesh of a first CORS mesh provided in the present invention;
fig. 4 is a schematic diagram of a Delaunay triangular mesh after the 1 st base station has removed from the first CORS mesh;
fig. 5 is a schematic diagram of a Delaunay triangular mesh after the 2 nd base station has removed from the first CORS mesh;
fig. 6 is a schematic diagram of a Delaunay triangular mesh after the 3 rd base station has removed from the first CORS mesh;
fig. 7 is a schematic diagram of a Delaunay triangular mesh of a second CORS mesh provided in the present invention;
fig. 8 is a flowchart of a CORS base station networking method provided by the present invention;
fig. 9 is a block diagram of a CORS base station networking device provided in the present invention.
In the figure: 11. a memory; 12. a processor; 13. a communication bus; 14. a network interface.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example one
The invention provides a CORS base station networking method which is realized based on the networking mode of the traditional Delaunay triangular grid method. The new networking mode of the base station in the CORS is realized by improving the networking mode of the existing Delaunay triangular grid method, and the problem that the usability of the CORS networking is influenced when a base line connected with the base station is unavailable and a triangle where the base line is located is unavailable due to the unavailability of a certain base station in the prior art is solved.
The present invention provides a preferred embodiment, a CORS base station networking method, as shown in fig. 8, including the following steps:
step S1, obtaining coordinate information of each CORS base station that can be currently used, and generating a first Delaunay triangular mesh according to the Delaunay triangular mesh method to form a first CORS mesh. Each edge of the Delaunay triangular grid is a base line between corresponding base stations in the CORS network, and each triangle is available, so that differentiated services are provided for users.
First, by obtaining the coordinate information of each base station, as shown in fig. 1, one point represents one base station in the CORS network. Then, a Delaunay triangular grid, that is, a CORS network, is generated according to the coordinate information of each base station and the Delaunay triangular grid method, as shown in fig. 2, each edge in the CORS network is a baseline between the base stations, one point in the graph represents a base station, and one edge is a baseline between two base stations. As can be seen from fig. 2, all edges (base lines) in the Delaunay triangular mesh do not intersect except for the vertices. Therefore, when the base station a is unavailable, none of the baseline a1, the baseline a2, and the baseline a3 connected to the base station a is available, and none of the triangles and triangles where the baseline a1, the baseline a2, and the baseline a3 are located are available, so that the availability of other base stations is affected, and the availability of the CORS network is affected.
Therefore, in order to ensure that when a certain base station is not available, the availability of other base stations and the whole CORS network can be ensured, the invention also comprises the following steps:
and step S2, sequentially removing each base station from the first Delaunay triangular grid, processing all the remaining base stations according to the Delaunay triangular grid method, and generating corresponding second Delaunay triangular grids until all the base stations are processed.
For example, as shown in fig. 3, assuming that there are 6 base stations of the CORS, all the base stations are numbered sequentially and are denoted as the 1 st base station, the 2 nd base station, the 3 rd base station, the 4 th base station, the 5 th base station, and the 6 th base station, first, the 6 base stations are processed according to the Delaunay triangulation network method to obtain a first Delaunay triangulation network, and a first CORS network is formed.
The step S2 specifically includes:
1. the 1 st base station is removed from the first CORS network, and a second Delaunay triangular mesh is generated for the 2 nd base station, the 3 rd base station, the 4 th base station, the 5 th base station and the 6 th base station according to the Delaunay triangular mesh method, as shown in fig. 4.
2. The 2 nd base station is removed from the first CORS network, and a second Delaunay triangular grid is generated for the 1 st base station, the 3 rd base station, the 4 th base station, the 5 th base station and the 6 th base station according to the Delaunay triangular grid method, as shown in fig. 5.
3. The 3 rd base station is removed from the first CORS network, and a second Delaunay triangular mesh is generated for the 1 st base station, the 2 nd base station, the 4 th base station, the 5 th base station and the 6 th base station according to the Delaunay triangular mesh method, as shown in fig. 6.
And repeating the steps until all CORS base stations are processed.
From the above, 6 second Delaunay triangulated meshes are generated.
Step S3, comparing all the baselines of the second Delaunay triangulated mesh generated each time with all the baselines in the first Delaunay triangulated mesh to find out corresponding difference baselines, and then adding all the difference baselines to the first CORS mesh to form a second CORS mesh.
As shown in fig. 3 and 4, comparing the second Delaunay triangulated mesh of fig. 4 with the first Delaunay triangulated mesh of fig. 3 yields an edge L26, and an edge L26 is added to the first Delaunay triangulated mesh, as shown in fig. 7.
Similarly, comparing the second Delaunay triangular mesh of FIG. 5 with the first Delaunay triangular mesh of FIG. 3 yields an edge L13, then an edge L13 is added to the first Delaunay triangular mesh, as shown in FIG. 7.
