CN117250640A - Method and device for batch management and automatic processing of satellite navigation real-time data streams - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/02—Details of the space or ground control segments
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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Abstract
A method and device for batch management and automatic processing of satellite navigation real-time data streams comprises the following steps: step 1, generating user control information; step 2, checking and storing RTCM data access; step 3, executing a timing task; step 4, converting the RTCM data stream into an RI NEX data stream; step 5, merging the repeated files of multiple time periods; and 6, online service of the data file. Aiming at the real-time RTCM data stream conversion requirement of a plurality of sites, the invention can input the data of the sites to carry out batch management and automatic conversion.
Description
Technical Field
The invention relates to the technical field of Beidou positioning, in particular to a method and a device for batch management and automatic processing of satellite navigation real-time data streams.
Background
The Beidou foundation enhancement station can observe Beidou satellites in real time and generate data streams in an RTCM (RTCM) (Radio Technical Commission for Maritime Services, navigation radio technical Committee) format, and the data streams are transmitted to the data distribution center through a special network by means of NTRIP (Networked Transport of RTCM via Internet Protocol, a protocol for RTCM network transmission through the Internet) protocol and broadcast to users in real time through the Internet. Real-time and post-positioning with high precision can be performed by using real-time data streams of the Beidou foundation enhancement stations, but post-positioning needs to save RTCM data of stations and convert the RTCM data into corresponding RINEX (Receiver Independent Exchange Format, data exchange format irrelevant to a receiver) observation files, and identification processing can be performed in post-processing software such as GAMIT, BERNESE. The storage and management of site RTCM data streams can be currently performed in three ways, based on a GNSS (Global Navigation Satellite System ) receiver, based on receiver-related software, and based on third party software. For the existing GNSS receiver, the original data storage and RINEX format conversion are carried out by the receiver, but the mode can only store the observation information of the current site, needs to be configured in advance, and is difficult to realize batch management; the storage and conversion of the data stream can be realized for the random software of the GNSS receiver, but the automation degree is low, and the automatic storage and conversion are mainly realized by using a Windows platform, so that the automatic storage and conversion are difficult to be deployed to a Linux server to realize automatic, batch management and safety control; for the existing third party software such as RTKLIB, IGGNtrip, batch storage and conversion of data can be realized, but the data is usually in a console form, the data is difficult to be visually displayed in real time, the management mode is single, and the management and maintenance of single or multiple station data are difficult.
Disclosure of Invention
Aiming at the problems of low automation degree of site batch management and data conversion in the prior art, the invention aims to provide a method and a device for batch management and automatic processing of satellite navigation real-time data streams.
The invention is realized by the following technical scheme:
the first aspect of the invention provides a method for batch management and automatic processing of satellite navigation real-time data streams, which comprises the following steps:
step 1, generating user control information: uploading the converted RINEX file to a cloud processor by a user, and generating related logs and alarm information;
step 2, checking and storing RTCM data access: real-time data stream access, data stream information verification and RTCM original data stream storage of the RTCM are included;
step 3, executing timing tasks: monitoring user-defined conversion time and reading an RTCM task list;
step 4, converting the RTCM data stream into a RINEX data stream: according to user parameter configuration and an RTCM data stream file, converting the data stream, and converting the RTCM data stream into a RINEX data stream;
step 5, merging the repeated files of multiple time periods: automatically identifying observation files of a station in a single day and multiple time periods, and automatically executing combination;
step 6, online service of the data file: and uploading the converted RINEX file to a cloud processor by the user, and generating related logs and alarm information.
Further, in step 1, the user control information is configured by a configuration file of the program, including configuration of data stream access information, SFTP storage path and push configuration, system operation log configuration, and automatic data conversion configuration.
Further, the configuration of the data stream access information is added in batches in a mode of adding a site access address list row by row, so that data stream access control information is generated;
the SFTP storage path and the pushing configuration are remote pushing catalogs for configuring SFTP;
the system operation log is configured to configure interrupt information of a data stream.
Further, in step 2, the original observation data in RTCM format of the site is accessed and stored locally, and the name of the site and the timestamp are added in the file name, so as to perform subsequent configuration conversion.
Further, in the data access process, the state monitoring of the data flow is performed through the following steps:
when the program runs, INT type parameters of the TCP communication state of each station per second in the station access list are judged through circulation, and one-dimensional arrays of the stations are written;
the state and interruption condition of the data stream are monitored and stored as log file information, so that the checking work of the data integrity is facilitated.
In step 4, the RINEX format conversion is performed one by one to obtain the observation information of each signal frequency point, and the analyzed observation information is written into the format conversion file corresponding to the station point according to the RINEX format standard.
