CN113825216B - Reference station control method, reference station control device, server and readable storage medium - Google Patents

Abstract

The embodiment of the application provides a control method and device of a reference station, a server and a readable storage medium, and relates to the technical field of communication. The method comprises the following steps: obtaining a preset starting time period and a preset dormancy time period of a reference station, wherein the preset starting time period and the preset dormancy time period are determined by a time period of the reference station required to provide positioning service; controlling the reference station to be in a working state in a preset starting time period of the reference station so as to provide positioning service; and controlling the reference station to be in a dormant state in a preset dormant period of the reference station. Therefore, the resource waste caused by the condition that the reference station is in the working state continuously can be avoided, and meanwhile, the operation cost of the CORS system is reduced.

Description

Reference station control method, reference station control device, server and readable storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a control method and apparatus for a reference station, a server, and a readable storage medium.

Background

A continuously running reference station system (Continuously Operating Reference Stations, CORS) is a reference facility for providing uninterrupted high precision positioning services. The conventional CORS system emphasizes the long-term operation and provides all-weather high-precision time information, space information and other services. In this manner, the reference station in the CORS system needs to be in operation at all times, and observation data is obtained without interruption, so that the CORS system provides positioning services based on the observation data. However, in some scenarios (such as agriculture), it is not necessary to provide the positioning service continuously, in which case, the reference station in the CORS system is put into operation continuously to provide the positioning service, which may cause resource waste and increase unnecessary operation costs.

Disclosure of Invention

The embodiment of the application provides a control method, a control device, a server and a readable storage medium of a reference station, which can control the reference station to be in a working state in a preset starting time period to provide positioning service and to be in a dormant state in a preset dormant time period, so as to achieve the purposes of saving resources and reducing operation cost.

Embodiments of the application may be implemented as follows:

in a first aspect, an embodiment of the present application provides a control method of a reference station, applied to a server communicatively connected to a reference station in a continuously operating reference station CORS system, the method including:

obtaining a preset starting time period and a preset dormancy time period of a reference station, wherein the preset starting time period and the preset dormancy time period are determined by a time period of the reference station required to provide positioning service;

controlling the reference station to be in a working state in a preset starting time period of the reference station so as to provide positioning service;

and controlling the reference station to be in a dormant state in a preset dormant period of the reference station.

In a second aspect, an embodiment of the present application provides a control apparatus for a reference station, for use in a server communicatively connected to a reference station in a continuously operating reference station CORS system, the apparatus comprising:

The acquisition module is used for acquiring a preset starting time period and a preset dormancy time period of the reference station, wherein the preset starting time period and the preset dormancy time period are determined by a time period of the reference station required to provide positioning service;

the control module is used for controlling the reference station to be in a working state in a preset starting time period of the reference station so as to provide positioning service;

the control module is further configured to control the reference station to be in a sleep state during a preset sleep period of the reference station.

In a third aspect, the present application provides a server comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the method of controlling a reference station according to the previous embodiments.

In a fourth aspect, the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a reference station as described in the previous embodiments.

According to the control method, the control device, the server and the readable storage medium of the reference station, the preset starting time period and the preset dormancy time period of the reference station, which are determined by the time period of the reference station required to provide positioning service, are obtained, and the reference station is controlled to be in a working state to provide positioning service in the preset starting time period of the reference station, so that positioning service can still be provided based on the reference station, and the positioning service requirement of a user is met. And controlling the reference station to be in a dormant state in a preset dormant period of the reference station, so that the condition of resource waste caused by uninterrupted working state of the reference station can be avoided, and meanwhile, the operation cost of a CORS system is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 2 is a block schematic diagram of the server of FIG. 1;

FIG. 3 is a schematic flow chart of a control method of a reference station according to an embodiment of the present application;

FIG. 4 is a second flow chart of a control method of a reference station according to an embodiment of the present application;

FIG. 5 is a flow chart illustrating the sub-steps included in step S140 in FIG. 4;

fig. 6 is a block schematic diagram of a control device for a reference station according to an embodiment of the present application.

Icon: 100-server; 110-memory; a 120-processor; 130-a communication unit; 200-reference station; 300-subscriber station; 400-control means of the reference station; 410-obtaining a module; 420-control module.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.

It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The following first briefly describes the current CORS system (Continuously Operating Reference Stations, continuous operation reference station system).

The CORS system includes a number of stationary, continuously operating GNSS (Global Navigation Satellite System ) reference stations. The CORS system automatically provides inspected different types of GPS (Global Positioning System ) observations (e.g., carrier phase, pseudorange, etc.), various corrections, status information, and other GPS-related services to different types, different needs, different levels of users in real time via GSM (Global System for Mobile Communication, global System for Mobile communications)/GPRS (General Packet Radio Service ) radiotelephone or the Internet using a network of modern computer, data communications, and Internet (LAN/WAN) technologies.

In general, a CORS system consists of 4 subsystems, each: a reference station subsystem, a data center subsystem, a data communication subsystem, and a user application subsystem. The reference station subsystem, the data center subsystem and the user application subsystem are connected into a whole by the digital communication subsystem.

The respective subsystems are briefly described below.

The reference station subsystem consists of evenly distributed reference stations within the control area. The reference station is composed of GNSS equipment, a computer, meteorological equipment, communication equipment, power supply equipment, an observation site and the like, has the capability of continuously tracking and recording satellite signals for a long time, and is a data source of a CORS system; the main functions are as follows: capturing, tracking, recording and transmitting satellite signals; device integrity monitoring, etc.

