CN117615324A

CN117615324A - CORS and communication method based on CORS

Info

Publication number: CN117615324A
Application number: CN202311563641.3A
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

The application provides a CORS and a communication method based on the CORS, wherein the CORS comprises the following steps: the base station comprises a reference station, terminal equipment and a portable base station, wherein the portable base station comprises a LORA module or a radio station communication module, a cellular network communication module and a positioning module. The reference station is used for acquiring GNSS satellite observation data and CORS data and broadcasting positioning information. The portable base station is used for receiving the positioning information in a LORA or radio station mode and broadcasting the positioning information; the terminal device is used for receiving the positioning information and carrying out automatic driving on the basis of the positioning information, and the cellular network communication module and the positioning module in the portable base station are in a closed state. On the premise of not influencing the forwarding of the positioning information by the portable base station, closing part of modules in the portable base station to achieve the purpose of saving electricity.

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 the construction of the CORS, the large-scale CORS network has a large geographical area span, and a reference station and a portable base station simultaneously exist in the large-scale CORS, and the reference station and the portable base station broadcast positioning information so as to assist terminal equipment in the large-scale CORS to realize automatic driving. In order to improve the information transmission performance of the portable base station, the portable base station can realize information receiving and/or transmitting through different communication modes, wherein the different communication modes need to be realized through different communication modules. In the scenario that both the reference station and the portable base station transmit positioning information, how to reduce the transmission power consumption of the portable base station is a problem to be solved.

Disclosure of Invention

The embodiment of the application provides CORS and a communication method based on the CORS, so as to improve the communication quality between terminal equipment and a reference station in the CORS and reduce the power consumption of the equipment.

In a first aspect, there is provided a CORS comprising a reference station, a terminal device and a portable base station, the portable base station comprising a remote radio LORA module or a radio station communication module, the portable base station further comprising a cellular network communication module, the reference station being configured to obtain GNSS satellite observations and the CORS data provided by the cellular network, determine and broadcast positioning information, the positioning information being determined based on the GNSS satellite observations and the CORS data; the portable base station is used for receiving the positioning information in a LORA or radio station mode and broadcasting the positioning information; the terminal device is configured to obtain the positioning information, and perform automatic driving based on the positioning information, where a cellular network communication module in the portable base station is in a closed state.

The CORS provided by the application comprises the reference station, the terminal equipment and the portable base station, wherein the portable base station comprises the communication modules supporting a plurality of different communication modes, and when the portable base station receives and broadcasts information in a LORA or radio mode, the cellular network communication module in the portable base station can be closed to enter a power saving mode, so that the power consumption is saved.

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, positioning information can be forwarded 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 positioning information, and specifically includes: the reference station is used for broadcasting the positioning information by means of a long-range radio LORA or radio station.

In the CORS provided in the present application, the mode of broadcasting the positioning information by the reference station may be a LORA or a radio station mode, so as to improve flexibility of the scheme.

With reference to the first aspect, in certain implementation manners of the first aspect, the terminal device includes a LORA module or a radio station communication module, the terminal device further includes a cellular network communication module, and the terminal device is configured to receive the positioning information specifically includes: the terminal equipment is used for receiving the positioning information in a LORA or radio station mode, wherein a cellular network communication module in the terminal equipment is in a closed state.

In the CORS provided in the present application, the terminal device includes a communication module supporting multiple different communication modes, and when the terminal device receives information by using a LORA or a radio station mode, the cellular network communication module in the terminal device may be turned off, and enter a power saving mode, so as to save power consumption.

With reference to the first aspect, in certain implementation manners of the first aspect, the portable base station is further configured to shut down the cellular network communication module in a case where the positioning information is stably received by a LORA or a radio station.

In the CORS provided in the present application, if the portable base station can stably receive the information sent by the reference station through the LORA or the radio station, for example, stably receive the positioning information through the LORA or the radio station for 15 minutes (the determination condition may be the received signal quality, white noise, signal-to-noise ratio, etc.), the cellular network communication module is turned off. The cellular network communication module is closed on the premise of stable reception, so that the information is ensured to be received.

