WO2024031947A1

WO2024031947A1 - Radio station connection method, rtk positioning system and computer readable storage medium

Info

Publication number: WO2024031947A1
Application number: PCT/CN2023/075617
Authority: WO
Inventors: 钱跃峰; 孙强; 王波; 吴迪; 秦硕
Original assignee: 丰疆智能(深圳)有限公司
Priority date: 2022-08-09
Filing date: 2023-02-13
Publication date: 2024-02-15
Also published as: CN115996446A

Abstract

The present application discloses a radio station connection method, an RTK positioning system and a computer readable storage medium. The radio station connection method comprises: selecting, from a pre-stored working channel set, a target working channel having the minimum current signal field intensity, the target working channel being used for radio communication with a mobile terminal; generating working information, wherein the working information comprises information of the target working channel; and broadcasting the working information by means of a preset broadcast rule and at least one common channel, the working information being used for instructing the mobile terminal to establish a radio communication connection with a base station by means of the target working channel. According to the radio station connection method of the present application, interference caused by other radio station devices in the radio communication can be reduced, so that the reliability of the radio communication between the base station and the mobile terminal is ensured, thereby improving the positioning precision of the RTK positioning system, and simplifying a connection setting mode of the two ends.

Description

Wireless station connection method, RTK positioning system and computer-readable storage medium

This application requests the priority of the Chinese patent application submitted to the China Patent Office on August 9, 2022, with the application number 202210958438.5 and the invention title "Wireless station connection method, RTK positioning system and computer-readable storage medium", and its entire content incorporated herein by reference.

Technical field

This application relates to the field of RTK positioning technology, and specifically to a wireless station connection method, an RTK positioning system and a computer-readable storage medium.

Background technique

In the existing RTK positioning system (RTK, Real-time kinematic, real-time dynamic), before implementing the positioning function, you first need to operate the base station. The user selects the channel for wireless communication with the mobile terminal by operating the human-computer interaction interface of the base station. And select the operating parameters of the base station when transmitting data through the channel. After setting up the base station, operate the interactive interface of the mobile terminal accordingly to set the channel settings and working parameters for pairing with the base station.

That is to say, in the existing RTK positioning system, the process of setting up the base station to connect with the mobile terminal is relatively cumbersome, resulting in a long time for the connection between both ends. Moreover, the channel selected by the user may be occupied by multiple radio stations at the same time, which will interfere with the data transmission between the base station and the mobile terminal, thus affecting the accuracy of the positioning function.

Contents of the invention

In view of this, this application provides a wireless station connection method, an RTK positioning system and a computer-readable storage medium, which can simplify the process of setting up a base station and a mobile terminal for wireless communication connection, and reduce the cost of other wireless station equipment after the base station and the mobile terminal are connected. the interference caused. The technical solution for this application is as follows:

In a first aspect, this application provides a wireless station connection method, which is applied to the base station of the RTK positioning system. The base station can communicate wirelessly with the mobile terminal. The method includes:

Select the target working channel with the smallest current signal field strength from the pre-stored working channel set, as described The target working channel is used for wireless communication with the mobile terminal;

Generate working information, wherein the working information includes information of the target working channel;

The working information is broadcast through preset broadcast rules and at least one public channel, and the working information is used to instruct the mobile terminal to establish a wireless communication connection with the base station through the target working channel.

In a possible implementation, broadcasting the work information to the mobile terminal through preset broadcast rules and at least one public channel includes:

Polling at least one of the public channels in a preset order;

The working information is broadcast over the currently polled public channel.

In a possible implementation, broadcasting the work information through preset broadcast rules and at least one public channel includes:

Select the target public channel with the smallest signal field strength from at least one public channel;

The working information is broadcast over the target public channel.

In a possible implementation, the method further includes:

Obtain positioning reference data;

After establishing a radio station connection with at least one of the mobile terminals, polling the public channel and the target working channel according to a preset period;

The working information is broadcast through the polled public channel, and the positioning reference data is transmitted to the connected mobile terminal through the polled target working channel.

