CN116068597A - GNSS differential data sharing device and application method thereof - Google Patents

GNSS differential data sharing device and application method thereof Download PDF

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Publication number
CN116068597A
CN116068597A CN202211541410.8A CN202211541410A CN116068597A CN 116068597 A CN116068597 A CN 116068597A CN 202211541410 A CN202211541410 A CN 202211541410A CN 116068597 A CN116068597 A CN 116068597A
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China
Prior art keywords
differential data
data sharing
gnss differential
rtk
gnss
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CN202211541410.8A
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Chinese (zh)
Inventor
徐江涛
朱道华
毕晓甜
孙云晓
赵新冬
黄伟
郭雅娟
蒋承伶
韦磊
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State Grid Jiangsu Electric Power Co Ltd
Electric Power Research Institute of State Grid Jiangsu Electric Power Co Ltd
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State Grid Jiangsu Electric Power Co Ltd
Electric Power Research Institute of State Grid Jiangsu Electric Power Co Ltd
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Priority to CN202211541410.8A priority Critical patent/CN116068597A/en
Publication of CN116068597A publication Critical patent/CN116068597A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention relates to the technical field of data sharing, in particular to a GNSS differential data sharing device and an application method thereof, wherein the GNSS differential data sharing device comprises a remote communication module, a data processing module and a local communication module, wherein the remote communication module and the local communication module are respectively connected with the data processing module through signals.

Description

GNSS differential data sharing device and application method thereof
Technical Field
The present invention relates to the field of data sharing technologies, and in particular, to a GNSS differential data sharing apparatus and an application method thereof.
Background
The GNSS technology is developed for many years to form a current four-large navigation satellite system, so that the application of the GNSS technology in various industries is effectively promoted. There is a strong need in the civilian field for high precision real-time dynamic differential positioning (RealTime Kinematic, RTK) techniques such as: geographical mapping, equipment state monitoring, electronic fence and the like, and real-time centimeter-level positioning accuracy can be realized by applying the RTK positioning technology.
The network RTK technology is characterized in that a plurality of stationary reference stations are arranged in a certain range, the reference stations continuously observe satellites, observed information is transmitted to a network RTK server through a special network, differential data of different positions in the whole area are calculated by a cloud server, and the differential data are transmitted to authorized users through the Internet, so that high-precision positioning of a user side RTK terminal is realized.
The network RTK provides convenient to use, flexibility, reliability and high-precision positioning service for various users, but has a plurality of invariants for application in part of industries. For example, many electric overhaul devices which are already put into use do not have remote communication hardware, and cannot establish communication with a network RTK, and even if the devices are equipped with the remote communication hardware, a large number of account numbers are still required to log in when the devices are used, and a large amount of network traffic cost is required, and the power consumption of the RTK terminal can be greatly improved, and the requirements on batteries are increased, so that the large-scale application of the RTK technology is not facilitated.
The information disclosed in this background section is only for enhancement of understanding of the general background of the disclosure and is not to be taken as an admission or any form of suggestion that this information forms the prior art that is well known to a person skilled in the art.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the GNSS differential data sharing device and the application method thereof reduce the operation pressure of the RTK server, simultaneously reduce the use cost of terminal equipment, and are beneficial to the scale application of the RTK technology.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a GNSS differential data sharing apparatus, comprising: the remote communication module is in signal connection with the data processing module, the data processing module is connected with the local communication module through a signal, and the power module is used for supplying power to the remote communication module, the data processing module and the local communication module.
Further, the remote communication module includes one or more of a 4G wireless communication module, a 5G wireless communication module, ethernet, and fiber optic communication.
Further, the data processing module comprises a data storage module, a data packaging module and an authentication module.
Further, the local communication module comprises one or more of bluetooth, lora and Zigbee.
Further, the system also comprises one or more of a GNSS positioning module and a manual configuration positioning module, wherein the manual configuration positioning module is used for manually inputting local coordinates and transmitting the local coordinates to the data processing module.
Further, the system also comprises a monitoring and management module, wherein the monitoring module is used for collecting RTK terminal positioning data, and carrying out unified management, calculation and result uploading.
