CN117615323A

CN117615323A - CORS and communication method based on CORS

Info

Publication number: CN117615323A
Application number: CN202311563623.5A
Authority: CN
Inventors: 赵凯; 张鹏
Original assignee: Heilongjiang Huida Technology Co ltd
Current assignee: Heilongjiang Huida Technology Co ltd
Priority date: 2023-11-22
Filing date: 2023-11-22
Publication date: 2024-02-27

Abstract

A CORS and CORS-based communication method, the CORS comprising: reference station, terminal equipment and portable base station. The reference station acquires GNSS satellite observation data and broadcasts the GNSS satellite observation data; the portable base station receives and broadcasts GNSS satellite observation data; the terminal equipment acquires CORS data, receives GNSS satellite observation data, determines positioning information according to the GNSS satellite observation data and the CORS data, and performs automatic driving based on the positioning information. By generating absolute positioning information by the terminal device, the reference station is not required to calculate absolute position information, thereby reducing the power consumption of the reference station.

Description

CORS and communication method based on CORS

Technical Field

Embodiments of the present application relate to communication technology, and in particular, to a continuously operating satellite positioning service system (Continuously Operating Reference Stations, CORS) and a CORS-based communication method.

Background

With the continuous development of CORS construction, the large-scale CORS network geographic area spans a large space distance, a communication link can cross operators, the problem that communication quality is poor due to the fact that obstacles exist between terminal equipment and a reference station is likely to be caused, and the problem that communication distance expansion is not convenient enough are likely to be caused.

In addition, the positioning information based on automatic driving of the terminal device in the current CORS is provided by the reference station, and the reference station needs larger power consumption in the process of acquiring the positioning information, so that the reduction of the power consumption of the reference station in the current CORS is also needed to be solved.

Therefore, how to reduce the power consumption of the reference station on the premise of improving the communication quality between the terminal device and the reference station in the CORS network is a problem to be solved.

Disclosure of Invention

The embodiment of the application provides CORS and a communication method based on the CORS, which aim to reduce the power consumption of a reference station on the premise of improving the communication quality between terminal equipment and the reference station.

In a first aspect, a CORS is provided, where the CORS includes a reference station, a terminal device, and a portable base station, where the reference station is configured to acquire GNSS satellite observation data of a global navigation satellite system, and broadcast the GNSS satellite observation data; the portable base station is used for receiving and broadcasting the GNSS satellite observation data; the terminal equipment is used for acquiring CORS data provided by a cellular network and receiving the GNSS satellite observation data; the terminal equipment is also used for determining positioning information according to the GNSS satellite observation data and the CORS data and carrying out automatic driving based on the positioning information; the terminal device is further configured to broadcast the positioning information.

The CORS provided by the application comprises the reference station, the terminal equipment and the portable base station, wherein the reference station and the portable base station are responsible for acquiring and broadcasting GNSS satellite observation data, and the terminal equipment generates positioning information (such as absolute positioning data) based on the received CORS data and the acquired GNSS satellite observation data and then performs independent broadcasting. Therefore, the terminal equipment executes the positioning source function, absolute position calculation is not needed by the reference station, the complexity of the reference station can be reduced, and the purpose of reducing the power consumption of the reference station is achieved.

With reference to the first aspect, in some implementations of the first aspect, the reference station, the terminal device, and the portable base station form a MESH network architecture, and the reference station, the terminal device, and the portable base station serve as MESH network nodes in the MESH network architecture, and wireless communication is performed between any two MESH network nodes in the MESH network architecture.

According to the method, the reference station, the terminal equipment and the portable base station in the CORS form the MESH network architecture, and any two MESH network nodes in the MESH network architecture can be in wireless communication, so that under the condition that an obstacle exists between the terminal equipment and the reference station, GNSS satellite observation data can be generated and sent to the terminal equipment through the portable base station, and the communication quality between the terminal equipment in the CORS and the reference station in the CORS is improved.

With reference to the first aspect, in certain implementation manners of the first aspect, the reference station is configured to broadcast the GNSS satellite observation data, and specifically includes: the reference station is used for broadcasting the GNSS satellite observation data through a long-range radio LORA or radio station mode.

In the CORS provided in the present application, the reference station may broadcast GNSS satellite observation data in a LORA or radio mode, so as to improve flexibility of the scheme.

With reference to the first aspect, in certain implementation manners of the first aspect, the portable base station is configured to receive the GNSS satellite observation data, and specifically includes: the portable base station is used for receiving the GNSS satellite observation data through a long-distance radio LORA or a radio station mode.

In the CORS provided in the present application, the manner in which the portable base station receives GNSS satellite observation data may be a LORA or a radio station manner, which improves flexibility of the scheme.

With reference to the first aspect, in certain implementation manners of the first aspect, the portable base station is configured to broadcast the GNSS satellite observation data, and specifically includes: the portable base station is configured to broadcast the GNSS satellite observation data based on a first frequency point, where the first frequency point is different from a second frequency point based on which the reference station broadcasts the GNSS satellite observation data.

In the CORS provided by the application, when the portable base station broadcasts the GNSS satellite observation data, a frequency hopping mode can be adopted, namely, broadcast information is continuously transmitted at another random frequency point, so that the coverage area of the GNSS satellite observation data is increased.

With reference to the first aspect, in certain implementation manners of the first aspect, the terminal device is an agricultural unmanned aerial vehicle.

In a second aspect, a communication method based on a continuously operating satellite positioning service system, CORS, is provided, the CORS comprising a reference station, a terminal device and a portable base station.