In a possible implementation, the method further includes:

Regularly scan the signal field strength of each working channel in the working channel set, update the target working channel with the smallest signal field strength, and execute the step of generating working information and subsequent steps according to the updated target working channel;

or,

Receive the scan command, rescan the signal field strength of each working channel in the working channel set, update the target working channel with the smallest signal field strength, and execute the steps of generating working information according to the updated target working channel and thereafter A step of.

In a possible implementation, the preset broadcast rules include polling at least one of the public channels and broadcasting the work information according to the first time;

The mobile terminal is configured to poll at least one of the public channels according to a second time and receive the work information;

Wherein, the second time is greater than the first time, or the second time is less than the first time.

In a second aspect, this application also provides a wireless station connection method, which is applied to the mobile terminal of the RTK positioning system. The mobile terminal can communicate wirelessly with the base station. The method includes:

Obtain working information broadcast from the base station from a public channel, where the working information includes a target working channel for establishing wireless communication with the base station;

Compare the working information with the preset information, and use the working information to establish wireless communication with the base station after passing the comparison;

Receive positioning reference data transmitted by the base station through wireless communication.

In a possible implementation, the working information also includes frequency point information and the base station number of the base station;

The method of using the working information to compare with preset information, and using the working information to establish wireless communication with the base station after passing the comparison, includes:

Compare the base station number with the preset number;

When the base station number is consistent with the preset number, use the frequency point information to compare with the frequency point list of the target working channel;

If the frequency point information exists in the frequency point list, the comparison passes;

Establish wireless communication with the base station using the target working channel and the frequency point information.

In the third aspect, this application provides an RTK positioning system, including a base station and a mobile terminal;

After startup, the base station selects the target working channel with the smallest current signal field strength from the pre-stored working channels. The target working channel is used for wireless communication with the mobile terminal; generates working information and passes preset broadcast rules and At least one common channel broadcasts the working information; wherein the working information includes information of the target working channel;

After being started, the mobile terminal obtains the working information broadcast from the base station from the public channel; uses the working information to compare with the preset information, and after passing the comparison, uses the working information to compare with the base station establish wireless communications;

The base station acquires positioning reference data, and after establishing wireless communication with the mobile terminal, transmits the positioning reference data to the mobile terminal through the target working channel.

In a fourth aspect, the present application provides a computer-readable storage medium. The computer storage medium stores a computer program. When the computer program is executed by a processor, the processor is caused to execute the above-mentioned steps. wireless station connection method.

The beneficial effects brought by the technical solution provided by this application at least include:

In one or more embodiments of the present application, before the base station of the RTK positioning system establishes wireless communication with the mobile terminal, all working channels are first scanned for signal field strength to find the target working channel with the smallest signal field strength, that is, first Find out the target working channel that is less occupied by other radio station equipment among all working channels, and use it as a channel for subsequent wireless communication with the mobile terminal. This can reduce the interference caused by other radio station equipment in wireless communication, thereby ensuring that the base station and the mobile terminal The reliability of wireless communication between them can thereby improve the positioning accuracy of the RTK positioning system. On the other hand, the base station broadcasts its own working information through the public channel, and the mobile terminal that receives the working information can directly establish a wireless communication connection with the base station based on the working information of the base station. Compared with the existing technology that requires settings at both ends, mode, the operation is simpler, the connection speed between the base station and the mobile terminal is faster, and the RTK positioning function can be quickly entered.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of an RTK positioning system provided by an embodiment of the present application.

Figure 2 is a schematic diagram of wireless communication of an RTK positioning system provided by an embodiment of the present application.

Figure 3 is a schematic flowchart of a wireless station connection method provided by an embodiment of the present application.

Figure 4 is a comparison diagram of public channel usage time provided by an embodiment of the present application.

Figure 5 is a schematic flowchart of the first method of broadcasting work information provided by an embodiment of the present application.