With reference to the first aspect, in certain implementations of the first aspect, the portable base station further includes a positioning module, and in the case that the portable base station is operating to forward positioning information from the reference station, the portable base station is further configured to turn off the positioning module.

In the CORS provided by the application, if the portable base station works in the information forwarding mode, namely no further processing of the positioning information is performed, and only the received positioning information is forwarded, the portable base station can close the positioning module, so that the power consumption is further reduced.

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 continuous operation satellite positioning service system CORS is provided, where the CORS includes a reference station, a terminal device, and a portable base station, where the portable base station includes a long-range radio LORA module or a radio station communication module, and where a cellular network communication module in the portable base station is in a closed state.

The method comprises the following steps: the reference station acquires GNSS satellite observation data of a global navigation satellite system and CORS data provided by a cellular network; the reference station determines positioning information according to the GNSS satellite observation data and the CORS data and broadcasts the positioning information; the portable base station receives the positioning information from the reference station in a LORA or radio station mode and broadcasts the positioning information; the terminal device receiving the positioning information from the reference station and/or the portable base station; and the terminal equipment performs automatic driving according to the positioning information.

With reference to the second aspect, in certain implementations of the second aspect, the reference station broadcasts the positioning information, including: the reference station broadcasts the positioning information 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 terminal device includes a LORA module or a station communication module, the terminal device further includes a cellular network communication module, and the terminal device receiving the positioning information includes: the terminal equipment receives the positioning information in a LORA or radio station mode, wherein a cellular network communication module in the terminal equipment is in a closed state.

With reference to the second aspect, in some implementations of the second aspect, the portable base station shuts down the cellular network communication module if the location information is stably received by a LORA or a radio.

With reference to the second aspect, in certain implementations of the second aspect, the portable base station further includes a positioning module, and in the case that the portable base station is operating to forward positioning information from the reference station, the method further includes: the portable base station shuts down the positioning module.

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, the number of portable base stations may also 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 configured to acquire GNSS satellite observation data and CORS data provided by a cellular network, determine and broadcast positioning information, which is determined based on the acquired GNSS satellite observation data and the CORS data, and serve as reference data for automatic driving by a terminal device. For example, the positioning information calculated by the reference station in the present application may also be referred to as absolute position information, or accurate position information.

It should be understood that detailed description of how the reference station determines the positioning information is not provided in this application. For example, after the reference station acquires the GNSS satellite observation data and the CORS data, the positioning information is obtained by processing according to a pre-configured processing mode of the GNSS satellite observation data and the CORS data. In the embodiment of the present application, the manner in which the reference station determines the positioning information based on the GNSS satellite observation data and the CORS data is not limited, and the manner in which the reference station determines the positioning information based on the GNSS satellite observation data and the CORS data in the prior art may be referred to. For example, the reference station reports GGA data to the network side, acquires RTCM data of the network side, and calculates absolute position information (or referred to as positioning information) by integrating the acquired RTCM data. For example, the reference station calculates accurate positioning information by performing a differential algorithm using RTCM data and GNSS satellite observation data, and removing a position error.

Illustratively, the reference station is configured to acquire GNSS satellite observation data and CORS data, and specifically includes: the reference station is used for acquiring GNSS satellite observation data through the reference station and acquiring CORS data through a cellular network. The cellular network may be a fourth generation mobile communication technology (4G) cellular network, among others. Alternatively, the reference station may be used to acquire CORS data via a New Radio (NR), or fifth generation mobile communication technology (5G).

It should be understood that the above-mentioned manner of acquiring GNSS satellite observations and CORS data by the reference station is merely an example, and the scope of protection of the present application is not limited in any way.

As a possible implementation manner, the reference station may report the positioning information to the network side after acquiring the positioning information, for example, if the terminal side can receive the 4G network signal, the positioning information of the reference station may also be received through the 4G network.

As another possible implementation, the positioning information may not be reported, for example, directly sent to the terminal via the LORA/station for data reference.