The method comprises the following steps: the reference station acquires GNSS satellite observation data of a global navigation satellite system and broadcasts the GNSS satellite observation data; the portable base station receives and broadcasts the GNSS satellite observation data; the terminal equipment acquires CORS data provided by a cellular network and receives the GNSS satellite observation data; the terminal equipment determines positioning information according to the GNSS satellite observation data and the CORS data, and performs automatic driving based on the positioning information; the terminal device broadcasts the positioning information.

With reference to the second aspect, in certain implementations of the second aspect, the reference station broadcasts the GNSS satellite observations, including: the reference station broadcasts the GNSS satellite observations by means of a long-range radio LORA or radio station.

With reference to the second aspect, in certain implementations of the second aspect, the portable base station receives the GNSS satellite observations from the reference station, including: the portable base station receives the GNSS satellite observations from the reference station by long range radio LORA or radio station.

With reference to the second aspect, in certain implementations of the second aspect, the portable base station broadcasts the GNSS satellite observations, including: the portable base station broadcasts the GNSS satellite observation data based on a first frequency point, wherein the first frequency point is different from a second frequency point based on which the reference station broadcasts the GNSS satellite observation data.

With reference to the second aspect, in certain implementations of the second aspect, the terminal device is an agricultural drone.

The technical effects of the method shown in the above second aspect and its possible designs can be referred to the technical effects in the first aspect and its possible designs.

In a third aspect, a communication device is provided. The communication device is configured to perform the method provided by the second aspect and any one of its embodiments. In particular, the communication device may comprise means and/or modules (e.g. a processing unit, a transceiver unit) for performing the method provided by the second aspect and any of its embodiments.

In one implementation, the transceiver unit of the communication device may be a transceiver, or an input/output interface. The processing unit may be at least one processor. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input/output interface may be an input/output circuit.

In another implementation, the communication device may be a chip, a system-on-chip, or a circuit. At this time, the transceiver unit may be an input/output interface, an interface circuit, an output circuit, an input circuit, a pin, a related circuit, or the like on the chip, the chip system, or the circuit; the processing unit may be at least one processor, processing circuit or logic circuit, etc.

In a fourth aspect, the present application provides a processor for performing the method provided in the second aspect.

The operations such as transmitting and acquiring/receiving, etc. related to the processor may be understood as operations such as outputting and receiving, inputting, etc. by the processor, or may be understood as operations such as transmitting and receiving by the radio frequency circuit and the antenna, if not specifically stated, or if not contradicted by actual function or inherent logic in the related description, which is not limited in this application.

In a fifth aspect, a computer-readable storage medium is provided. The computer readable storage medium stores a computer program which, when run on a communication device, causes the communication device to perform the method of any one of the implementations of the second aspect described above.

In a sixth aspect, a computer program product comprising instructions is provided. The computer program product, when run on a computer, causes the computer to perform the method provided by any one of the implementations of the second aspect described above.

In a seventh aspect, a chip is provided, where the chip includes a processor and a communication interface, and the processor reads instructions stored on a memory through the communication interface, and performs a method provided by any implementation manner of the second aspect.

Optionally, as an implementation manner, the chip further includes a memory, where the memory stores a computer program or an instruction, and the processor is configured to execute the computer program or the instruction stored on the memory, where the processor is configured to execute the method provided in any implementation manner of the second aspect.

Drawings

Fig. 1 is a schematic diagram of a CORS provided in an embodiment of the present application.

Fig. 2 is a communication method based on CORS according to an embodiment of the present application.

Fig. 3 is a schematic block diagram of a communication device 10 provided in an embodiment of the present application.

Fig. 4 is a schematic diagram of another communication device 20 according to an embodiment of the present application.

Fig. 5 is a schematic diagram of a chip system 30 according to an embodiment of the present application.

Detailed Description

In order to facilitate understanding of the embodiments of the present application, the following description is first made.

First, the term "at least one" as used herein means one or more, and the term "plurality" means two or more. In addition, in the embodiments of the present application, "first", "second", and various numerical numbers (e.g., "#1", "#2", etc.) are merely for convenience of description and are not intended to limit the scope of the embodiments of the present application. The following sequence numbers of the processes do not mean the order of execution, which should be determined by its functions and internal logic, but should not constitute any limitation on the implementation process of the embodiments of the present application, and it should be understood that the objects thus described may be interchanged where appropriate so as to be able to describe schemes other than the embodiments of the present application. In addition, in the embodiment of the present application, words such as "S210" are merely identifiers made for convenience of description, and do not limit the order of executing steps.

Second, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

Third, in the embodiments of the present application, "of", "corresponding" and "associated" may be sometimes used in combination, and it should be noted that the meaning to be expressed is consistent when the distinction is not emphasized.

Fourth, in the present examples, "in the case of …", "when …", "if …" are sometimes used in combination, it should be noted that the meaning of the expression is consistent when the distinction is not emphasized.

Fifth, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Specifically, the technical scheme of the embodiment of the application can be applied to a CORS communication system. With the rapid advancement and widespread use of global navigation satellite system (Global Navigation Satellite Systems, GNSS) (e.g., global positioning system (Global Position System, GPS)) technology, the role of GNSS in urban surveying has become increasingly important. Currently, the CORS established by using real-time kinematic (RTK) technology of multi-base station network has become one of the development hot spots of urban GNSS applications. CORS is a product of multidirectional and deep crystallization of high-tech technologies such as satellite positioning technology, computer network technology, digital communication technology and the like.