The data center subsystem is composed of a computer, a network and a software system. The data center subsystem may be subdivided into a system control center subsystem and a user data center subsystem.

The system control center subsystem is a nerve center of the CORS system, and has the main functions of: data distribution and processing; monitoring a system; information service generation, user management, and the like. The system control center subsystem is a core unit of the CORS system and is a key place for realizing high-precision real-time dynamic positioning. The system control center subsystem continuously and uninterruptedly carries out overall modeling calculation in the area according to real-time observation data acquired by each reference station for 24 hours, and provides code phase/carrier phase differential correction information to various users needing measurement and navigation in an international general format through the existing data communication network and wireless data broadcasting network so as to calculate the accurate point position of the mobile station in real time.

The user data center subsystem provides a downlink of the CORS service, and the data result of the system control center subsystem is transmitted to the user. The main functions are as follows: each broadcasting station is managed, differential information codes are formed, differential information queues are formed, and the like.

The data communication subsystem (Data Communication Sub-System) is formed by a public or private communication network, and comprises a data transmission hardware device and a software control module. The main functions of the data communication subsystem are: transmitting the reference station GNSS observations to a system control center subsystem, transmitting system differential information to a user, and the like.

The user application subsystem is composed of a receiver, a demodulator for wireless communication and related equipment. The main functions are as follows: and positioning with different precision according to the requirements of users. The user application subsystem comprises a user information receiving system, a network type RTK (Real Time Kinematic, real-time dynamic differential) positioning system, a rapid precise positioning system, an automatic navigation system, a monitoring positioning system and the like. According to different application precision, the user application subsystem can be divided into millimeter-level, centimeter-level, decimeter-level, meter-level user systems and the like; according to the application of users, the method can be divided into mapping and engineering users (centimeter and decimeter levels), vehicle navigation and positioning users (meter levels), high-precision users (post-processing), meteorological users and the like.

The data center subsystem is the core of the whole CORS system, and is a communication control center and a data receiving, transmitting and processing center. It communicates with all fixed reference stations (i.e. reference stations) via communication lines (optical cable, ISDN (Integrated Services Digital Network, integrated services digital network), telephone lines, etc.); communicates with the mobile subscriber via a wireless network (GSM, CDMA, GPRS, etc.). The computer real-time system controls the operation of the whole CORS system, so the software of the data center subsystem is both data processing software and system management software.

Each fixed reference station is a fixed GPS signal receiving system distributed throughout the network. The fixed reference station is connected with the data center subsystem through a communication line, and data are transmitted to the data center subsystem in real time; the data communication includes communication from the fixed reference station to the data center subsystem and communication from the data center subsystem to the user. The communication from the reference station to the data center subsystem is that the communication network is responsible for transmitting the data of the reference station to the control center in real time; the communication network between the data center subsystem and the user transmits the network correction data to the user for the user to locate in real time.

The above-mentioned conventional CORS system emphasizes the long-term operation, and provides all-weather high-precision time information, space information and other services. Users of its services are widely distributed in a number of industries, such as mapping projects, vehicle navigation, weather, disaster monitoring, etc., with uncertainty in time usage. However, for some users, the time usage is regular, i.e. the CORS system that does not need to provide positioning services to such users remains uninterrupted; in this case, if the reference station in the CORS system providing the positioning service to such users is continuously operated to provide the positioning service, resource waste is caused and unnecessary operation cost is increased.

For example, in the smart agriculture industry, unmanned aerial vehicles, unmanned vehicles and the like need a CORS system to provide positioning services, but there is a certain rule in the demand of agriculture for positioning services. Agricultural activities need to follow natural laws such as season and climate, and cultivation, management and harvest of different crops have respective concentrated operation seasons. This results in the corresponding positioning requirements also appearing busy and idle. If the system service level in the busy period is still continuously maintained in the idle period according to the conventional operation mode of the CORS system, resource waste is caused, and unnecessary operation cost is increased.

In order to improve the above drawbacks, embodiments of the present application provide a control method, apparatus, server and readable storage medium for a reference station, which can achieve the purposes of saving resources and reducing operation cost. It should be noted that the above solutions in the prior art all have drawbacks that the inventors have obtained after they have practiced and studied carefully, and thus, the discovery process of the above problems and the solutions proposed by the embodiments of the present application below for the above problems should be all contributions of the inventors to the present application in the process of the present application.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application. The CORS system includes a communicatively coupled server 100 and at least one reference station 200. Each reference station 200 is configured to obtain observation data and transmit the observation data to the server 100; the server 100 provides a location service based on the received observation data. The server 100 may be a data center in a conventional CORS system, or may be other devices.

The at least one reference station 200 is distributed in a control area, and when the subscriber station 300 in the control area needs a location service, a corresponding location service can be obtained through data communication with the server 100. The subscriber station can be equipment needing to be positioned, such as an agricultural unmanned plane, an unmanned ship, an unmanned vehicle and the like.

The server 100 may also control each reference station to enter a working state or a sleep state according to a preset start-up period and a preset sleep period of each reference station, so that positioning services can be provided based on the reference station, thereby satisfying positioning service requirements of users, avoiding resource waste caused by that the reference station is in the working state continuously, and reducing operation cost of the CORS system.