The invention also discloses an application method of the GNSS differential data sharing device, which comprises the following steps:
s1: switching on a power supply, entering into a working mode, establishing connection with a network RTK server through a remote communication module, and receiving local differential data through an Ntrip protocol;
s2: the data processing module encapsulates the received differential data and authenticates the local domain RTK terminal when the local domain RTK terminal is accessed to a local communication network;
s3: and establishing communication connection with the RTK terminals through the local communication module, and broadcasting differential data to a plurality of RTK terminals passing authentication in the local domain.
Furthermore, the data processing module adopts an encryption authentication technology for the authentication of the RTK terminal in the local domain, and the method comprises the following specific steps:
a1: before the GNSS differential data sharing device and the RTK terminal are deployed, the manager presets the respective identity ID S 、ID T And a shared key k;
a2: the RTK terminal initiates an access request to the GNSS differential data sharing device, and specifically generates a temporary interaction random number N for the RTK terminal 1 And by exclusive or calculation:
Figure BDA0003976186520000031
will S and N 1 Transmitting the GNSS differential data to a GNSS differential data sharing device;
a3: after receiving the authentication request, the GNSS differential data sharing device searches the ID through the registration information T And calculate
Figure BDA0003976186520000033
Checking whether it is equal to the received S;
after verification is passed, the GNSS differential data sharing device sends response information to the RTK terminal:
Figure BDA0003976186520000032
wherein N is 2 The temporary interaction number is generated by the GNSS differential data sharing device;
a4: the RTK terminal sends authentication parameters to the GNSS differential data sharing device:
Figure BDA0003976186520000034
wherein E (k, ID) S ||N 4 ) To encrypt ID with symmetric encryption function S ||N 4 The key is k;
a5: the GNSS differential data sharing device sends confirmation information to the RTK terminal:
Figure BDA0003976186520000035
wherein N is 4 +1 represents response N 4 K of (a) s Session key for differential data transmission, N 5 Is the interaction number.
Further, the data processing module periodically initiates a periodic authentication call back to the RTK terminal, the RTK terminal needs to answer the call back, if the answer is correct, the network connection is maintained, and if the answer is incorrect, the network connection with the RTK terminal is cut off, which comprises the following specific steps:
a6: the GNSS differential data sharing device initiates a periodic authentication session to the RTK terminal:
H(ID S )||E(k S ,N 6 )
a7: the RTK terminal sends a response message to the GNSS differential data sharing device:
H(ID S )||E(k S ,N 6 +1)
wherein E (k) S ,N 6 +1) for using shared session key pair N 6 Is a response to (a) is provided.
The beneficial effects of the invention are as follows: the invention provides a GNSS differential data sharing device accessed to a communication network, which uses an Ntrip protocol to acquire local differential data from a network RTK server in real time, then broadcasts the differential data to other peripheral RTK terminals through a local micropower wireless communication network, thereby realizing the high-precision positioning of a plurality of RTK terminals in an area.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic diagram illustrating an application method of a GNSS differential data sharing device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a remote communication module according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a local communication module according to an embodiment of the invention;
fig. 4 is a timing diagram of authentication according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The GNSS differential data sharing apparatus as shown in fig. 1 to 4 includes: the remote communication module, the data processing module and the local communication module are respectively connected with the data processing module through signals.
The invention provides a GNSS differential data sharing device, which is characterized in that a data processing module is an integrated circuit board, an MCU micro processor or other hardware with programming and software storage execution, the GNSS differential data sharing device belongs to a miniaturized device, a battery can be arranged inside the GNSS differential data sharing device, and the GNSS differential data sharing device can also be directly electrified for use, wherein a remote communication module is used for establishing data transmission connection with a network RTK (real time kinematic) server, and particularly can be one or more of a 4G wireless communication module, a 5G wireless communication module, an Ethernet and optical fiber communication, and the connection is established with the network RTK server by adopting one or more communication modes, so that differential data of the network RTK server is received, and a local communication module is one communication mode capable of covering a use range, particularly can be one or more of Bluetooth, lora and Zigbee, and is connected with an RTK terminal by adopting one or more short-range communication modes, so that differential data is broadcasted to the RTK terminal with a certain range.