FIG. 6 is a schematic flowchart of the second method of broadcasting work information provided by an embodiment of the present application.

FIG. 7 is a schematic flowchart of a wireless station connection method provided by an embodiment of the present application.

Figure 8 is a schematic flowchart of a wireless station connection method provided by an embodiment of the present application.

Figure 9 is a schematic flowchart of a wireless station connection method provided by an embodiment of the present application.

Figure 10 is a schematic flowchart of a work information comparison method provided by an embodiment of the present application.

Detailed ways

In order to make the features and advantages of the present application more obvious and understandable, the following will be combined with the practical application of the present application. The accompanying drawings in the embodiments clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of this application.

It should be noted that in the embodiments of this application, "at least one" refers to one or more, and "multiple" refers to two or more than two. "And/or" describes the association of associated objects, indicating that there can be three relationships. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B Can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if present) in the description, claims and drawings of this application are used to distinguish similar objects, rather than to Describe a specific order or sequence.

In addition, it should be noted that the method disclosed in the embodiment of the present application or the method shown in the flow chart includes one or more steps for implementing the method. Without departing from the scope of the claims, multiple steps The order of execution can be interchanged with each other and some of the steps can also be deleted.

Please refer to FIG. 1 , which illustrates a schematic structural diagram of an RTK positioning system provided by an embodiment of the present application. As shown in Figure 1, the RTK positioning system 100 includes: a base station 110, a mobile terminal 120, and a mobile device 130 equipped with the mobile terminal 120. in:

The base station 110 includes a satellite positioning module and a radio station module. The satellite positioning module receives satellite positioning data, and the radio station module can communicate with the mobile terminal 120 . Similarly, the mobile terminal 120 also includes a satellite positioning module and a radio module. The mobile device 130 includes automobiles, aircraft, agricultural machinery and other machines that require precise positioning. This is not limited here. It should be noted that the mobile terminal 120 is mounted on the mobile device 130 and can be detached to facilitate the user to move it to the mobile device 130. on the required mobile equipment 130.

During the positioning process, the base station 110 serves as a positioning reference in the RTK positioning system 100, providing the mobile terminal 120 with the reference data required for positioning, so as to reduce the positioning error of the mobile terminal 120 and improve the positioning accuracy. That is, the physical position of the base station 110 is fixed. During the positioning process, the base station 110 can be used to obtain satellite positioning data. By comparing the satellite positioning data with the coordinates of the fixed physical position, reference data is obtained. The reference data includes fixed physical positions. Offset information between position and satellite positioning data. After obtaining the reference data, the base station 110 transmits the reference data to the mobile terminal 120 through radio communication. The mobile terminal 120 corrects the positioning based on the reference data and the satellite positioning data it receives, thereby obtaining a higher-precision current positioning data. Positioning information.

Before implementing the RTK positioning function of the above example, a wireless communication connection needs to be established between the base station 110 and the mobile terminal 120. Next, an RTK positioning system provided by an exemplary embodiment of the present application will be introduced with reference to FIG. 1. Specifically referring to Figure 2, which is a schematic diagram of wireless communication of an RTK positioning system provided by an embodiment of the present application, in which:

After being started, the base station 110 first selects the target working channel with the smallest current signal field strength from the pre-stored working channel set. The target working channel is used for wireless communication with the mobile terminal 120 .

Among them, the working channel set is only a part of the communication channels available to the base station 110. The available communication channels can be divided into public channels and working channels. The broadcast of available information on the public channels does not participate in the reference data transmission service of the working channels. Therefore, It can avoid mutual interference with the working channel. The working channel is used for wireless communication with the mobile terminal 120 and for reference data transmission.

Among them, the signal field strength can reflect the occupancy rate of the corresponding channel, that is, when more radio station equipment uses the channel for communication, the corresponding signal field strength will be greater. After being started, the base station 110 scans all the working channels in the working channel set, and selects the target working channel with the smallest signal field strength as the communication channel for subsequent reference data transmission services with the mobile terminal 120, which can effectively reduce other errors when transmitting the reference data. The interference caused by radio station equipment ensures the reliability of the reference data transmission service and the positioning accuracy of the RTK positioning system.