Referring to fig. 2, fig. 2 is a block diagram of the server 100 in fig. 1. The server 100 includes a memory 110, a processor 120, and a communication unit 130. The memory 110, the processor 120, and the communication unit 130 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

Wherein the memory 110 is used for storing programs or data. The Memory 110 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions. For example, the memory 110 stores a control device 400 of a reference station, and the control device 400 of the reference station includes at least one software function module stored in the memory 110 in the form of software or firmware (firmware). The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the control device 400 of the reference station in the embodiment of the present application, that is, implements the control method of the reference station in the embodiment of the present application.

The communication unit 130 is used for establishing a communication connection between the server 100 and other communication terminals through a network, and for transceiving data through the network.

It should be understood that the architecture shown in fig. 2 is merely a schematic diagram of the architecture of the server 100, and that the server 100 may also include more or fewer components than shown in fig. 2, or have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.

Referring to fig. 3, fig. 3 is a flow chart of a control method of a reference station according to an embodiment of the application. The method is applicable to the server 100 described above, the server 100 being in communication with a reference station in a CORS system. The specific flow of the control method of the reference station will be described in detail below. The control method may include steps S110 to S130.

Step S110, a preset startup period and a preset sleep period of the reference station are obtained.

In this embodiment, the preset power-on period and the preset sleep period of each reference station are predetermined. The preset startup time period and the preset sleep time period of the reference station are determined by the time period of the reference station required to provide positioning service, namely, the time period of the reference station required to enter a working state to provide positioning service, namely, the time period of the reference station required to provide positioning service is determined according to real-time observation data of the reference station; in other words, the preset startup time period and the preset sleep time period of the reference station are determined according to the time using rule of the reference station.

The server 100 may obtain the preset startup period (i.e., the preset continuous startup period) and the preset sleep period (i.e., the preset continuous sleep period) of each reference station through data analysis, or may obtain the preset startup period and the preset period of each reference station according to the received time period setting information sent by other devices, or may obtain the preset startup period and the preset sleep period of each reference station through any other method, which is not limited herein. In general, the duration of the preset startup time period and the preset sleep time period are both greater than 0.

Step S120, the reference station is controlled to be in a working state in a preset starting time period of the reference station so as to provide positioning service.

Step S130, controlling the reference station to be in a sleep state during a preset sleep period of the reference station.

The server 100 may control each reference station to be in a working state in a preset startup time period corresponding to the reference station according to the preset startup time period and the preset sleep time period of each reference station, so as to obtain real-time observation data, thereby providing positioning service; and controlling each reference station to be in a dormant state in a preset dormant time period corresponding to the reference station so as to save resources. The specific control manner may be determined according to actual requirements, and is not specifically limited herein.

In the embodiment of the application, the reference station in the CORS system is dormant in a time-sharing way, so that the positioning service can still be provided based on the reference station, and the positioning service requirement of a user is met; meanwhile, the resource waste caused by the fact that the reference station is in a working state continuously can be avoided, and meanwhile the operation cost of the CORS system is reduced.

Optionally, as a possible implementation manner, a worker may manually set a preset start-up period and a preset sleep period of each reference station according to actual situations. Thus, the flexibility is better.

Alternatively, as another possible implementation manner, the location service requirement situation may be obtained first, and then the preset power-on period and the preset sleep period of the reference station for providing the location service are determined based on the obtained location service requirement situation. Therefore, the used time sharing dormancy mechanism can be enabled to meet the actual situation. The positioning service requirement condition may be related information for determining a time rule of the reference station used, and may be specifically determined according to an actual condition.

In this implementation manner, optionally, the preset startup period and the preset sleep period of a reference station may be determined according to the positioning service requirement situation corresponding to the reference station. Therefore, the preset starting time period and the preset dormancy time period of each reference station can be determined pertinently and rapidly.

The positioning service requirement condition corresponding to one reference station can comprise the historical positioning service providing condition of the reference station. For example, the real-time observation data of a reference station is usually used to provide positioning service in the period of 17:00-19:00 in summer, so that the preset power-on period and the preset sleep period of the reference station can be determined based on the situation, for example, the period of 16:50-19:10 in summer is set as the preset power-on period of the reference station, and other periods are set as the preset sleep period of the reference station. Thus, the preset startup time period and the preset dormancy time period of the reference station can be set according to the historical use condition of the reference station.

The positioning service requirement condition corresponding to a reference station can comprise positioning requirement description information which is near the reference station and related to the application field of the CORS system to which the reference station belongs. Based on the positioning requirement description information, analyzing a time period in which the reference station expects to be capable of providing real-time observation data so as to provide positioning service, and further determining a preset starting time period and a preset dormancy time period of the reference station based on the time period. Therefore, the use condition of the reference station can be predicted based on the positioning requirement description information of the reference station, and the preset starting time period and the preset dormancy time period of the reference station are further set.

For example, the CORS system to which the reference station belongs is applied to the intelligent agriculture, and the positioning requirement description information of the reference station related to the intelligent agriculture can include the type of crops planted near the reference station, mainly used unmanned agricultural equipment, the use period of the unmanned agricultural equipment, and the like. According to the positioning demand description information of the reference station, the time period of using the unmanned agricultural equipment to work crops near the reference station can be analyzed, so that the time period of the unmanned agricultural equipment which needs to be provided with positioning service based on the reference station can be analyzed, and further, the preset starting time period and the preset dormancy time period of the reference station are determined according to the time period.

The positioning service requirement condition of a reference station may include the above-mentioned historical positioning service providing condition and the above-mentioned positioning requirement description information. The preset startup time period and the preset sleep time period of the reference station can be determined based on the information of the reference station at least, so that the preset startup time period and the preset sleep time period which meet the actual requirements are set.