More specifically, the data processing module includes a data storage module, a data encapsulation module and an authentication module, where the data storage module is used to store executable programs, differential data, various instructions and the like, and the data encapsulation module is used to encapsulate received differential data, the specific encapsulation format is shown in table 1 below, and in order to protect the security of the data, the authentication module is provided with an authentication module, and the authentication module is used to perform authentication of the RTK terminal, prevent other devices from accessing in, cause interference, and affect the security of the data.
Table 1 the package format is as follows:
Figure BDA0003976186520000061
Figure BDA0003976186520000071
as the preference of the embodiment, the device further comprises one or more of a GNSS positioning module and a manual configuration positioning module, wherein the manual configuration positioning module is used for manually inputting local coordinates and transmitting the local coordinates to the data processing module, when the GNSS differential data sharing device reports the position of the device to the network RTK server, the device can acquire the positioning coordinates in real time by adopting the GNSS module of the device, and can also adopt the manual configuration of the local coordinates, so that the device can adopt one or two modes for positioning.
The system also comprises a monitoring and managing module, wherein the monitoring module is used for collecting positioning data of the RTK terminal, carrying out unified management, calculation and result uploading, and realizing unified management of the RTK terminal.
The invention also discloses an application method of the GNSS differential data sharing device, which comprises the following steps:
s1: switching on a power supply, entering into a working mode, establishing connection with a network RTK server through a remote communication module, and receiving local differential data through an Ntrip protocol;
s2: the data processing module encapsulates the received differential data and authenticates the local domain RTK terminal when the local domain RTK terminal is accessed to a local communication network;
s3: and establishing communication connection with the RTK terminals through the local communication module, and broadcasting differential data to a plurality of RTK terminals passing authentication in the local domain.
The GNSS differential data sharing device provided by the invention is suitable for GNSS high-precision positioning application scenes in fixed areas such as transformer substations, capital construction sites and ports, and in the use process, in order to ensure the safety of data and prevent equipment except RTK terminals laid by users from being connected to the GNSS differential data sharing device, an authentication program is especially added, and a data processing module adopts an encryption authentication technology for the authentication of the RTK terminals in the local area, and the specific steps are as follows:
a1: before the GNSS differential data sharing device and the RTK terminal are deployed, the manager presets the respective identity ID S 、ID T And a shared key k;
a2: the RTK terminal initiates an access request to the GNSS differential data sharing device, and specifically generates a temporary interaction random number N for the RTK terminal 1 And by exclusive or calculation:
Figure BDA0003976186520000081
will S and N 1 Transmitting the GNSS differential data to a GNSS differential data sharing device;
a3: after receiving the authentication request, the GNSS differential data sharing device searches the ID through the registration information T And calculate
Figure BDA0003976186520000082
Checking whether it is equal to the received S;
after verification is passed, the GNSS differential data sharing device sends response information to the RTK terminal:
Figure BDA0003976186520000083
wherein N is 2 The temporary interaction number is generated by the GNSS differential data sharing device;
a4: the RTK terminal sends authentication parameters to the GNSS differential data sharing device:
Figure BDA0003976186520000084
wherein E (k, ID) S ||N 4 ) To encrypt ID with symmetric encryption function S ||N 4 The key is k;
a5: the GNSS differential data sharing device sends confirmation information to the RTK terminal:
Figure BDA0003976186520000085
wherein N is 4 +1 represents response N 4 K of (a) s Session key for differential data transmission, N 5 Is the interaction number.
By adopting the encryption authentication technical means, the connection between the RTK terminal equipment set by a non-user and the GNSS differential data sharing device can be eliminated, the safety of data is ensured, and other equipment is prevented from damaging the data.
In order to cut off the RTK terminal which is not used for a long time and prevent resources from being occupied, the data processing module periodically initiates a periodic authentication call back to the RTK terminal, the RTK terminal needs to respond to the call back, if the response is correct, the network connection is maintained, and if the response is incorrect, the network connection with the RTK terminal is cut off, specifically comprising the following steps:
a6: the GNSS differential data sharing device initiates a periodic authentication session to the RTK terminal:
H(ID S )||E(k S ,N 6 )
a7: the RTK terminal sends a response message to the GNSS differential data sharing device:
H(ID S )||E(k S ,N 6 +1)
wherein E (k) S ,N 6 +1) for using shared session key pair N 6 Is a response to (a) is provided.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. A GNSS differential data sharing apparatus, comprising: the remote communication module and the local communication module are respectively in signal connection with the data processing module.