Similarly, comparing the second Delaunay triangular mesh of FIG. 6 with the first Delaunay triangular mesh of FIG. 3 yields an edge L25, and the edge L25 is added to the first Delaunay triangular mesh, as shown in FIG. 7.
And by analogy, all the second Delaunay triangulated mesh is compared with the first Delaunay triangulated mesh in fig. 3, and the resulting edges are added to the first Delaunay triangulated mesh, finally forming a second CORS mesh, as shown in fig. 7.
As can be seen from fig. 7 and 3, the baseline in the optimized second CORS net has a part of additional baseline from the baseline in the first CORS net in fig. 3, and these baselines are referred to as redundant baselines, i.e. the differential baselines found above. Therefore, when a certain base station is not available, a redundant baseline related to the base station can be started to provide corresponding services, and the availability of the CORS network can be greatly improved.
Example two
The invention provides a CORS base station networking device. As shown in fig. 9, an internal structure of a CORS base station networking device according to an embodiment of the present invention is schematically illustrated.
In this embodiment, the CORS base station networking device may be a PC (Personal Computer), or may be a terminal device such as a smart phone, a tablet Computer, or a portable Computer. The CORS base station networking device at least comprises: a processor 12, a communication bus 13, a network interface 14, and a memory 11.
The memory 11 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 11 may in some embodiments be an internal storage unit of the CORS base station networking device, such as a hard disk of the CORS base station networking device. The memory 11 may also be an external storage device of the CORS base station networking device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the CORS base station networking device. Further, the memory 11 may also include both an internal storage unit and an external storage device of the CORS base station networking apparatus. The memory 11 may be used to store not only application software installed in the CORS base station networking device and various types of data, such as codes of a CORS base station networking program, but also temporarily store data that has been output or will be output.
The processor 12 may be, in some embodiments, a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip, and is configured to execute program codes stored in the memory 11 or process data, such as executing a core base station networking program.
The communication bus 13 is used to realize connection communication between these components.
Network interface 14 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the CORS base station networking apparatus and other electronic devices.
Optionally, the CORS base station networking device may further include a user interface, the user interface may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may further include a standard wired interface and a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the CORS base station networking device and for displaying a visual user interface.
Fig. 9 only shows the CORS base station networking device with the components 11-14 and the CORS base station networking program, and it will be understood by those skilled in the art that the structure shown in fig. 9 does not constitute a limitation of the CORS base station networking device, and may comprise fewer or more components than shown, or combine certain components, or a different arrangement of components.
In the embodiment of the CORS base station networking device shown in fig. 9, a CORS base station networking program is stored in the memory 11; the processor 12 implements the following steps when executing the CORS base station networking program stored in the memory 11:
an acquisition step: acquiring all base stations in the CORS;
networking: generating a first Delaunay triangular grid for all base stations according to a Delaunay triangular grid method to form a first CORS network; each edge in the first Delaunay triangular grid is each base line in the first CORS net;
networking optimization: sequentially removing each base station from the first CORS network, and generating a second Delaunay triangular grid for all the remaining base stations according to a Delaunay triangular grid method until all the base stations are processed;
networking updating step: comparing all the edges of the second Delaunay triangular grid generated each time with all the edges in the first Delaunay triangular grid to find out corresponding difference edges, and then adding all the difference edges into the first Delaunay triangular grid to form a second CORS grid; the difference edge is an edge that exists in the second Delaunay triangulated mesh and that does not exist in the first Delaunay triangulated mesh.
Further, the acquiring step includes: and acquiring the coordinate information of each base station, and generating a first Delaunay triangular grid according to the Delaunay triangular grid method and the coordinate information of each base station.
Further, the processor 12 implements the following steps when executing the CORS base station networking program stored in the memory 11:
a starting step: and when one or more base stations in all the base stations are unavailable, starting a redundant base line connected with the unavailable base station to provide service, wherein the redundant base line is the difference edge.
EXAMPLE III
A storage medium, which is a computer-readable storage medium and on which a CORS base station networking program is stored, where the CORS base station networking program is a computer program, and when executed by a processor, the CORS base station networking program implements the steps of a CORS base station networking method as adopted in the first embodiment of the present invention.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (9)
1. A CORS base station networking method is characterized by comprising the following steps:
an acquisition step: acquiring all base stations in the CORS;
networking: generating a first Delaunay triangular grid for all base stations according to a Delaunay triangular grid method to form a first CORS network; each edge in the first Delaunay triangular grid is each base line in the first CORS net;
networking optimization: sequentially removing each base station from the first CORS network, and generating a second Delaunay triangular grid for all the remaining base stations according to a Delaunay triangular grid method until all the base stations are processed;
networking updating step: comparing all the edges of the second Delaunay triangular grid generated each time with all the edges in the first Delaunay triangular grid to find out corresponding difference edges, and then adding all the difference edges into the first Delaunay triangular grid to form a second CORS grid; the difference edge is an edge that exists in the second Delaunay triangulated mesh and that does not exist in the first Delaunay triangulated mesh.