After screening out the target working channel, the base station 110 generates working information and broadcasts the working information through preset broadcast rules and at least one public channel; wherein the working information includes information about the target working channel.

Specifically, as a public channel, its occupancy rate is very high. In order to ensure that the work information can be successfully obtained by the corresponding mobile terminal 110 after it is broadcast, in the case of multiple public channels, the preset order and predetermined order can be used. It is assumed that the broadcast time polls multiple public channels, and the work information of the preset broadcast time is broadcast through each public channel.

In the embodiment of the present application, for example, public channel 1, public channel 2 and public channel 3 are pre-stored. The base station 110 can first broadcast the working information of the preset broadcast time through the public channel 1, and then perform the preset broadcast time through the public channel 2. The working information is broadcast, then to public channel 3, and then returned to public channel 1, and so on, polling each public channel for broadcasting of working information.

After being started, the mobile terminal 120 obtains the working information broadcast from the base station from the public channel.

Specifically, when there are multiple public channels, in order to successfully obtain the work information of the base station 110, the mobile terminal 120 can try to obtain the work information broadcast by the base station 110 from each public channel in a polling manner according to the preset polling time. information, thereby improving the success rate and efficiency of obtaining work information.

In the embodiment of the present application, as in the above application scenarios of public channels 1, 2 and 3, the mobile terminal 120 can first try to receive working information at a preset polling time on public channel 1, and then perform preset polling on public channel 2. Attempt to receive the work information at the time, then public channel 3, and then return to public channel 1, and so on, try to receive the work information broadcast by the base station 110 on each public channel, so as to improve the success rate and efficiency of obtaining the work information. .

Among them, the above-mentioned preset polling time can be greater than the preset broadcast time, that is, to ensure that the time for the mobile terminal 120 to try to receive the work information on the public channel is greater than the time for the base station 110 to broadcast the work information on the public channel, thereby ensuring that the mobile terminal 120 can receive the work information on the public channel. The process of trying to receive work information on the public channel can cover the process of broadcasting work information by the base station 110 to further improve the success rate and efficiency of the mobile terminal 120 in obtaining the work information.

After receiving the working information, the mobile terminal 120 uses the working information to compare with the preset information, and after passing the comparison, uses the working information to establish wireless communication with the base station.

Among them, the public channel may be occupied by other radio stations, that is, in the same usage scenario, other base stations may use the public channel to broadcast information, and the mobile terminal 120 may receive working information sent by other base stations. In order to accurately establish a communication connection with the corresponding base station 110, the mobile terminal 120 verifies the received working information, that is, compares it with the preset information, and after passing the comparison, establishes wireless communication with the corresponding base station 110 through the working information.

In the embodiment of the present application, in addition to the information of the target working channel, the working information may also include working parameters such as the service number, communication protocol, baud rate, and frequency of the target working channel of the base station 110 . The preset information may include a list of trusted service numbers, a list of communication protocols, a list of baud rates, a list of working channels, a list of frequencies, etc. The mobile terminal 120 can establish wireless communication with the corresponding base station 110 through the working information only after all the above information is compared and passed.

The process of establishing wireless communication between the mobile terminal 120 and the base station 110 can be carried out in a handshake manner. For example, through the target working channel, the mobile terminal 120 can initiate a handshake data packet to the base station 110, and the base station 110 receives the handshake data packet through the target working channel and parses it. After success, a confirmation data packet is returned. After receiving and parsing the confirmation data packet, the mobile terminal 120 sends the confirmation data packet back to the base station 110. Finally, the establishment of wireless communication between the mobile terminal 120 and the base station 110 on the target working channel is completed.

The base station 110 obtains the positioning reference data, and after establishing wireless communication with the mobile terminal 120, transmits the positioning reference data to the mobile terminal through the target working channel.