In the application, a mode that the reference station does not report positioning information is mainly introduced to provide the positioning information for the terminal equipment. Illustratively, the reference station is configured to broadcast positioning information, and specifically includes: a reference station for broadcasting positioning information by means of a long-range radio LORA or radio station.

Specifically, the portable base station shown in fig. 1 includes a plurality of modules supporting different communication modes, for example, a LORA module or a radio station communication module, and further includes a cellular network communication module. The LORA module or the radio station communication module supports LORA or radio station mode information receiving and transmitting, and the cellular network communication module supports information receiving and transmitting through a 4G network.

Illustratively, the portable base station is configured to receive positioning information from the reference station by a LORA or station, and to broadcast the received positioning information.

Therefore, the cellular network communication module in the portable base station can be in a closed state, so that the purpose of saving electricity is achieved.

As a possible implementation, the portable base station may switch off the cellular network communication module after a period of time after stable reception of information by the LORA module or the station communication module. To avoid failure to receive the information.

For example, if the portable base station can stably receive positioning information transmitted from the reference station through the LORA or the radio station in the case where the 4G network is unstable or absent, such as stable reception for 15 minutes (the decision condition may be reception signal quality, white noise, signal-to-noise ratio, etc.), the cellular network communication module (or referred to as the 4G module) is turned off, the portable base station enters an absolute positioning mode and transmits broadcast information.

Optionally, the portable base station further comprises a positioning module, the portable base station further being adapted to shut down the positioning module in case the portable base station is operating to forward positioning information from the reference station.

For example, if the portable base station can stably receive positioning information transmitted from the reference station through the LORA or the radio station in the case where the 4G network is unstable or absent, such as stable reception for 15 minutes (the decision condition may be received signal quality, white noise, signal to noise ratio, etc.), the cellular network communication module and the positioning module are turned off, and a forwarding mode is entered, that is, positioning information from the reference station is transmitted.

Also for example, if the portable base station can stably receive positioning information from the reference station via the LORA or radio, the cellular network communication module and the positioning module can be turned off and the forwarding mode entered, even if the 4G network is stable.

Illustratively, the portable base station is configured to broadcast positioning information, and specifically includes: and the portable base station is used for broadcasting positioning information based on the first frequency point, wherein the first frequency point is different from the second frequency point based on which the reference station broadcasts the positioning information. For example, after the reference station broadcasts the positioning information based on the second frequency point, the portable base station adopts a frequency hopping mode, that is, continues to transmit the broadcast information at another random frequency point (for example, the first frequency point) after receiving the positioning information broadcast on the second frequency point, so as to improve the coverage area of the positioning information.

Specifically, the terminal device shown in fig. 1 is configured to acquire positioning information and perform automatic driving based on the positioning information.

Optionally, the terminal device includes a plurality of modules supporting different communication modes, for example, including a LORA module or a radio station communication module, and further includes a cellular network communication module.

The terminal device is configured to obtain positioning information, and specifically includes: and the terminal equipment is used for receiving the positioning information through a long-distance radio LORA or radio station mode. Therefore, the cellular network communication module in the terminal equipment can be in a closed state, so that the purpose of saving electricity is achieved.

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 the technical scheme of the application, because of adopting the MESH network architecture, the communication flow of the data processing center, the reference station, the terminal equipment and the portable base station also changes, so that the NTRIP protocol based on the CORS needs to be optimized under the network architecture.

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.

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 and CORS data.

Illustratively, the reference station may acquire GNSS satellite observations by itself.

As one possible implementation, the reference station may acquire the CORS data through a cellular network.

As another possible implementation, the reference station may acquire the CORS data in the new wireless network.

It should be understood that the possible implementation manner of acquiring the GNSS satellite observation data and the CORS data by the reference station is only an example, and the scope of protection of the present application is not limited in any way, and the GNSS satellite observation data and the CORS data may be acquired in other manners. The present application is not limited in this regard.

Further, after the reference station obtains the GNSS satellite observation data and the CORS data, 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:

s220, the reference station determines positioning information according to the GNSS satellite observation data and the CORS data.