Further, in step 6, the stored RTCM data and the converted RINEX file are stored in a data server, and after the account password is used for verification, the server is accessed to a file database to obtain a required file list, and returns to the user download address; if the requested file does not exist or the data flow is abnormal, generating service early warning information and feeding back the user.
The invention also relates to a satellite navigation real-time data stream batch management and automatic processing device, which comprises:
the user control information generation module is used for uploading the converted RINEX file to the cloud processor for a user and generating related log and alarm information;
the RTCM data access checking and storing module is used for real-time data stream access, data stream information checking and RTCM original data stream storage of the RTCM;
the execution timing task module is used for monitoring user-defined conversion time and reading an RTCM task list;
the data stream conversion module is used for converting the data stream according to user parameter configuration and the RTCM data stream file, and converting the RTCM data stream into a RINEX data stream;
the multi-period repeated file merging module is used for automatically identifying observation files of the station for a plurality of periods in a single day and automatically executing merging;
and the data file online service module is used for uploading the converted RINEX file to the cloud processor for a user and generating related log and alarm information.
The invention also relates to an electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method.
The invention also relates to a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method.
The technical scheme of the invention can realize the following beneficial technical effects:
the method, the device and the electronic equipment for batch management and automatic processing of the satellite navigation real-time data stream support the batch management of the foundation enhancement station RTCM data stream under Windows and Linux systems, and can realize automatic RINEX format conversion and visual control and display. The system has the advantages of strong applicability, good expandability, simple deployment mode and low maintenance cost; the method can be automatically executed according to the configuration files, can realize unmanned and automatic management of the data of a plurality of foundation enhancement sites after one deployment, and can provide basic support for Beidou station network data management and data processing work of mapping departments, related enterprises, scientific research universities and the like.
The system mainly solves the problem of batch conversion of real-time RTCM data streams of stations, supports data access and timing tasks of a plurality of stations, and has the advantages of strong applicability, good expandability, simple deployment mode and low maintenance cost; the method can be automatically executed according to the configuration file, and unmanned and automatic management of the data of a plurality of foundation enhancement sites can be realized after one deployment.
Drawings
FIG. 1 is a flow chart of a method for batch management and automatic processing of satellite navigation real-time data streams according to the present invention;
FIG. 2 is a flow chart of the method for batch management and automatic processing of satellite navigation real-time data streams according to the present invention.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The present invention will be described in detail with reference to the accompanying drawings and examples.
The first aspect of the invention provides a method for batch management and automatic processing of satellite navigation real-time data streams, which comprises the following steps:
and step 1, generating user control information.
Specifically, the method comprises adding NTRIP access IP, port, account number and password of site data stream, RTCM and RINEX file storage pushing path, data stream interrupt information log storage path and RTCM to RIENX data conversion parameter configuration.
And 2, checking and storing RTCM data access.
Specifically, the method comprises real-time data stream access of RTCM, data stream information verification and RTCM original data stream storage.
And step 3, executing a timing task.
Specifically, the user-defined conversion time is monitored, and the RTCM task list is read.
And 4, converting the RTCM data stream into a RINEX data stream.
And converting the data stream according to the user parameter configuration and the RTCM data stream file, and converting the RTCM data stream into a RINEX data stream.
And 5, merging the multi-period repeated files.
Specifically, the observation files of the station in a single day and multiple time periods are automatically identified, and the merging is automatically executed.
And 6, online service of the data file.
Specifically, the converted RINEX file is uploaded to a cloud processor by a user, and related log and alarm information are generated.
In one embodiment of the present invention, assuming that 3 reference station data streams are accessed in real time, the station names are a001, a002, a003 respectively, the specific implementation manner is as follows:
and step 1, generating user control information. The user control information is mainly configured by configuration files of programs, and mainly comprises configuration of A001, A002 and A003 data stream access information, SFTP storage path and push configuration, system operation log configuration and automatic data conversion configuration.
In the configuration of the data stream access information, the data stream access control information can be generated by adding the site access address list in batches, and the format of the site access address list is as follows:
ROVER＝<NAME>,NtripClient,<IP>,<PORT>,<NAME>,<USER>,<PASSWD>；
wherein: NAME is the site NAME, IP is the site data connection address, PORT is the connection PORT, USER is NTRIP account number, PASSWD is the connection password.
The SFTP storage PATH and the pushing configuration mainly configure the remote pushing directory of the SFTP, can set the file directory structure according to the year and the year product day to automatically classify, store and push, and can be directly added with 'SFTP= < PATH >' in the configuration file, wherein PATH is the remote pushing directory of the SFTP.