Specifically, the CORS consists of a reference station network, a data processing center, a data transmission system, a positioning navigation data broadcasting system, a user application system and the like, and the reference stations and the monitoring analysis center are connected into a whole through the data transmission system to form a special network. The five components involved in the CORS are briefly described as follows:

reference station network: consisting of reference stations (alternatively called fixed base stations, reference base stations, etc.) distributed over a range. And the system is responsible for collecting GNSS satellite observation data and transmitting the GNSS satellite observation data to a data processing center, and simultaneously providing system integrity monitoring service. Each reference station comprises a GNSS receiver, an antenna, a power supply, network equipment, a cabinet, a lightning protection system and other equipment.

And the data processing center is used for: and the control center of the system is used for receiving the data of each reference station, performing data processing to form differential positioning user data of multiple reference stations, forming a data file with a certain format and distributing the data file to users. The data processing center is a core unit of the CORS and is also a key point for realizing high-precision real-time dynamic positioning. The data processing center continuously carries out overall modeling calculation in the area according to real-time observation data acquired by each reference station for 24 hours, automatically generates a virtual reference station (comprising reference station coordinates and GNSS observation value information) corresponding to the position of the mobile station, 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 position of the mobile station in real time. The data processing center mainly comprises a server, a workstation, network transmission equipment, power equipment, data recording equipment, system security equipment and the like.

A data transmission system: the data of each reference station is transmitted to the monitoring analysis center through the optical fiber special line, and the system comprises data transmission hardware equipment and a software control module.

And (3) a data broadcasting system: the system broadcasts positioning and navigation data to users in the forms of mobile networks, ultra high frequency (Ultra High Frequency, UHF) radio stations, the Internet (Internet) and the like.

User application system: the system comprises a user information receiving system, a network type RTK positioning system, a post and rapid precise positioning system, an autonomous navigation system, a monitoring positioning system and the like. According to different application precision, the user service subsystem can be divided into a millimeter-level user system, a centimeter-level user system, a decimeter-level user system, a meter-level user system and the like; according to the application of users, the method can be divided into mapping and engineering users (in the centimeter and decimeter levels), vehicle navigation and positioning users (in the meter level), high-precision users (post-processing), meteorological users and the like.

The main communication protocol of the CORS is (Networked Transport of RTCM via Internet Protocol, NTRIP) protocol, which is a professional application layer protocol initiated by German federal mapping and geodetic office and authenticated and publicly used by the Committee of the maritime radio technology Committee (Radio Technical Commission For Maritime, RTCM). It supports a variety of data streams such as raw data, differential data, ionospheric correction information, meteorological data, etc. NTRIP realizes the transmission of GNSS differential data transmission on the Internet, adopts TCP/IP protocol based on HTTP1.1 for global navigation satellite system data transmission, and utilizes the Internet transmission and shared differential positioning correction data to support accurate positioning and navigation. The ntri is an application layer protocol, where a user connects to a central server via the internet, by way of a mobile IP network global system for mobile communications (Global System for Mobile Communications, GSM), general packet radio service (General Packet Radio Service, GPRS), universal mobile telecommunications system (Universal Mobile Telecommunications System, UMTS), etc.

CORS thoroughly changes the traditional RTK measurement operation mode, and the main advantages are as follows:

1) The initialization time is improved, and the effective working range is enlarged;

2) By adopting the continuous base station, the user can observe at any time, the use is convenient, and the working efficiency is improved;

3) The system has a perfect data monitoring system, can effectively eliminate systematic errors and cycle slip, and enhances the reliability of differential operation;

4) The user does not need to erect a reference station, so that single-machine operation is truly realized, and the cost is reduced;

5) The fixed and reliable data link communication mode is used, so that noise interference is reduced;

6) Remote internet service is provided, and data sharing is realized;

7) The application range of the GNSS in the dynamic field is enlarged, and the precise navigation of vehicles, planes and ships is facilitated;

8) Provides a new opportunity for constructing a digital city.

The CORS is not only a dynamic and continuous positioning frame reference, but also an important city infrastructure for rapidly and highly accurately acquiring space data and geographic features, can simultaneously provide highly accurate, highly reliable and real-time positioning information for a large number of users in a city area, realizes complete unification of city mapping data, and has profound influence on the acquisition and application system of a modern city basic geographic information system. The method can not only establish and maintain a reference frame for urban mapping, but also provide high-precision space and time information in real time in all weather and full automation, and becomes the basis of regional planning, management and decision. The system can also provide differential positioning information, develop new application of traffic navigation, provide high-precision, high spatial-temporal resolution, all-weather, near-real-time and continuous variable sequences of the precipitation vapor quantity, and gradually form a regional disastrous weather monitoring and forecasting system. In addition, the CORS can be used for high-precision time synchronization in a communication system and a power system, and can provide monitoring and forecasting services for ground subsidence, geological disasters, earthquakes and the like, and study and discuss the space-time evolution process of the disasters.

The CORS may be defined as one or several fixed, continuously operating GNSS reference stations, a network of modern computer, data communication and Internet (LAN/WAN) technologies, automatically providing different types of GNSS observations (carrier phases, pseudoranges), various corrections, status information and other related GNSS service items to different types, different needs, different levels of users in real time. Compared with the traditional GNSS operation, the continuous operation reference station has the advantages of wide application range, high precision, field single machine operation and the like.

At present, the working radius based on CORS is expanded to 30 km, rapid centimeter-level real-time positioning and post-differential can be realized, and the successful case of carrying out 50 km RTK test by using general packet radio service (General Packet Radio Service, GPRS) or code division multiple access (Code Division Multiple Access, CDMA) is also common.