For example, the base station 110 receives satellite positioning data through the satellite positioning module at preset time intervals, After receiving the positioning data, it compares it with the preset fixed coordinates to obtain the positioning reference data, and then transmits the positioning reference data to the mobile terminal 120 through the target working channel. The mobile terminal 120 receives the latest positioning reference data sent by the base station 110 in real time through the target working channel, and estimates the precise positioning based on the positioning reference data and the satellite positioning data received through the satellite positioning module.

Next, a wireless station connection method provided by an exemplary embodiment of the present application will be introduced with reference to FIG. 1 and FIG. 2 . Specifically referring to Figure 3, Figure 3 exemplarily shows a schematic flow chart of a radio station connection method provided by an embodiment of the present application. The radio station connection method is applied to the base station 110 of the RTK positioning system 100, and specifically includes the following steps:

Step S301: Select the target working channel with the smallest current signal field strength from the pre-stored working channel set. The target working channel is used for wireless communication with the mobile terminal.

Step S302: Generate working information, where the working information includes information about the target working channel.

Step S303: Broadcast working information through preset broadcast rules and at least one public channel. The working information is used to instruct the mobile terminal to establish a wireless communication connection with the base station through the target working channel.

In this embodiment of the present application, the above-mentioned preset broadcast rules include polling at least one public channel and broadcasting work information according to the first time. The mobile terminal 120 is configured to poll at least one common channel and receive working information according to a second time, where the second time is greater than the first time, or the second time is less than the first time. That is, under the same public channel, the time when the base station 110 uses and broadcasts the working information through the public channel is the first time, and the time when the mobile terminal 120 uses and attempts to receive the working information from the public channel is the second time. The second time Settings that are different from the first time can effectively increase the probability that the base station 110 and the mobile terminal 120 use the same public channel, thereby improving the success rate of establishing a wireless connection.

The second time is set to be greater than the first time so that the process of the mobile terminal 120 trying to receive the work information on the public channel can cover the process of the base station 110 broadcasting the work information. Similarly, the second time is set to be smaller than the first time so that the broadcast process of the base station 110 can cover the reception process of the mobile terminal 120 .

Illustratively, as shown in Figure 4, a comparison chart of public channel usage time is provided in an embodiment of the present application. Specifically, under public channels 1, 2 and 3, the base station 110 and the mobile terminal 120 are on the same time axis. The second time can be three times or more of the first time, thereby ensuring that the base station 110 and the mobile terminal 120 use the same public channel within a certain period of time, thereby ensuring that the mobile terminal 120 can successfully obtain the broadcast of the base station 110 job information.

The above example is the case where the second time is greater than the first time. Similarly, when the second time is less than the first time In the case of time, the first time may be three times or more of the second time, thereby ensuring that the base station 110 and the mobile terminal 120 use the same common channel within a certain period of time.

Exemplarily, as shown in Figure 5, it is a schematic flow chart of the first method of broadcasting work information provided by the embodiment of the present application, which specifically includes the following steps:

S501: Poll at least one public channel in a preset order.

S502: Broadcast the work information through the currently polled public channel.

In the embodiment of the present application, in order to reduce the long-term occupation of the same public channel and reduce the process of broadcasting work information interfered by other radio station equipment on the same public channel, the base station 110 can poll multiple public channels in a preset order, taking turns. Use multiple public channels to broadcast work information. Similarly, the mobile terminal 120 also polls multiple public channels in a preset order and attempts to receive the work information broadcast by the base station 110 .

Exemplarily, as shown in Figure 6, it is a schematic flow chart of the second method of broadcasting work information provided by the embodiment of the present application, which specifically includes the following steps:

S601: Select the target public channel with the smallest signal field strength from at least one public channel.

S602: Broadcast the work information through the target public channel.

In this embodiment of the present application, the base station 110 can also select a target public channel with the smallest signal field strength from multiple public channels, that is, the target public channel is currently used by a smaller number of other radio station equipment. Using the target public channel to broadcast work information can improve the success rate of the mobile terminal 120 in receiving complete work information.