Optionally, the reference stations can be grouped according to the positioning service requirement conditions corresponding to the plurality of reference stations and the positions of the reference stations through big data analysis, and the concentrated requirement time periods of the positioning service in the range of different reference station groups are determined, so that the preset starting time period and the preset dormancy time period of the reference stations are determined. The preset startup time period and the preset dormancy time period of the reference stations in one reference station group are the same. Thus, when the positioning service is required to be provided through networking, the problem that the positioning service is inconvenient to provide due to different preset starting time periods of a plurality of reference stations required by networking can be avoided.

The reference stations with preset starting time periods and preset dormancy time periods are set, and the reference stations are reference stations capable of performing time-sharing dormancy in the CORS system, and the reference stations can be all or part of the reference stations in the CORS system.

Alternatively, the preset startup period may be determined by: obtaining a positioning service demand condition in a target geographic area, dividing the target geographic area into a plurality of areas, and obtaining positioning demand time periods corresponding to the areas respectively; and determining a patch area to which each reference station belongs according to the position information of each reference station, and taking a positioning demand time period corresponding to the patch area to which each reference station belongs as a preset starting time period corresponding to the reference station.

The target geographic area may include one area or may include a plurality of areas, and the specific geographic range represented by the target geographic area may be set according to actual requirements. For example, if all reference stations in the CORS system are controlled according to the method provided by the embodiment of the present application, the target geographic area includes the locations where all the reference stations in the CORS system are located. The above-mentioned area and areas may be areas defined according to the erection distribution area of the reference station, that is, the target geographical area may include erection areas of one or several reference stations; or may be an area defined based on a distribution area of crops, for example, the target geographic area may include a specific plurality of planting areas of cotton in china; it is also possible to define the area based on the city profile, for example, the target geographical area includes a province and B province, etc. It will be appreciated that the above description of the definition of the regions is by way of example only, and that the regions may be divided in other ways.

The location service requirement in the target geographic area may be related information for determining a usage rule of reference stations in the target geographic area over time. The location service requirement in the target geographic area may include a location of each reference station in the target geographic area and a historical service provision condition, and/or location requirement description information in the target geographic area. Wherein, the description of the location service requirement situation and the location service requirement situation can be referred to the above description.

And determining the time period and the position corresponding to the positioning service requirement in the target geographic area according to the positioning service requirement condition in the target geographic area. And then dividing the target geographic area into slices based on the time periods and the positions, so as to obtain a plurality of slices. The geographic range of a patch may be greater than the geographic range of an area in the target geographic area or less than the geographic range of an area in the target geographic area, and is specifically determined by the time period, the position and the division mode corresponding to the positioning service requirement in the target geographic area.

The time periods corresponding to the positioning service requirements in each patch are similar. For each patch, a concentrated demand time period for positioning service in the patch can be determined according to a time period corresponding to each positioning service demand in the patch, and the positioning demand time period corresponding to the patch is determined based on the concentrated demand time period, namely positioning service is required to be provided in the concentrated demand time period in the patch. Therefore, the positioning demand time period of each slice area can be determined through the big data partition.

Alternatively, the concentrated demand time period of one tile may be directly used as the location demand time period of the tile. It is also possible to increase the concentrated demand period of one tile and take the increased concentrated demand period as the positioning demand period of the tile.

Under the condition that the positioning requirement time period corresponding to the patch is determined, the patch to which each reference station belongs can be determined according to the position information of each reference station and the geographic range of each patch. And then, the positioning requirement time period corresponding to the patch area to which each reference station belongs can be used as the preset starting time period corresponding to the reference station. Thus, the preset start-up time period of each reference station can be determined by analyzing the dicing through big data.

For each tile, the remaining time periods other than the location-requiring time period of that tile may be referred to as non-location-requiring time periods of that tile. Furthermore, the non-positioning requirement time period corresponding to the zone to which each reference station belongs can be used as the preset sleep time period corresponding to the reference station.

For example, the time period and the position corresponding to the positioning service requirement in the target geographic area are determined by positioning requirement description information related to the application field of the CORS system in the target geographic area. When the CORS system is applied to the intelligent agriculture field, namely the positioning service requirement condition in the target geographic area comprises the positioning service requirement condition corresponding to agriculture, the planting range and the planting crop of each province and city in the whole country, and mainly used unmanned agricultural equipment and the using time period can be counted, so that the time period and the position corresponding to the positioning service requirement are obtained. Then, based on the planting range and the planting crops of each province and mainly used unmanned agricultural equipment and the using time period, the centralized demand time period of positioning service in different regions (namely different areas) of the whole country can be obtained, so that the positioning demand time period of different areas is determined, and then the preset starting time period and the preset dormancy time period of each reference station in different areas are determined. Therefore, the preset starting time period and the preset dormancy time period of the reference station in the CORS system applied to the intelligent agriculture field can be obtained through big data analysis. It will be understood, of course, that the predetermined power-on period and the predetermined sleep period of the reference station may be determined in a similar manner when applied to other fields.

Under the condition that the preset starting time period and the preset dormancy time period of each reference station are determined, the state of the reference station can be controlled, so that the aim of saving resources is fulfilled.

Optionally, as a possible implementation manner, the server 100 may send a startup instruction to the reference station based on a preset startup time period of the reference station, so that the reference station is in a working state in the preset startup time period corresponding to the reference station; and based on the preset dormancy time period of the reference station, the reference station is in a dormancy state in the preset dormancy time period corresponding to the reference station by sending a dormancy instruction to the reference station. Thus, the reference station can achieve the purpose of saving resources only by executing the received instruction.