The system running LOG configuration is mainly used for configuring interrupt information of a data stream, and the configuration mode can be directly added with 'log= < PATH >' in a configuration file, wherein PATH is a LOG storage directory.
The data conversion configuration mainly configures information such as data conversion type and timing start TIME, and the configuration mode can be directly modified or newly increased to configure the configuration files corresponding to 'RTCM 2 rnx= < VER >' and 'conv_t= < TIME >', wherein VER is a conversion version, optionally 2.1X or 3.0X, TIME is timing conversion TIME, and the format is hhmmss (TIME minutes and seconds).
And 2, checking and storing RTCM data access. The original observation data in the RTCM format of the site is accessed and stored locally by using the RTCM data stream access module, and the name of the site and the timestamp are added into the file name, so that the subsequent conversion configuration is convenient, and the example format of the file name storage is as follows: < NAME > _< YYYMMDD > _< hhmms >. Rtcm3, where NAME is a site NAME, YYYYMMDD is year, month and day information, and hhmms is time-division second information, for example, a data file NAME of "A001_20220101_000001.Rtcm3" when A001 site is 0 minutes and 1 seconds at 2022, 1 month, 1 day, 0. In the data access process, the state monitoring of the data flow is carried out by the following method:
when the program runs, INT type parameters (0: connection abnormality, 1: connection normal) of TCP communication states of each station in the station access list are judged through circulation, and one-dimensional array BREAK 2 of the station is written]＝{INT t-1 ,INT t -where t-1 and t represent last second and current, respectivelyThe TCP state at the moment judges the data stream interrupt information rule according to the BREAK data state as follows:
BREAK [2] = {1,0}: namely, the connection state is from normal to abnormal, and the interruption time is recorded once;
BREAK [2] = {0,0}: namely, the connection state is kept abnormal, and the interruption time is increased by 1 second;
BREAK [2] = {0,1}: i.e. the connection state is abnormal to normal, recording one-time recovery time;
the state and interruption condition of the data stream can be monitored through the rules, and the data stream is stored as log file information, so that the verification of the data integrity is facilitated.
And step 3, executing a timing task. After the program is run, the global running timer is matched with the user-defined conversion time once per second, after the current time is matched with the user configuration time, the RTCM data folder file list in the control information is read, a file name list conforming to RINEX standards is generated, and at the same time, RINEX standard files are generated on the RINEX conversion file path.
And 4, converting the RTCM data stream into a RINEX data stream.
And converting RINEX formats one by utilizing an RTCM-RINEX module, wherein the conversion process comprises two steps of RTCM data analysis and RINEX file writing. And the RTCM analysis process analyzes binary data of the observation message according to an RTCM protocol standard to obtain the observation information such as pseudo range, phase, doppler value and the like of each signal frequency point, and the analyzed observation information is written into a format conversion file corresponding to the station point according to a RINEX format standard.
And 5, merging the multi-period repeated files. For the multiple day or multiple period RTCM data to RINEX file conversion requirement, it is necessary to monitor file name repeatability when writing the file after RINEX conversion, and create multi-period file flags ending with "(2)", "(3)", etc. After conversion, the time period files are checked in turn, if the time period marks are contained, the first file is taken as a reference, and other time period files are combined, wherein the combination rule is as follows:
and sequentially reading the RINEX file with the multi-period file mark suffix by taking the first RINEX file as a reference file, deleting the file header of the multi-period file, only retaining the data information, and then attaching the data information to the file end part of the reference file. It should be noted that when reading the header "TIME OF LAST OBS" information OF the LAST period file, it is necessary to record the end TIME OF the observation period and perform replacement OF the end TIME OF the header observation period in the reference file.
And 6, online service of the data file. The stored RTCM data and the converted RINEX file are stored in a data server, after the user passes the verification by using the account number and the password, the user can access to a file database to obtain a required file list, and the server returns a user download address; if the file requested by the user does not exist or the data flow is abnormal, generating service early warning information and feeding back the user.
The invention also relates to a device for managing and automatically processing satellite navigation real-time data in batches, which comprises a control module, a data stream access module, a data conversion module, a safe and light service module, a display module and a control module, wherein a man-machine interaction interface is provided for a user, so that the user can conveniently carry out site data access information, SFTP files, interrupt log file storage paths and RTCM to RINEX file conversion configuration, and the information after configuration is packaged and sent to the data stream access module; the data stream access module is mainly used for realizing the access, analysis and storage processes of data through a processor and a memory according to the data access and file storage path and conversion information of the control module, and sending the RTCM storage path and conversion parameters to the data conversion module; the data conversion module analyzes the RTCM data through the processor according to the RTCM storage path and the conversion information, and converts the RTCM data into a RINEX file according to the conversion parameters; the safety light service module is mainly used for transmitting data of RTCM and RINEX files and interrupt log information of sites to users through an HTTP network. The device supports Windows and Linux systems, manages foundation enhancement station RTCM data flow in batches, and can realize automatic RINEX format conversion and visual control and display.