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

For example, the reference station reports GGA data to the network side, acquires RTCM data (i.e., CORS data) at the network side, and then calculates absolute position information (or referred to as positioning information) comprehensively. For example, the reference station uses RTCM data and GNSS satellite observations to make a differential algorithm to remove the position error and calculate the accurate positioning information.

It should be noted that, in this embodiment, how the reference station 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 the description of the manner of determining the accurate positioning information based on the GNSS satellite observation data and the cor data in the prior art.

After determining the positioning information, the reference station 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:

s230, the reference station broadcasts positioning information.

The reference station illustratively broadcasts the positioning information by means of a long-range radio LORA or radio station. Alternatively, the reference station 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 reference station.

Specifically, after the portable base station in the MESH network receives the positioning information, the positioning information can be forwarded to other devices in the MESH network in a broadcast manner.

In this embodiment, the portable base station receives the positioning information by means of a long-range radio LORA or radio station, and the portable base station shuts down the cellular network communication module.

S240, the portable base station receives and broadcasts the positioning information.

Specifically, the portable base station broadcasts positioning data. The following ways may be included:

mode one: and obtaining and broadcasting a positioning data signal source through the 4G network and the positioning module.

Mode two: and determining own absolute positioning data and broadcasting the positioning data by receiving the positioning information sent by the reference station in the LORA or radio station mode and the own positioning module.

Mode three: the positioning information of the frequency hopping broadcast can be directly forwarded by receiving the positioning information sent by the reference station in the LORA or radio station mode.

This embodiment mainly relates to the portable base station receiving positioning information by the LORA or radio station mode and forwarding the received positioning information.

Because the portable base station receives the positioning information through the LORA or radio station mode, the cellular network communication module in the portable base station can be closed, so that the purpose of power saving is achieved, and the method flow shown in fig. 2 further comprises:

S241, the portable base station turns off the cellular network communication module.

As a possible implementation, when the 4G network is unstable or absent, the portable base station receives the positioning information sent by the reference station through the LORA or the radio station, closes the cellular network communication module and the positioning module, and enters a forwarding mode, i.e. forwards the positioning information from the reference station.

As another possible implementation, when the 4G network is unstable or absent, the portable base station receives positioning information from the reference station sent by the LORA or station, turns off the cellular network communication module to enter an absolute positioning mode and sends broadcast information.

As yet another possible implementation, even if the 4G network is stable, the portable base station receives positioning information from the reference station sent by the LORA or radio station, turns off the cellular network communication module and the positioning module, and enters a forwarding mode, i.e. forwards the positioning information from the reference station.

Optionally, the portable base station determines that positioning information from the reference station may be stably received by the LORA or station before the cellular network communication module is turned off. For example, the portable base station may stably receive positioning information from a reference station transmitted via a LORA or station, such as for 15 minutes (the decision condition may be received signal quality, white noise, signal-to-noise ratio, etc.).

Specifically, after the portable base station receives the positioning information from the reference station, a frequency hopping mode may be adopted, that is, another random frequency point is selected to continue broadcasting the positioning information, so that other MESH network nodes in the MESH network can receive the positioning information. For example, positioning information transmitted by the portable base station is received by the terminal device.

S250, the terminal equipment realizes automatic driving according to the positioning information.

Specifically, after the terminal device receives the positioning information, automatic driving can be 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, in the process of broadcasting positioning information by the reference station, if an obstacle exists between the reference station and the terminal device, so that the communication quality is poor, the positioning information broadcasted by the reference station can be transmitted to the terminal device through the portable base station, so that the communication quality between the terminal device and the reference station is improved. In addition, the portable base station comprises a communication module supporting a plurality of different communication modes, and when the portable base station receives and broadcasts information in a LORA or radio station mode, the cellular network communication module in the portable base station can be closed, enter a power saving mode and save power consumption.

It should be noted that, in the embodiment shown in fig. 2, the reference station acquires GNSS satellite observation data, and broadcasts positioning information after determining positioning information, and the reference station may broadcast the GNSS satellite observation data after acquiring the GNSS satellite observation data, and the terminal device with positioning requirement determines the positioning information according to the GNSS satellite observation data, or the reference station may broadcast the GNSS satellite observation data after acquiring the GNSS satellite observation data, and the portable base station determines the positioning information according to the GNSS satellite observation data.