Optionally, as another possible implementation manner, the server 100 may send the description information of the preset start-up period and the preset sleep period of each reference station to each reference station, where the reference station determines the preset start-up period and the preset sleep period of itself according to the received description information, and automatically starts up in the preset start-up period of itself, so as to perform networking to provide positioning service; and automatically dormancy within a preset dormancy period of the self. Thus, the workload of the server 100 can be reduced.

During the preset startup period, the reference station automatically starts up, is networked, and provides the server 100 with the observation data, and the server 100 can continuously provide various services, such as positioning services, according to the received observation data. Until the preset power-on period expires, the reference station automatically enters a sleep state, and the server 100 may delete the reference station from the reference station network.

For example, for the agricultural field, in a preset starting time period of a zone, a reference station in the zone is automatically started to perform networking, and observation data is provided to a server 100; the server 100 may begin providing network RTK services for 24 hours a day based on the observation data by resolving.

In the preset sleep period, the reference station may only report the basic information such as the receiver state and the electric quantity, and no longer receive satellite signals, and no longer upload the observation data to the server 100.

Referring to fig. 4, fig. 4 is a second flowchart of a control method of a reference station according to an embodiment of the application. Optionally, in order to fully meet the positioning requirement of the user, in the case of using the reference station partition time sleep mechanism, the method may further include steps S140 to S160.

Step S140, when receiving a positioning request for pointing to a target area within a preset sleep time period, acquiring position description information of a subscriber station corresponding to the positioning request.

And step S150, determining a target reference station from a plurality of reference stations in the target area according to the position description information.

And step S160, controlling the target reference station to enter a working state so as to provide positioning service.

The server 100 receives a positioning request for pointing to a target zone in a preset sleep period, and indicates that a subscriber station corresponding to the positioning request needs to provide a positioning service based on at least one reference station in the target zone in the preset sleep period of the target zone. The location request may include location description information of the subscriber station corresponding to the location request. In this case, the server 100 may find a target reference station based on the location description information and then control the target reference station to enter an operating state to provide a location service to the subscriber station. The target area is an area where a reference station used when providing positioning service for the user station is located, and the target area can be an area where the position represented by the position description information is located. The specific reference station used in providing location services to the subscriber station is determined by the location description information of the subscriber station.

The types of the above-mentioned location requests may be classified into reservation requests and non-reservation requests. A reservation request, which is a request sent before a location service is needed, for example, no. 4 needs a location service, and a request for reserving No. 4 to provide a location service is sent in No. 2. The non-reservation request indicates a case of transmission when the location service is immediately required. It can be seen that the first time period corresponding to the non-subscription request is smaller than the second time period corresponding to the subscription request, the first time period represents the time period from the receipt of the non-subscription request to the acquisition of the positioning service by the subscriber station, and the second time period represents the time period from the receipt of the subscription request to the acquisition of the positioning service by the subscriber station.

Alternatively, as a possible implementation, the subscriber station sends the location request to the server 100 in the event that a location service is immediately needed, at which time it may be determined that the server 100 has received a location request of a type other than a subscription request. For example, if the server 100 receives a location service connection request of a subscriber station within a preset sleep period of the target zone, where the location service connection request corresponds to the target zone and the location service connection request does not include a reserved power-on period, it may be determined that the server 100 receives a location request that is of a type that is not a reserved request and is used to point to the target zone within the preset sleep period. The location description information in the positioning request may be information for describing a general location of the subscriber station, and may be location information acquired through GPS. The target tile may be determined based on the location description information.

At this time, the reference station in the target zone is in a sleep state. In this case, the server 100 may immediately determine a target reference station from the plurality of reference stations of the target zone according to the location description information, and immediately control the target reference station to end the sleep state and enter the working state so as to obtain the observation data, so that the server 100 may quickly provide the location service to the subscriber station according to the observation data when receiving the location request of which the type is a non-subscription request. Thus, even if the subscriber station does not need the location service planarly, the location service requirement of the subscriber station can be satisfied.

Alternatively, as another possible implementation manner, the subscriber station may also send the positioning request to the server in advance, that is, the subscriber station sends the positioning request before actually requiring the positioning service, where it may be determined that the server 100 has received the positioning request with a type of subscription request. The location request may include a reserved power-on period. The reserved starting time period is a time period in a preset dormancy time period corresponding to the target area corresponding to the position description information. In the case of receiving a positioning request with a type of reservation request, the server 100 may determine that a subscriber station corresponding to the positioning request needs to provide a positioning service based on a reference station in the target zone within a preset sleep time of the target zone. The positioning request may be sent by the subscriber station or may be sent by another device.

In this case, the server 100 may determine, from the plurality of reference stations of the target zone, a corresponding target reference station for providing a positioning service to the subscriber station according to the location description information, and control the target reference station to be in a working state in the preset starting-up period, so as to obtain, in the preset starting-up period, observation data sent by the target reference station, and further provide the subscriber station with a user service based on the observation data.

The reserved starting time period can be set according to actual requirements. For example, the user may set the reserved power-on period in conjunction with the exact time that the location service is required, in which case the target reference station may be automatically powered on upon arrival of the reserved power-on period. The user may also directly send the exact time of the need for positioning service to the server 100 as a reserved power-on period, and the server 100 may control the target reference station to start before the reserved power-on period.

In this way, the positioning service provided by the target reference station can be obtained without requiring the user station to wait for the target reference station to finish initialization when the positioning service is required.