2. The CORS base station networking method according to claim 1, wherein: the step of obtaining comprises: and acquiring the coordinate information of each base station, and generating a first Delaunay triangular grid according to the Delaunay triangular grid method and the coordinate information of each base station.
3. The CORS base station networking method according to claim 1, wherein: the COSRS base station networking method further comprises the following steps:
a starting step: and when one or more base stations in all the base stations are unavailable, starting a redundant base line connected with the unavailable base station to provide service, wherein the redundant base line is the difference edge.
4. A CORS base station networking device comprises a memory and a processor, wherein a CORS base station networking program which can run on the processor is stored on the memory, and the CORS base station networking program is a computer program and is characterized in that: the processor realizes the following steps when executing the CORS base station networking program:
an acquisition step: acquiring all base stations in the CORS;
networking: generating a first Delaunay triangular grid for all base stations according to a Delaunay triangular grid method to form a first CORS network; each edge in the first Delaunay triangular grid is each base line in the first CORS net;
networking optimization: sequentially removing each base station from the first CORS network, and generating a second Delaunay triangular grid for all the remaining base stations according to a Delaunay triangular grid method until all the base stations are processed;
networking updating step: comparing all the edges of the second Delaunay triangular grid generated each time with all the edges in the first Delaunay triangular grid to find out corresponding difference edges, and then adding all the difference edges into the first Delaunay triangular grid to form a second CORS grid; the difference edge is an edge that exists in the second Delaunay triangulated mesh and that does not exist in the first Delaunay triangulated mesh.
5. A CORS base station networking device according to claim 4, characterized in that: the step of obtaining comprises: and acquiring the coordinate information of each base station, and generating a first Delaunay triangular grid according to the Delaunay triangular grid method and the coordinate information of each base station.
6. A CORS base station networking device according to claim 4, characterized in that: the processor realizes the following steps when executing the CORS base station networking program:
a starting step: and when one or more base stations in all the base stations are unavailable, starting a redundant base line connected with the unavailable base station to provide service, wherein the redundant base line is the difference edge.
7. A storage medium which is a computer-readable storage medium having a CORS base station networking program stored thereon, the CORS base station networking program being a computer program, characterized in that: when being executed by a processor, the CORS base station networking program realizes the following steps:
an acquisition step: acquiring all base stations in the CORS;
networking: generating a first Delaunay triangular grid for all base stations according to a Delaunay triangular grid method to form a first CORS network; each edge in the first Delaunay triangular grid is each base line in the first CORS net;
networking optimization: sequentially removing each base station from the first CORS network, and generating a second Delaunay triangular grid for all the remaining base stations according to a Delaunay triangular grid method until all the base stations are processed;
networking updating step: comparing all the edges of the second Delaunay triangular grid generated each time with all the edges in the first Delaunay triangular grid to find out corresponding difference edges, and then adding all the difference edges into the first Delaunay triangular grid to form a second CORS grid; the difference edge is an edge that exists in the second Delaunay triangulated mesh and that does not exist in the first Delaunay triangulated mesh.
8. A storage medium as defined in claim 7, wherein: the step of obtaining comprises: and acquiring the coordinate information of each base station, and generating a first Delaunay triangular grid according to the Delaunay triangular grid method and the coordinate information of each base station.
9. A storage medium as defined in claim 7, wherein: when being executed by a processor, the CORS base station networking program realizes the following steps:
a starting step: and when one or more base stations in all the base stations are unavailable, starting a redundant base line connected with the unavailable base station to provide service, wherein the redundant base line is the difference edge.
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| 台淼等: "利用Delaunary三角网优化CORS网构的方法研究", 《测绘科学》 * |
| 徐冬晨等: "Delaunay三角网在大规模CORS基准站组网中的应用和研究", 《测绘科学》 * |
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| 潘树国等: "GPS网络RTK星形多基线模糊度解算方法", 《中国惯性技术学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113993079A (en) * | 2021-12-29 | 2022-01-28 | 中移(上海)信息通信科技有限公司 | Method and device for acquiring positioning differential data and electronic equipment |
| CN113993079B (en) * | 2021-12-29 | 2022-04-05 | 中移(上海)信息通信科技有限公司 | Method and device for acquiring positioning differential data and electronic equipment |
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| Publication number | Publication date |
|---|---|
| CN111885614B (en) | 2023-04-11 |
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