The application mainly relates to positioning of terminal equipment based on CORS, and the terminal equipment in the embodiment of the application can refer to unmanned aerial vehicles (Unmanned Aerial Vehicle, UAVs) and vehicles. User equipment such as vehicle-mounted equipment and wearable equipment. Wherein, unmanned aerial vehicle is one kind and does not carry the unmanned aerial vehicle. Unmanned aerial vehicles are widely used and are often applied to industries such as plant protection, urban management, geology, weather, electric power, rescue and relief work, video shooting and the like. Illustratively, the drone referred to in this application may be an agricultural drone.

At present, agricultural machinery mainly needs people to drive and operate operation equipment or drive and operate through auxiliary driving, and an agricultural unmanned aerial vehicle thoroughly realizes unmanned and can intelligently and autonomously drive and carry out agricultural operation equipment such as a tractor, a rice transplanter, a harvester, a ground plant protection machine, a land leveler and the like.

From the above, the current CORS working radius has been extended to 30 km, which can be up to 40 km at most. With the continuous development of CORS construction, the large-scale CORS network geographic area spans are large, larger space distances exist between terminal equipment and reference stations and between terminal equipment and a data center, communication links can cross operators, the problem that communication quality is poor due to the fact that obstacles exist between the terminal equipment and the reference stations is likely to be caused, and the problem that communication distance expansion is not convenient enough is likely to be caused.

Therefore, how to improve the communication quality between the terminal device and the reference station in the CORS is a problem to be solved.

As can be seen from fig. 1, the CORS provided in the embodiment of the present application includes: reference stations (reference station #1 and reference station #2 shown in fig. 1), terminal devices (terminal device #1, terminal device #2, terminal device #3, and terminal device #4 shown in fig. 1), and portable base stations (portable base station #1, portable base station #2, and portable base station #3 shown in fig. 1).

It should be noted that the CORS shown in fig. 1 is only an example, and the protection scope of the present application is not limited in any way, for example, the number of reference stations included in the CORS in the embodiment of the present application may be at least one, the number of terminal devices may be at least one, and the number of portable base stations may be at least one, and the numbers of reference stations, terminal devices, and portable base stations included in the CORS in fig. 1 are only examples. For example, the CORS may further include a data processing center, a data transmission system, a positioning navigation data broadcasting system, a user application system, etc., or other components, which are not described in detail herein.

In addition, it should be noted that, in the present application, the names of the devices and/or modules are not limited, and the reference station may also be called a fixed base station, a first base station, etc., and the devices or modules capable of implementing the reference station function in the present application are all within the protection scope of the present application. Similarly, the above-mentioned portable base station may also be called an auxiliary base station, a relay base station, a second base station, etc., and the devices or modules capable of implementing the functions of the portable base station in the present application are all within the protection scope of the present application.

Specifically, the reference station shown in fig. 1 is used to acquire GNSS satellite observations and broadcast the GNSS satellite observations. Specifically, the reference station is used for acquiring GNSS satellite observation data through the reference station.

Illustratively, the reference station is configured to broadcast GNSS satellite observations, and specifically comprises: and the reference station is used for broadcasting GNSS satellite observation data through Long Range Radio (LORA) or Radio mode.

Specifically, the portable base station shown in fig. 1 is configured to receive GNSS satellite observations from a reference station and broadcast the GNSS satellite observations.

Illustratively, the portable base station is configured to receive GNSS satellite observations, and specifically includes: the portable base station is used for receiving GNSS satellite observation data through a long-distance radio LORA or radio station mode.

Illustratively, the portable base station is configured to broadcast GNSS satellite observations, and specifically includes: the portable base station is used for broadcasting GNSS satellite observation data based on a first frequency point, wherein the first frequency point is different from a second frequency point based on which the reference station broadcasts the GNSS satellite observation data. For example, after the reference station broadcasts the GNSS satellite observation data based on the second frequency point, the portable base station broadcasts positioning information at another random frequency point (e.g., the first frequency point) by adopting a frequency hopping manner after receiving the GNSS satellite observation data broadcast at the second frequency point, so as to increase the coverage area of the GNSS satellite observation data.

Specifically, the terminal device shown in fig. 1 is configured to receive GNSS satellite observation data. For example, the terminal device is configured to receive GNSS satellite observations from the reference station and/or the portable base station by a LORA or station method.

Further, the terminal device shown in fig. 1 may acquire positioning information as a positioning source and broadcast. The terminal equipment is also used for acquiring CORS data provided by the cellular network.

Illustratively, the CORS data referred to in the embodiments of the present application is information related to positioning provided by the 4G network, and the specific form and content are not limited.

In the present application, how the terminal device obtains the cor data is not limited, for example, the terminal device reports the cor data to the network side GGA to obtain the RTCM data (i.e., the cor data) of the network side. Alternatively, the terminal device may receive the CORS data from the 4G network through the 4G communication module. Alternatively, the terminal device may also obtain the CORS data via a New Radio (NR) (or fifth generation mobile communication technology (5G)). Optionally, the terminal device may also obtain the CORS data via a dedicated data satellite.

Further, the terminal device shown in fig. 1 is further configured to determine and broadcast positioning information according to the CORS data and GNSS satellite observation data, where the positioning information is used as reference data for automatic driving of the terminal device. For example, the positioning information calculated by the terminal device in the present application may also be referred to as absolute position information or accurate position information.

It should be understood that detailed description is not made in this application on how the terminal device determines the positioning information. For example, after acquiring GNSS satellite observation data and CORS data, the terminal device processes the GNSS satellite observation data and the CORS data according to a pre-configured processing manner to obtain positioning information.