Optionally, as a possible implementation manner, the server 100 may determine the target patch according to the location description information, then use all reference stations in the target patch as the target reference stations, and then control the reference stations in the target patch to enter a working state so as to meet the positioning service requirement in a preset sleep period of the target patch.

Optionally, as another possible implementation manner, the server 100 may further select a part of reference stations from the reference stations of the target patch as the target reference station according to the location description information, and then control the target reference station to enter an operating state so as to meet the positioning service requirement in a preset sleep period of the target patch. Therefore, the positioning service requirement of the user station can be met by controlling only a part of reference stations in the target zone to start according to actual conditions, and resource waste caused by starting the unnecessary started reference stations is avoided.

Optionally, the server 100 may select, according to the location description information and the location information of each reference station in the target area, a reference station in the target area closest to the location description information as the target reference station, and then control the target reference station to start and enter a working state.

The server 100 may then receive the observation data transmitted by the target reference station and then transmit the observation data to the subscriber station as differential correction data so that the subscriber station determines the location of the subscriber station based on the differential correction data. The server 100 may also determine the location of the subscriber station by using the observed data transmitted from the target reference station as differential correction data and then combining the location description information, and transmit the description information of the location of the subscriber station to the subscriber station. Thereby, a positioning service can be provided to the subscriber station.

Alternatively, the target reference station may also be determined in the manner shown in FIG. 5. Referring to fig. 5, fig. 5 is a flowchart illustrating the sub-steps included in step S150 in fig. 4. Step S150 may include sub-steps S151 to S153.

And step S151, calculating the minimum distance between the user station and the reference station of the target area according to the position description information.

In this embodiment, the server 100 may calculate, according to the location description information of the subscriber station and the location information of each reference station in the target area, a distance between the subscriber station and each reference station in the target area. The minimum of the distances (i.e., the baseline length) is then selected by comparison.

Substep S152, determining whether the minimum distance is less than a preset distance.

The preset distance may be set based on an empirical value, for example, set to 10km. And under the condition that the minimum distance is smaller than the preset distance, the positioning service meeting the precision requirement can be provided based on the reference station corresponding to the minimum distance. Thus, in this case, sub-step S153 may be performed.

And substep S153, using the reference station corresponding to the minimum distance as the target reference station.

When the minimum distance is smaller than the preset distance, the server 100 may use the reference station closest to the user station in the target zone as a target reference station, and control the target reference station to end the sleep state and enter the working state. This reference station, which is the target reference station, then obtains real-time observation data and transmits the observation data to the server 100. The server 100 provides location services to the subscriber station based on the observation data. For example, the server 100 may broadcast the observed data as differential correction data to the subscriber station.

Therefore, by starting a reference station, the purpose of saving resources can be achieved, and meanwhile, the accuracy of the provided positioning service can be ensured.

Referring again to fig. 5, step S150 may further include a substep S154.

In case the minimum distance is not less than the preset distance, sub-step S154 is performed.

And substep S154, selecting a plurality of reference stations from the plurality of reference stations of the target patch as the target reference station according to the position description information.

The minimum distance is not less than the preset distance, meaning that accuracy of the location service provided based on only the reference station closest to the reference station may not be satisfactory. In this case, a plurality of reference stations may be selected as the target reference station according to the distance between the subscriber station and each reference station in the target zone. The server 100 may control the target reference station to end the sleep state, enter the working state, and provide a positioning service to the subscriber station based on a network RTK solution obtained from the observation data obtained by the target reference station.

Alternatively, the server 100 may select the target reference station according to a distance between the subscriber station and each reference station in the target zone and a preset selection rule. For example, according to the distance between the user station and each reference station in the target area, at least 3 reference stations are selected as the target reference stations in the order from the small distance to the large distance.

The CORS system may also be a system using VRS technology. VRS (Virtual Reference Station ) is a network RTK technology proposed by Trimble corporation. RTK (Real Time Kinematic, real-time dynamic differential) is a technique for real-time dynamic relative positioning by using GPS carrier phase observations, and can obtain positioning results with centimeter-level accuracy in a short time. The network RTK technology is an improvement of the conventional RTK technology, a plurality of reference stations are uniformly distributed in a larger area, residual error items among the reference stations are solved through observation values of the reference stations and known station coordinates, the user station can interpolate the residual error items between the user station and the reference stations according to the rough positions of the user station, and higher positioning accuracy can be still obtained when the base lines of the user station and the reference stations are longer. The baseline represents a straight line between the subscriber station and the reference station.

The basic principle of VRS is to comprehensively utilize the observed data of each reference station, and correct the spatial distance-related error by establishing an accurate error model, so as to generate a Virtual Reference Station (VRS) that does not exist physically near the subscriber station. Because VRS is generally established by single-point positioning solution of the mobile station user receiver, the length of the base line formed by VRS and the user station is generally within ten meters, so that an ultra-short base line can be formed between the user station and VRS, and positioning can be performed according to the mode of conventional difference calculation.

When the CORS system is a system using the VRS technology, the server 100 may store position information of each VRS and the identification of a plurality of reference stations corresponding to the VRS. The server 100 may find a VRS closest to the subscriber station according to the location description information of the subscriber station and the location information of each VRS, and use a plurality of reference stations corresponding to the closest VRS as the target reference station. The server 100 may then control the target reference station to end the sleep state, begin local networking, and initiate VRS resolution, and then provide network RTK services to the subscriber station based on the resolution.