Next, a wireless station connection method provided by an exemplary embodiment of the present application will be introduced with reference to FIG. 1 and FIG. 2 . Specifically referring to Figure 7, Figure 7 exemplarily shows a schematic flowchart of a radio station connection method provided by an embodiment of the present application. The radio station connection method is applied to the base station 110 of the RTK positioning system 100, and specifically includes the following steps:

Step S701: Select the target working channel with the smallest current signal field strength from the pre-stored working channel set. The target working channel is used for wireless communication with the mobile terminal.

This step is consistent with the above-mentioned step S301 and will not be described again.

Step S702: Generate working information, where the working information includes information about the target working channel.

This step is consistent with the above-mentioned step S302 and will not be described again.

Step S703: Broadcast working information through preset broadcast rules and at least one public channel. The working information is used to instruct the mobile terminal to establish a wireless communication connection with the base station through the target working channel.

This step is consistent with the above-mentioned step S303 and will not be described again.

Step S704: Obtain positioning reference data.

Step S705: After establishing a radio station connection with at least one mobile terminal, poll the common channel and the target working channel according to a preset period.

Step S706: Broadcast the working information through the polled public channel, and transmit the positioning reference data to the connected mobile terminal through the polled target working channel.

In the embodiment of the present application, the base station 110 can establish wireless communication with multiple mobile terminals 120 to transmit positioning reference data. Therefore, after the base station 110 establishes wireless communication with the current mobile terminal 120, it will continue to broadcast work information, so that Other mobile terminals 120 can establish wireless communication with the base station 110 based on the broadcast work information, and obtain positioning reference data for precise positioning.

The base station 110 switches between multiple public channels and the target working channel. For example, in the case of public channels 1, 2 and 3, the switching sequence may be: public channel 1, target working channel, public channel 2, target working channel, Public channel 3, target working channel, public channel 1, target working channel..., and so on. When the base station polls the public channel, it broadcasts the working information, and when it polls the target working channel, it broadcasts the working information. The latest positioning reference data is transmitted to the mobile terminal 120. The usage time of the public channel and the target working channel is not limited here and can be consistent or inconsistent.

Next, a wireless station connection method provided by an exemplary embodiment of the present application will be introduced with reference to FIG. 1 and FIG. 2 . Specifically referring to Figure 8, Figure 8 exemplarily shows a flow chart of a radio station connection method provided by an embodiment of the present application. The radio station connection method is applied to the base station 110 of the RTK positioning system 100, and specifically includes the following steps:

Step S801: Select the target working channel with the smallest current signal field strength from the pre-stored working channel set. The target working channel is used for wireless communication with the mobile terminal.

Step S802: Generate working information, where the working information includes information about the target working channel.

Step S803: Broadcast working information through preset broadcast rules and at least one public channel. The working information is used to instruct the mobile terminal to establish a wireless communication connection with the base station through the target working channel.

Step S804: Regularly scan the signal field strength of each working channel in the working channel set, update the target working channel with the smallest signal field strength, and perform the process of generating working information based on the updated target working channel. Steps and subsequent steps; or, receive the scan command, re-scan the signal field strength of each working channel in the working channel set, update the target working channel with the smallest signal field strength, and execute the step of generating working information based on the updated target working channel. and subsequent steps.

In the embodiment of this application, as time goes by, the current target working channel may be used by other radio station equipment, so it may not be the best working channel at the moment. That is, the target working channel can be updated regularly to ensure positioning. Baseline data transfer reliability. That is, in the process of transmitting positioning reference data to the mobile terminal 120 using the current target working channel, the base station 110 can also periodically scan the signal field strengths of other working channels to detect the working channel with the smallest signal field strength to update the target working channel. .