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 a possible implementation, the transceiver module 11 is configured to acquire GNSS satellite observation data of a global navigation satellite system and CORS data provided by a cellular network, determine and broadcast positioning information, where the positioning information is determined based on the GNSS satellite observation data and the CORS 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 steps of receiving and transmitting information in the method, as shown in steps S230 and S210; the processing module 12 may be used to perform the processing steps in the method, as in steps S220 and 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 a possible implementation, the transceiver module 11 is configured to receive the positioning information by a LORA or a radio station, and broadcast the positioning information. 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 S230 and S240; the processing module 12 may be used to perform the processing steps in the method, as in step S241.

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 a possible implementation, the transceiver module 11 is configured to receive positioning information. The processing module 12 is configured to perform automatic driving based on the positioning information, and 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, where any two MESH network nodes in the MESH network architecture communicate wirelessly.

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 S240; the processing module 12 may be used to perform the processing steps in the method, as step S250.

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, said portable base station comprising a long range radio LORA module or a station communication module, said portable base station further comprising a cellular network communication module,

the reference station is used for acquiring GNSS satellite observation data of a global navigation satellite system and CORS data provided by a cellular network, determining and broadcasting positioning information, and determining the positioning information based on the GNSS satellite observation data and the CORS data;

the portable base station is used for receiving the positioning information in a LORA or radio station mode and broadcasting the positioning information;

the terminal device is used for receiving the positioning information and automatically driving based on the positioning information,

Wherein the cellular network communication module in the portable base station is in a closed state.

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

the reference station is used for broadcasting the positioning information through a long-distance radio LORA or a radio station mode.

3. The CORS according to claim 1 or 2, characterized in that the terminal device comprises a LORA module or a station communication module, the terminal device further comprising a cellular network communication module, the terminal device being adapted to receive the positioning information in particular comprising:

the terminal equipment is used for receiving the positioning information in a LORA or radio station mode, wherein a cellular network communication module in the terminal equipment is in a closed state.

4. The CORS according to claim 1 or 2, wherein the portable base station is further adapted to switch off the cellular network communication module in case the positioning information is stably received by a LORA or station.

5. The CORS according to claim 1 or 2, wherein the portable base station further comprises a positioning module, the portable base station further being adapted to shut down the positioning module in case the portable base station is operating to forward positioning information from the reference station.

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

8. A communication method based on continuous operation satellite positioning service system CORS is characterized in that the CORS comprises a reference station, terminal equipment and a portable base station, the portable base station comprises a long-distance radio LORA module or a radio station communication module, the portable base station further comprises a cellular network communication module, the cellular network communication module in the portable base station is in a closed state,

the method comprises the following steps:

the reference station acquires GNSS satellite observation data of a global navigation satellite system and CORS data provided by a cellular network;

the reference station determines positioning information according to the GNSS satellite observation data and the CORS data and broadcasts the positioning information;

the portable base station receives the positioning information from the reference station in a LORA or radio station mode and broadcasts the positioning information;

The terminal equipment receives the positioning information from the reference station and/or the portable base station;

and the terminal equipment performs automatic driving according to the positioning information.

9. The method of claim 8, wherein the terminal device comprises a LORA module or a station communication module, wherein the terminal device further comprises a cellular network communication module, wherein the terminal device receiving the positioning information comprises:

and the terminal equipment receives the positioning information in a LORA or radio station mode, wherein a cellular network communication module in the terminal equipment is in a closed state.

10. The method according to claim 8 or 9, characterized in that the method further comprises:

and the portable base station closes the cellular network communication module under the condition of stably receiving the positioning information in a LORA or radio station mode.

11. The method according to claim 8 or 9, wherein the portable base station further comprises a positioning module, the method further comprising, in case the portable base station is operating to forward positioning information from the reference station: and the portable base station closes the positioning module.