Thus, a more accurate and stable positioning service can be provided under longer baseline conditions.

Optionally, in this embodiment, when the reference station is started to provide the positioning service within the preset sleep period, if the positioning service is no longer required to be provided based on the started reference station, the started reference station may be controlled to reenter the sleep mode, so as to save resources.

Alternatively, when the server 100 wakes up the target reference station due to receiving the location service connection request, the server 100 may time a period for which the subscriber station stops requesting the location service provided based on the target reference station. The duration that the subscriber station stops requesting the positioning service may be a duration that the subscriber station stops connecting with the server 100. And controlling the target reference station to enter a dormant state under the condition that the time length for stopping the positioning service required by the user station is longer than a preset time length. The preset duration may be set according to actual requirements, for example, half an hour. The server 100 may also stop performing network RTK calculation based on the observed data of the target reference station when the time period for stopping the request for the positioning service by the subscriber station is longer than a preset time period, so as to save resources of the server 100.

Alternatively, when the server 100 wakes up the target reference station due to receiving a location request that is a reservation request, the server 100 may control the target reference station to enter a sleep state if the preset power-on period is over. Therefore, the CORS system can automatically networking to provide positioning service when the preset time is started, and stop networking after the preset time is ended, so that the reference station started based on the reservation enters the sleep mode.

Optionally, when the server 100 wakes up the target reference station due to receiving a reservation request, the server 100 may also count a time period for the subscriber station to stop requesting the positioning service, and control the target reference station to enter the sleep state if the time period is greater than a preset time period.

It will of course be appreciated that prior to controlling the target reference station to switch to the dormant state, it may be determined whether the target reference station is to be used to provide location services to other subscriber stations. The target reference station may be controlled to switch from the active state to the dormant state in the event that the target reference station is not used to provide location services to any subscriber station.

The embodiment of the application is based on a reference station time-sharing partition dormancy mechanism and a switching mechanism of single-base station CORS and multi-base station CORS, and can save the power consumption of the reference station by controlling the dormancy of the reference station. Communication traffic may also be conserved because the reference station is no longer uploading observed data to the server during sleep. Server 100 also does not calculate based on the reference station during its dormancy, and may save computational resources. The embodiment of the application can save the power consumption of the reference station, the communication flow and the CPU resource, the memory resource, the hard disk resource, the network resource and other computing resources while providing the same level of positioning service capability, and effectively reduce the operation cost of the CORS system.

In order to perform the corresponding steps in the above embodiments and the various possible ways, an implementation of the control device 400 of the reference station is given below, alternatively, the control device 400 of the reference station may use the device structure of the server 100 shown in fig. 2. Further, referring to fig. 6, fig. 6 is a block diagram of a control apparatus 400 for a reference station according to an embodiment of the application. It should be noted that, the basic principle and the technical effects of the control device 400 for a reference station provided in this embodiment are the same as those of the foregoing embodiment, and for brevity, reference may be made to the corresponding content in the foregoing embodiment. The reference station control device 400 is applied to the server 100 which is communicatively connected to a reference station in a CORS system. The control device 400 of the reference station may include: the module 410 and the control module 420 are obtained.

The obtaining module 410 is configured to obtain a preset power-on period and a preset sleep period of the reference station. The preset startup time period and the preset sleep time period are determined by the time period of the reference station required to provide positioning service.

The control module 420 is configured to control the reference station to be in a working state during a preset startup period of the reference station, so as to provide positioning service.

The control module 420 is further configured to control the reference station to be in a sleep state during a preset sleep period of the reference station.

Optionally, in this embodiment, the preset startup period is determined by: dividing a target geographic area into a plurality of areas based on positioning service demand conditions in the target geographic area, and obtaining positioning demand time periods corresponding to the areas respectively; and determining a patch area to which each reference station belongs according to the position information of each reference station, and taking a positioning demand time period corresponding to the patch area to which each reference station belongs as a preset starting time period corresponding to the reference station.

Optionally, in this embodiment, the location service requirement situation in the target geographic area includes a location service requirement situation corresponding to agriculture.

Optionally, in this embodiment, the preset sleep time periods of the reference stations in one zone are the same, and the control module 420 is further configured to, when receiving a positioning request for pointing to a target zone in the preset sleep time period, obtain location description information of a subscriber station corresponding to the positioning request; determining a target reference station from a plurality of reference stations of the target patch according to the position description information; and controlling the target reference station to enter a working state so as to provide positioning service.

Optionally, in this embodiment, the control module 420 is specifically configured to: according to the position description information, calculating to obtain the minimum distance between the user station and the reference station of the target area; and taking the reference station corresponding to the minimum distance as the target reference station under the condition that the minimum distance is smaller than a preset distance.

Optionally, in this embodiment, the control module 420 is further specifically configured to: and selecting a plurality of reference stations from the plurality of reference stations of the target area as the target reference station according to the position description information under the condition that the minimum distance is not smaller than the preset distance.

Optionally, in this embodiment, the location request is a non-subscription request, and a first time period corresponding to the non-subscription request is smaller than a second time period corresponding to the subscription request, where the first time period indicates a time period from receiving the non-subscription request to obtaining the location service by the subscriber station, and the second time period indicates a time period from receiving the subscription request to obtaining the location service by the subscriber station.

Optionally, in this embodiment, the control module 420 is further configured to: and controlling the target reference station to enter a dormant state under the condition that the time period of the stop request of the user station based on the positioning service provided by the target reference station is longer than a preset time period.