2. The GNSS differential data sharing apparatus according to claim 1, wherein the remote communication module includes one or more of a 4G wireless communication module, a 5G wireless communication module, ethernet and fiber optic communication.
3. The GNSS differential data sharing apparatus according to claim 1, wherein the data processing module includes a data storage module, a data encapsulation module, and an authentication module.
4. The GNSS differential data sharing apparatus according to claim 1, wherein the local communication module includes one or more of bluetooth, lora and Zigbee.
5. The GNSS differential data sharing apparatus according to claim 1, further comprising one or more of a GNSS positioning module and a manually configured positioning module for manually inputting local coordinates and transmitting to the data processing module.
6. The GNSS differential data sharing apparatus according to claim 1, further comprising a monitoring and management module, wherein the monitoring module is configured to collect RTK terminal positioning data, and perform unified management, calculation, and result uploading.
7. The method for using a GNSS differential data sharing apparatus according to any of the claims 1 to 6, comprising the steps of:
s1: switching on a power supply, entering into a working mode, establishing connection with a network RTK server through a remote communication module, and receiving local differential data through an Ntrip protocol;
s2: the data processing module encapsulates the received differential data and authenticates the local domain RTK terminal when the local domain RTK terminal is accessed to a local communication network;
s3: and establishing communication connection with the RTK terminals through the local communication module, and broadcasting differential data to a plurality of RTK terminals passing authentication in the local domain.
8. The application method of the GNSS differential data sharing apparatus according to claim 7, wherein the data processing module uses an encryption authentication technique for the RTK terminal authentication in the home domain, and specifically includes the steps of:
a1: before the GNSS differential data sharing device and the RTK terminal are deployed, the manager presets the respective identity ID S 、ID T And a shared key k;
a2: the RTK terminal initiates an access request to the GNSS differential data sharing device, and specifically generates a temporary interaction random number N for the RTK terminal 1 And by exclusive or calculation:
Figure FDA0003976186510000021
will S and N 1 Transmitting the GNSS differential data to a GNSS differential data sharing device;
a3: after receiving the authentication request, the GNSS differential data sharing device searches the ID through the registration information T And calculate
Figure FDA0003976186510000025
Checking whether it is equal to the received S;
after verification is passed, the GNSS differential data sharing device sends response information to the RTK terminal:
Figure FDA0003976186510000022
wherein N is 2 The temporary interaction number is generated by the GNSS differential data sharing device;
a4: the RTK terminal sends authentication parameters to the GNSS differential data sharing device:
Figure FDA0003976186510000023
wherein E (k, ID) S ||N 4 ) To encrypt ID with symmetric encryption function S ||N 4 The key is k;
a5: the GNSS differential data sharing device sends confirmation information to the RTK terminal:
Figure FDA0003976186510000024
wherein N is 4 +1 represents response N 4 K of (a) s Session key for differential data transmission, N 5 Is the interaction number.
9. The method for using the GNSS differential data sharing apparatus according to claim 8, wherein the data processing module periodically initiates a periodic authentication call back to the RTK terminal, the RTK terminal needs to respond to the call back, if the response is correct, the network connection is maintained, and if the response is incorrect, the network connection with the RTK terminal is cut off, specifically comprising the steps of:
a6: the GNSS differential data sharing device initiates a periodic authentication session to the RTK terminal:
H(ID S )||E(k S ,N 6 )
a7: the RTK terminal sends a response message to the GNSS differential data sharing device:
H(ID S )||E(k S ,N 6 +1)
wherein E (k) S ,N 6 +1) for using shared session key pair N 6 Is a response to (a) is provided.
CN202211541410.8A 2022-12-01 2022-12-01 GNSS differential data sharing device and application method thereof Pending CN116068597A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116708542A (en) * 2023-08-02 2023-09-05 福建福大北斗通信科技有限公司 High-precision position sharing system and method based on Android platform

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116708542A (en) * 2023-08-02 2023-09-05 福建福大北斗通信科技有限公司 High-precision position sharing system and method based on Android platform
CN116708542B (en) * 2023-08-02 2023-10-24 福建福大北斗通信科技有限公司 High-precision position sharing system and method based on Android platform

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