The invention also relates to an electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method.
The invention also relates to a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method.
In summary, the present invention provides a method and apparatus for batch management and automatic processing of satellite navigation real-time data streams, including the following steps: step 1, generating user control information; step 2, checking and storing RTCM data access; step 3, executing a timing task; step 4, converting the RTCM data stream into an RI NEX data stream; step 5, merging the repeated files of multiple time periods; and 6, online service of the data file. Aiming at the real-time RTCM data stream conversion requirement of a plurality of sites, the invention can input the data of the sites to carry out batch management and automatic conversion.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (10)
1. The method for batch management and automatic processing of satellite navigation real-time data streams is characterized by comprising the following steps:
step 1, generating user control information: uploading the converted RINEX file to a cloud processor by a user, and generating related logs and alarm information;
step 2, checking and storing RTCM data access: real-time data stream access, data stream information verification and RTCM original data stream storage of the RTCM are included;
step 3, executing timing tasks: monitoring user-defined conversion time and reading an RTCM task list;
step 4, converting the RTCM data stream into a RINEX data stream: according to user parameter configuration and an RTCM data stream file, converting the data stream, and converting the RTCM data stream into a RINEX data stream;
step 5, merging the repeated files of multiple time periods: automatically identifying observation files of a station in a single day and multiple time periods, and automatically executing combination;
step 6, online service of the data file: and uploading the converted RINEX file to a cloud processor by the user, and generating related logs and alarm information.
2. The method for batch management and automatic processing of satellite navigation real-time data streams according to claim 1, wherein in step 1, the user control information is configured by configuration files of the program, including configuration of data stream access information, SFTP storage path and push configuration, system operation log configuration and automatic data conversion configuration.
3. The method for batch management and automatic processing of satellite navigation real-time data streams according to claim 2, wherein the configuration of the data stream access information is added in batches by adding a site access address list line by line to generate data stream access control information;
the SFTP storage path and the pushing configuration are remote pushing catalogs for configuring SFTP;
the system operation log is configured to configure interrupt information of a data stream.
4. The method for batch management and automatic processing of satellite navigation real-time data streams according to claim 1, wherein in step 2, the original observation data in RTCM format of the site is accessed and stored locally, and the name of the site and the timestamp are added in the file name for subsequent configuration conversion.
5. The method for batch management and automatic processing of satellite navigation real-time data streams according to claim 4, wherein the state of the data streams is monitored during the data access process by:
when the program runs, INT type parameters of the TCP communication state of each station per second in the station access list are judged through circulation, and one-dimensional arrays of the stations are written;
the state and interruption condition of the data stream are monitored and stored as log file information, so that the checking work of the data integrity is facilitated.
6. The method for batch management and automatic processing of satellite navigation real-time data streams according to claim 1, wherein in step 4, the RINEX format conversion is performed one by one to obtain the observation information of each signal frequency point, and the analyzed observation information is written into the format conversion file corresponding to the station point according to the RINEX format standard.
7. The method for batch management and automatic processing of satellite navigation real-time data streams according to claim 1, wherein in step 6, the stored RTCM data and the converted RINEX file are stored in a data server, and after verification by using an account password, the server is accessed to a file database to obtain a required file list, and returns a user download address; if the requested file does not exist or the data flow is abnormal, generating service early warning information and feeding back the user.
8. A device for batch management and automatic processing of satellite navigation real-time data streams, comprising:
the user control information generation module is used for uploading the converted RINEX file to the cloud processor for a user and generating related log and alarm information;
the RTCM data access checking and storing module is used for real-time data stream access, data stream information checking and RTCM original data stream storage of the RTCM;
the execution timing task module is used for monitoring user-defined conversion time and reading an RTCM task list;
the data stream conversion module is used for converting the data stream according to user parameter configuration and the RTCM data stream file, and converting the RTCM data stream into a RINEX data stream;
the multi-period repeated file merging module is used for automatically identifying observation files of the station for a plurality of periods in a single day and automatically executing merging;
and the data file online service module is used for uploading the converted RINEX file to the cloud processor for a user and generating related log and alarm information.
9. An electronic device, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the preceding claims 1 to 7.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of the preceding claims 1 to 7.
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