In the embodiment of the present application, the manner in which the terminal device determines the positioning information based on the GNSS satellite observation data and the CORS data is not limited. For example, the terminal device uses the CORS data and the GNSS satellite observation data to make a differential algorithm, removes the position error, and calculates the accurate positioning information.

The terminal device is illustratively an agricultural drone.

Further, the reference station, the terminal device and the portable base station included in the CORS form a multi-hop MESH network architecture. The reference station, the terminal equipment and the portable base station are used as MESH network nodes in the MESH network architecture, any two MESH network nodes in the MESH network architecture are in wireless communication, and the MESH network nodes are used for sending or receiving positioning information.

For ease of understanding, the MESH network referred to in the embodiments of the present application is briefly described as follows:

the MESH network, i.e., the "wireless MESH network", is a "multi-hop" network, developed from ad hoc networks, and is one of the key technologies for solving the "last kilometer" problem. In the evolution towards the next generation network, wireless is an indispensable technology. The wireless MESH can cooperatively communicate with other networks, is a dynamic network architecture which can be continuously expanded, and any two devices in the MESH network can be kept interconnected.

The MESH network comprises two different networking modes, namely wireless networking and wired networking, wherein the wireless networking is realized by wireless connection among devices, and the arrangement of the device positions is not limited by wiring; the wired networking is that the devices are connected through network cables, the wired MESH networking mode is more stable than the wireless MESH networking mode, but the wireless MESH networking mode is more free and attractive in arrangement than the wired MESH networking mode.

Wireless MESH networks are similar in network topology to mobile Ad hoc networks, but most nodes of the network are in a stationary or weakly mobile state with little topology change. The wireless MESH network mainly carries business from and to the Internet gateway, and a small amount of business flow between any pair of nodes. Wireless MESH networks have unique advantages in broadband access, improved network coverage, low cost construction, etc., and are considered to be a wireless version of the next generation internet. These features and advantages are well suited as network architecture for communication between reference stations, terminal devices and portable base stations in the CORS.

The MESH network built on the wireless local area network (Wireless Local Area Network, WLAN) link is called WLAN MESH, and mainly consists of gateway nodes (Mesh Portal Point, MPP), access points (Mesh Access Point, MAP) and MESH routers (MP). The WLAN MESH also has the advantages of wide coverage, easy expansion, robustness and the like of the MESH network while inheriting the characteristics of low cost, wide deployment and the like of the WLAN network.

It should be understood that, in this application, only the reference station, the terminal device and the portable base station in the CORS are defined as the MESH node in the MESH network, but the specific composition manner of the MESH network is not limited, and reference may be made to the description about the MESH network construction in the prior art, for example, the reference station is used as a parent node in the MESH network, the terminal device and the portable base station are used as child nodes in the MESH network, and the parent node and the child nodes communicate through the MESH network. In this application, an arbitrary two devices in a MESH network are mainly described as an example of maintaining interconnection in a wireless manner.

It should be noted that, since the portable base station is added in the CORS, and the reference station, the terminal device and the portable base station in the CORS form a multi-hop MESH network architecture, the transmitting power of the reference station can be reduced, and the communication overhead of the reference station is reduced. For example, in the prior art, the distance between the reference station and the terminal device is 30 km, and if the reference station needs to communicate with the terminal device, the reference station sends a signal to the terminal device with a power P; in the present application, however, the reference station may transmit a signal to the terminal device through the portable base station due to the presence of the portable base station, reducing the transmission power.

In addition, the reference station, the terminal equipment and the portable base station in the CORS are used as the MESH nodes in the MESH networking, and the specific networking mode is not limited, so that the communication is more flexible.

By the networking mode, the problem of poor communication quality caused by the existence of barriers between the terminal equipment and the reference station can be avoided, and the coverage area of the CORS network is increased. In addition, the terminal equipment executes the function of the positioning source to play the calculation method of the positioning information, so that the reference station can be free from calculating the positioning information, and the complexity of the reference station is reduced.

In this application, the coverage of the differential signal may be realized through the MESH network, and compared with the traditional MESH network, the traditional MESH network may realize the coverage of the WiFi signal.

By way of example and not limitation, the terminal device shown in fig. 1 is an agricultural drone. That is, the CORS provided by the application can be applied to real-time positioning of the agricultural unmanned aerial vehicle so as to assist the agricultural unmanned aerial vehicle to automatically drive.

It should be noted that, in the present application, how to perform automatic driving after the agricultural unmanned aerial vehicle acquires the real-time positioning information is not limited, and reference may be made to a description of automatic driving based on the positioning information in the related art of unmanned aerial vehicle in the prior art. For example, the real-time positioning signal is used as input information, the target position is used as output information, and the driving device of the agricultural unmanned aerial vehicle is controlled to realize automatic driving.

From the above, the terminal device in this embodiment may be used as a positioning source to implement the function of calculating and broadcasting positioning information. For example, the terminal device is an unmanned aerial vehicle with cruise tour inspection function, the flight time is long, the unmanned aerial vehicle can work in a certain area, after the unmanned aerial vehicle obtains positioning information, the positioning information can be provided for other devices in the area, and the other devices in the area are assisted to automatically drive.

The composition of the CORS provided in the present application, and the networking manner and communication manner among the reference station, the terminal device and the portable base station in the CORS are described in detail above with reference to fig. 1, and the communication method based on the CORS shown in fig. 1 provided in the present application will be described in detail below with reference to fig. 2.

In the following, without loss of generality, fig. 2 illustrates in detail the CORS-based communication method provided in the embodiments of the present application by taking interactions among reference stations, terminal devices and portable base stations in the CORS as an example, where reference stations referred to in fig. 2 may be reference stations described in fig. 1, terminal devices may be terminal devices described in fig. 1, and portable base stations may be portable base stations described in fig. 1.