Optionally, in this embodiment, the location request is a reservation request, and the control module 420 is specifically configured to: and controlling the target reference station corresponding to the position description information according to the reserved starting time period in the received positioning request, wherein the target reference station is in a working state in the reserved starting time period so as to provide positioning service in the reserved starting time period.

Optionally, in this embodiment, the control module 420 is further configured to: and under the condition that the preset starting time period is over, controlling the target reference station to enter a dormant state.

Alternatively, the above modules may be stored in the memory 110 shown in fig. 2 or solidified in an Operating System (OS) of the server 100 in the form of software or Firmware (Firmware), and may be executed by the processor 120 in fig. 2. Meanwhile, data, codes of programs, and the like, which are required to execute the above-described modules, may be stored in the memory 110.

The embodiment of the application also provides a readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the control method of the reference station.

In summary, the embodiments of the present application provide a method, an apparatus, a server, and a readable storage medium for controlling a reference station, which obtain a preset start-up period and a preset sleep period of the reference station, where the preset start-up period and the preset sleep period are determined by a period in which the reference station is required to provide positioning services, and control the reference station to be in a working state to provide positioning services in the preset start-up period of the reference station, so that positioning services can still be provided based on the reference station, and positioning service requirements of users are satisfied. And controlling the reference station to be in a dormant state in a preset dormant period of the reference station, so that the condition of resource waste caused by uninterrupted working state of the reference station can be avoided, and meanwhile, the operation cost of a CORS system is reduced.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The above description is only of alternative embodiments of the present application and is not intended to limit the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (12)

1. A method of reference station control for a server communicatively coupled to a reference station in a continuously operating reference station, CORS, system, the method comprising:

obtaining a preset starting time period and a preset dormancy time period of a reference station, wherein the preset starting time period and the preset dormancy time period are determined by a time period of the reference station required to provide positioning service;

controlling the reference station to be in a working state in a preset starting time period of the reference station so as to provide positioning service;

controlling the reference station to be in a dormant state in a preset dormant period of the reference station;

the preset starting time period is determined by the following steps:

dividing a target geographic area into a plurality of areas based on positioning service demand conditions in the target geographic area, and obtaining positioning demand time periods corresponding to the areas respectively;

and determining a patch area to which each reference station belongs according to the position information of each reference station, and taking a positioning demand time period corresponding to the patch area to which each reference station belongs as a preset starting time period corresponding to the reference station.

2. The method of claim 1, wherein the location services demand conditions within the target geographic area include agronomically corresponding location services demand conditions.

3. The method of any of claims 1-2, wherein the preset sleep period for reference stations within a sector is the same, the method further comprising:

when a positioning request for pointing to a target fragment in a preset dormancy time period is received, acquiring position description information of a user station corresponding to the positioning request;

determining a target reference station from a plurality of reference stations of the target patch according to the position description information;

and controlling the target reference station to enter a working state so as to provide positioning service.

4. The method of claim 3, wherein said determining a target reference station from a plurality of reference stations of said target sector based on said location description information comprises:

according to the position description information, calculating to obtain the minimum distance between the user station and the reference station of the target area;

and taking the reference station corresponding to the minimum distance as the target reference station under the condition that the minimum distance is smaller than a preset distance.

5. The method of claim 4, wherein the determining a target reference station from the plurality of reference stations of the target zone based on the location description information further comprises:

And selecting a plurality of reference stations from the plurality of reference stations of the target area as the target reference station according to the position description information under the condition that the minimum distance is not smaller than the preset distance.

6. A method according to claim 3, wherein the location request is a non-subscription request, a first time period corresponding to the non-subscription request being less than a second time period corresponding to the subscription request, the first time period representing a time period from receipt of the non-subscription request to acquisition of location services by the subscriber station, the second time period representing a time period from receipt of the subscription request to acquisition of location services by the subscriber station.

7. A method according to claim 3, characterized in that the method further comprises:

and controlling the target reference station to enter a dormant state under the condition that the time period of the stop request of the user station based on the positioning service provided by the target reference station is longer than a preset time period.

8. A method according to claim 3, wherein the location request is a reservation request, and the controlling the target reference station to enter an operational state to provide location services comprises:

and controlling the target reference station corresponding to the position description information according to the reserved starting time period in the received positioning request, wherein the target reference station is in a working state in the reserved starting time period so as to provide positioning service in the reserved starting time period.

9. The method of claim 8, wherein the method further comprises:

and under the condition that the preset starting time period is over, controlling the target reference station to enter a dormant state.

10. A reference station control apparatus for use with a server in communication with reference stations in a continuously operating reference station, CORS, system, said apparatus comprising:

the acquisition module is used for acquiring a preset starting time period and a preset dormancy time period of the reference station, wherein the preset starting time period and the preset dormancy time period are determined by a time period of the reference station required to provide positioning service;

the control module is used for controlling the reference station to be in a working state in a preset starting time period of the reference station so as to provide positioning service;

the control module is further used for controlling the reference station to be in a dormant state in a preset dormant time period of the reference station;

the preset starting time period is determined by the following steps:

dividing a target geographic area into a plurality of areas based on positioning service demand conditions in the target geographic area, and obtaining positioning demand time periods corresponding to the areas respectively;

And determining a patch area to which each reference station belongs according to the position information of each reference station, and taking a positioning demand time period corresponding to the patch area to which each reference station belongs as a preset starting time period corresponding to the reference station.

11. A server comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the method of controlling a reference station of any of claims 1-9.

12. A readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a method of controlling a reference station according to any one of claims 1-9.