It should be understood that the embodiments shown below are not particularly limited to the specific structure of the execution body of the method provided in the embodiments of the present application, as long as the communication can be performed in the method provided in accordance with the embodiments of the present application by running the program recorded with the code of the method provided in the embodiments of the present application, and for example, the execution body of the method provided in the embodiments of the present application may be a reference station, a terminal device, and a portable base station, or may be functional modules in the reference station, the terminal device, and the portable base station that can call the program and execute the program.

Fig. 2 is a schematic flowchart of a communication method based on CORS according to an embodiment of the present application, where the description related to CORS may refer to the description about CORS in fig. 1, and will not be repeated here.

Specifically, the communication method includes the steps of:

s210, the reference station acquires GNSS satellite observation data.

Illustratively, the reference station may acquire GNSS satellite observations by itself. In this embodiment, the specific manner of acquiring the GNSS satellite observation data by the reference station is not limited, and reference may be made to the manner of acquiring the GNSS satellite observation data by the reference station in the CORS in the prior art.

Further, after the reference station obtains the GNSS satellite observation data in this embodiment, the GNSS satellite observation data may be broadcast in the MESH network by a communication module (e.g., a LORA or a radio communication module), so that the portable base station in the MESH network may receive the GNSS satellite observation data, and the method flow shown in fig. 2 further includes:

s220, the reference station broadcasts GNSS satellite observation data.

The reference station may broadcast GNSS satellite observations through its own communication module (e.g., a LORA or station communication module).

S230, the portable base station receives and broadcasts GNSS satellite observation data.

Illustratively, the portable base station may receive GNSS satellite observations broadcast by the reference station via its own communication module (e.g., LORA or station communication module).

Further, the portable base station may broadcast the received GNSS satellite observations through its own communication module (e.g., LORA or radio communication module).

Optionally, the portable base station broadcasts the GNSS satellite observation data based on a first frequency point, which is different from a second frequency point on which the reference station broadcasts the GNSS satellite observation data.

S240, the terminal equipment acquires CORS data and receives GNSS satellite observation data.

As a possible implementation, the terminal device may obtain the CORS data through a cellular network.

As another possible implementation, the terminal device may obtain the CORS data through the new wireless network.

As yet another possible implementation, the terminal device may acquire the CORS data via a dedicated data satellite.

It should be understood that the above possible implementation manner of obtaining the CORS data by the terminal device is merely an example, and the protection scope of the present application is not limited in any way, and the CORS data may also be obtained in other manners. The present application is not limited in this regard.

The terminal device may, for example, receive GNSS satellite observations via its own communication module (e.g., a LORA or station communication module).

After the terminal device obtains the GNSS satellite observation data and the CORS data, the positioning information may be determined according to the GNSS satellite observation data and the CORS data, and the method flow shown in fig. 2 further includes:

s250, the terminal equipment determines positioning information according to the GNSS satellite observation data and the CORS data.

Illustratively, after the terminal device acquires the GNSS satellite observations and the CORS data, the GNSS positioning information may be determined.

For example, the terminal device uses the CORS data and the GNSS satellite observation data to make a differential algorithm, removes the position error, and calculates the accurate positioning information.

It should be noted that, in this embodiment, how the terminal device determines the positioning information based on the acquired GNSS satellite observation data and the cor data is not limited, and reference may be made to a description in the prior art regarding a manner of determining the accurate positioning information based on the GNSS satellite observation data and the cor data.

After determining the positioning information, the terminal device may broadcast the positioning information in the MESH network formed by the reference station, the terminal device and the portable base station, and the method shown in fig. 2 further includes:

S260, the terminal device broadcasts the positioning information.

The terminal device broadcasts the positioning information, for example, by means of a long-range radio LORA or radio station. Or, the terminal device may broadcast the positioning information in the MESH network by other broadcasting methods, which is not limited in the method for broadcasting the positioning information by the terminal device.

As a possible implementation manner, the terminal device may broadcast the positioning information in a frequency hopping manner, i.e. by selecting another random frequency point, so that other MESH network nodes in the MESH network can receive the positioning information. For example, positioning information transmitted by a terminal device is received by other terminal devices.

And S270, the terminal equipment realizes automatic driving according to the positioning information.

Specifically, after the terminal device determines the positioning information, automatic driving can be further achieved according to the received positioning information. For example, the terminal device will determine the current position from the received positioning information and determine the move-to-direction in combination with the destination position information.

It should be understood that there is no limitation in this embodiment as to how the terminal device realizes automatic driving based on the positioning information.

In the embodiment shown in fig. 2, if the communication quality is poor due to the existence of an obstacle between the reference station and the terminal device during the process of broadcasting the positioning information by the reference station, the positioning information can be generated and transmitted to the terminal device through the portable base station, so that the communication quality between the terminal device in the CORS and the reference station in the CORS is improved. In addition, in the technical scheme, the reference station is responsible for acquiring and broadcasting GNSS satellite observation data, and the terminal equipment generates positioning information (such as absolute positioning data) based on the received GNSS satellite observation data and the acquired CORS data and then performs independent broadcasting. Therefore, the complexity of the reference station can be reduced, and the purpose of reducing the power consumption of the reference station is achieved.

It should be understood that the sequence numbers of the above processes do not mean the order of execution, and the execution order of the processes should be determined by the functions and internal logic of the processes, and should not constitute any limitation on the implementation process of the embodiments of the present application.

It is also to be understood that in the various embodiments of the application, terms and/or descriptions of the various embodiments are consistent and may be referenced to one another in the absence of a particular explanation or logic conflict, and that the features of the various embodiments may be combined to form new embodiments in accordance with their inherent logic relationships.

It will be appreciated that in the various method embodiments described above, the methods and operations performed by the devices (e.g., reference station, terminal device, and portable base station) may also be performed by components (e.g., chips or circuits) that may be used in the devices.

It will be further appreciated that in the embodiments of the present application, the interaction between the reference station, the terminal device and the portable base station is mainly exemplified, and the present application is not limited thereto, and the reference station may be replaced by the first device; the portable base station may be replaced with a second device.

It will also be appreciated that some optional features of the various embodiments of the application may, in some circumstances, be independent of other features, or may, in some circumstances, be combined with other features, without limitation.

In the above, the communication method based on the continuous operation satellite positioning service system CORS provided in the embodiment of the present application is described in detail with reference to fig. 2. The communication method based on the continuous operation satellite positioning service system CORS is mainly introduced from the interactive angle among the reference station, the terminal equipment and the portable base station. It will be appreciated that the reference station, the terminal device and the portable base station comprise, in order to achieve the above-described functions, corresponding hardware structures and/or software modules for performing the respective functions.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The following describes in detail the communication device provided in the present application with reference to fig. 3 to 5. It should be understood that the descriptions of apparatus embodiments and the descriptions of method embodiments correspond to each other. Therefore, reference may be made to the above method embodiments for details, and some of these are not described again for brevity.

The embodiment of the application may divide the function modules of the transmitting end device or the receiving end device according to the above method example, for example, each function module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation. The following description will take an example of dividing each functional module into corresponding functions.

Fig. 3 is a schematic block diagram of a communication device 10 provided in an embodiment of the present application. The device 10 comprises a transceiver module 11 and a processing module 12. The transceiver module 11 may implement a corresponding communication function, the processing module 12 is configured to perform data processing, or the transceiver module 11 is configured to perform operations related to reception and transmission, and the processing module 12 is configured to perform operations other than reception and transmission. The transceiver module 11 may also be referred to as a communication interface or a communication unit.

Optionally, the apparatus 10 may further include a storage module 13, where the storage module 13 may be configured to store instructions and/or data, and the processing module 12 may read the instructions and/or data in the storage module, so that the apparatus implements the actions of the devices in the foregoing method embodiments.

In one design, the apparatus 10 may correspond to the reference station in the method embodiments above, or may be a component (e.g., a chip) of the reference station.

The apparatus 10 may implement steps or processes corresponding to those performed by the reference station in the above method embodiments, where the transceiver module 11 may be configured to perform operations related to the transceiver of the reference station in the above method embodiments, and the processing module 12 may be configured to perform operations related to the processing of the reference station in the above method embodiments.

In one possible implementation, the transceiver module 11 is configured to acquire GNSS satellite observation data and broadcast the GNSS satellite observation data. The processing module 12 is configured to form a MESH network architecture with the terminal device and the portable base station, and serve as MESH network nodes in the MESH network architecture, and wirelessly communicate between any two MESH network nodes in the MESH network architecture.

When the apparatus 10 is used for executing the method in fig. 2, the transceiver module 11 may be used for executing the steps of receiving and transmitting information in the method, as shown in step S220; the processing module 12 may be used to perform the processing steps in the method, as in step S210.

It should be understood that the specific process of each unit performing the corresponding steps has been described in detail in the above method embodiments, and is not described herein for brevity.

In another design, the apparatus 10 may correspond to the portable base station of the above method embodiments, or may be a component (e.g., a chip) of the portable base station.

The apparatus 10 may implement steps or processes corresponding to those performed by the portable base station in the above method embodiment, where the transceiver module 11 may be configured to perform operations related to the transceiver of the portable base station in the above method embodiment, and the processing module 12 may be configured to perform operations related to the processing of the portable base station in the above method embodiment.

In one possible implementation, the transceiver module 11 is configured to receive and broadcast GNSS satellite observations. The processing module 12 is configured to form a MESH network architecture with the terminal device and the reference station, and serve as MESH network nodes in the MESH network architecture, and wirelessly communicate between any two MESH network nodes in the MESH network architecture.

When the apparatus 10 is used for executing the method in fig. 2, the transceiver module 11 may be used for executing steps of receiving and transmitting information in the method, as shown in steps S220 and S230; the processing module 12 may be used to perform processing steps in a method.

In yet another design, the apparatus 10 may correspond to the terminal device in the above method embodiment, or may be a component part (e.g., a chip) of the terminal device.

The apparatus 10 may implement steps or processes performed by a terminal device in the above method embodiment, where the transceiver module 11 may be configured to perform operations related to the transceiver of the terminal device in the above method embodiment, and the processing module 12 may be configured to perform operations related to the processing of the terminal device in the above method embodiment.

In one possible implementation, the transceiver module 11 is configured to acquire CORS data and receive GNSS satellite observations. The processing module 12 is configured to determine positioning information according to the GNSS satellite observation data and the CORS data, and perform autopilot based on the positioning information. And a processing module 12, configured to perform automatic driving according to the positioning information. The processing module 12 is configured to form a MESH network architecture with the reference station and the portable base station, and serve as MESH network nodes in the MESH network architecture, and wirelessly communicate between any two MESH network nodes in the MESH network architecture.

When the apparatus 10 is used for executing the method in fig. 2, the transceiver module 11 may be used for executing steps of receiving and transmitting information in the method, as shown in steps S230 and S260; the processing module 12 may be used to perform the processing steps in the method, as in steps S240, S250 and S260.

It should also be appreciated that the apparatus 10 herein is embodied in the form of functional modules. The term module herein may refer to an application specific integrated circuit (application specific integrated circuit, ASIC), an electronic circuit, a processor (e.g., a shared, dedicated, or group processor, etc.) and memory that execute one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that support the described functionality. In an alternative example, it will be understood by those skilled in the art that the apparatus 10 may be specifically configured as the reference station, the terminal device, and the portable base station in the foregoing embodiments, and may be used to perform the respective processes and/or steps corresponding to the reference station, the terminal device, and the portable base station in the foregoing method embodiments, which are not repeated herein.

The transceiver module 11 may be a transceiver circuit (for example, may include a receiving circuit and a transmitting circuit), and the processing module may be a processing circuit.

Fig. 4 is a schematic diagram of another communication device 20 according to an embodiment of the present application. The apparatus 20 comprises a processor 21, the processor 21 being arranged to execute computer programs or instructions stored in a memory 22 or to read data/signalling stored in the memory 22 for performing the methods of the method embodiments above. Optionally, the processor 21 is one or more.

Optionally, as shown in fig. 4, the apparatus 20 further comprises a memory 22, the memory 22 being for storing computer programs or instructions and/or data. The memory 22 may be integrated with the processor 21 or may be provided separately. Optionally, the memory 22 is one or more.

Optionally, as shown in fig. 4, the apparatus 20 further comprises a transceiver 23, the transceiver 23 being used for receiving and/or transmitting signals. For example, the processor 21 is configured to control the transceiver 23 to receive and/or transmit signals.

As an alternative, the apparatus 20 is configured to implement the operations performed by the reference station, the terminal device, and the portable base station in the above method embodiments.

Fig. 5 is a schematic diagram of a chip system 30 according to an embodiment of the present application. The system-on-chip 30 (or may also be referred to as a processing system) includes logic circuitry 31 and an input/output interface 32.

The logic circuit 31 may be a processing circuit in the chip system 30. Logic circuitry 31 may be coupled to the memory unit to invoke instructions in the memory unit so that system-on-chip 30 may implement the methods and functions of the various embodiments of the present application. The input/output interface 32 may be an input/output circuit in the chip system 30, and outputs information processed by the chip system 30, or inputs data or signaling information to be processed into the chip system 30 for processing.

As an alternative, the chip system 30 is used to implement the operations performed by the reference station, the terminal device, and the portable base station in the various method embodiments above.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such 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, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in 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 (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A continuous operation satellite positioning service system, CORS, comprising:

a reference station, a terminal device and a portable base station,

the reference station is used for acquiring GNSS satellite observation data of a global navigation satellite system and broadcasting the GNSS satellite observation data;

the portable base station is used for receiving and broadcasting the GNSS satellite observation data;

the terminal equipment is used for acquiring CORS data provided by a cellular network and receiving the GNSS satellite observation data;

the terminal equipment is also used for determining positioning information according to the GNSS satellite observation data and the CORS data and carrying out automatic driving based on the positioning information;

the terminal equipment is also used for broadcasting the positioning information.

2. The CORS according to claim 1, characterized in that said reference station is adapted to broadcast said GNSS satellite observations, in particular comprising:

the reference station is used for broadcasting the GNSS satellite observation data through a long-distance radio LORA or a radio station mode.

3. The CORS according to claim 1 or 2, wherein the portable base station is configured to receive the GNSS satellite observations, and in particular comprises:

the portable base station is used for receiving the GNSS satellite observation data through a long-distance radio LORA or a radio station mode.

4. The CORS according to claim 1 or 2, characterized in that said portable base station is adapted to broadcast said GNSS satellite observations, in particular comprising:

the portable base station is configured to broadcast the GNSS satellite observation data based on a first frequency point, where the first frequency point is different from a second frequency point on which the reference station broadcasts the GNSS satellite observation data.

5. A CORS according to claim 1 or 2, wherein the terminal device is an agricultural unmanned aerial vehicle.

6. A CORS according to claim 1 or 2, wherein the reference station, the terminal device and the portable base station form a MESH network architecture, the reference station, the terminal device and the portable base station acting as MESH network nodes in the MESH network architecture, any two MESH network nodes in the MESH network architecture communicating wirelessly.

7. A communication method based on continuous operation satellite positioning service system CORS, characterized in that the CORS comprises a reference station, a terminal device and a portable base station,

the method comprises the following steps:

the reference station acquires GNSS satellite observation data of a global navigation satellite system and broadcasts the GNSS satellite observation data;

The portable base station receives and broadcasts the GNSS satellite observation data;

the terminal equipment acquires CORS data provided by a cellular network and receives the GNSS satellite observation data;

the terminal equipment determines positioning information according to the GNSS satellite observation data and the CORS data, and performs automatic driving based on the positioning information;

the terminal device broadcasts the positioning information.

8. The method of claim 7, wherein the reference station broadcasting the GNSS satellite observations comprises:

the reference station broadcasts the GNSS satellite observations by long range radio LORA or radio station.

9. The method of claim 7 or 8, wherein the portable base station receiving the GNSS satellite observations from the reference station comprises:

the portable base station receives the GNSS satellite observations from the reference station by long range radio, LORA, or radio station.

10. The method according to claim 7 or 8, wherein the portable base station broadcasting the GNSS satellite observations comprises:

the portable base station broadcasts the GNSS satellite observation data based on a first frequency point, wherein the first frequency point is different from a second frequency point based on which the reference station broadcasts the GNSS satellite observation data.