Alternatively, the base station 110 can be instructed to re-scan the working channels, re-find the working channel with the smallest signal field strength to update the target working channel, and then perform subsequent steps such as generating working information and broadcasting working information again to update the target. The working channel transmits the positioning reference data to the mobile terminal 120, thereby achieving the effect of dynamically reducing the interference of transmitting the positioning reference data. For example, a virtual button is provided on the interactive interface of the base station 110, and the user can trigger the sending of the above instructions by clicking the virtual button, or it can also be a physical button on the base station 110, etc.

Among them, the mobile terminal 120 can also determine whether the current target working channel is subject to greater interference by determining the reception status of the positioning reference data. For example, after the mobile terminal 120 determines the target working channel and receives the positioning reference data from the base station 110, the time interval between two adjacent positioning reference data can be recorded. When the time interval is greater than a preset value, it means that the target working channel is affected by If the interference is large, a prompt can be sent to the user, allowing the user to operate the base station 110 to re-scan the working channel. Alternatively, when the mobile terminal 120 does not receive positioning reference data from the target working channel for a long time, it can automatically reuse the public channel to receive new working information broadcast by the base station 120, thereby receiving the positioning reference data through the new target working channel.

Next, a wireless station connection method provided by an exemplary embodiment of the present application will be introduced with reference to FIG. 1 and FIG. 2 . Specifically referring to Figure 9, Figure 9 exemplarily shows a flow chart of a radio station connection method provided by an embodiment of the present application. The radio station connection method is applied to the mobile terminal 120 of the RTK positioning system 100, and specifically includes the following steps:

Step S901: Obtain the working information broadcast from the base station from the public channel. The working information includes the target working channel for establishing wireless communication with the base station.

Step S902: Compare the work information with the preset information, and use the work information after the comparison is passed. Establish wireless communication with the base station.

Step S903: Receive positioning reference data transmitted by the base station through wireless communication.

In the embodiment of the present application, for more detailed content of each of the above steps, please refer to the corresponding content mentioned above, and will not be described again here.

Exemplarily, the working information may also include frequency point information and the base station number of the base station. As shown in Figure 10, it is a schematic flow chart of a working information comparison method provided by an embodiment of the present application, which specifically includes the following steps:

Step S1001: Compare the base station number with the preset number.

In the embodiment of the present invention, after obtaining the working information from the public channel, the mobile terminal 120 first extracts the base station number in the working information, and compares the base station number with the preset number to determine whether the base station 110 corresponding to the working information is Not a pre-stored trusted base station. Alternatively, the preset number is input by the user through the interactive interface of the mobile terminal 120 after starting the mobile terminal 120 . When the base station number is inconsistent with the preset number, the mobile terminal 120 can abandon the working information and obtain the working information from the public channel again.

Step S1002: When the base station number is consistent with the preset number, compare the frequency point information with the frequency point list of the target working channel.

In the embodiment of the present invention, when the base station number is consistent with the preset number, the mobile terminal 120 then compares the frequency point information with the frequency point list of the target working channel to verify whether the frequency point information is on the frequency point list. When the frequency point information is not on the frequency point list, the mobile terminal 120 can abandon the working information and obtain the working information from the public channel again. Alternatively, when the mobile terminal 120 cannot find the frequency list of the target working channel, it also abandons the working information and re-obtains the working information from the public channel.

Step S1003: If frequency point information exists in the frequency point list, the comparison passes.

Step S1004: Establish wireless communication with the base station using the target working channel and frequency point information.

In the embodiment of the present invention, after the base station number, target working channel and corresponding frequency point information are all compared and verified, the mobile terminal 110 can establish wireless communication with the base station through the target working channel and frequency point information and receive positioning reference data.

The embodiments of the present application have been described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the technical field, various modifications can be made without departing from the purpose of the present application. kind of change.

Claims

A radio station connection method, characterized in that it is applied to a base station of an RTK positioning system, and the base station can communicate wirelessly with a mobile terminal. The method includes:

Select the target working channel with the smallest current signal field strength from the pre-stored working channel set, and the target working channel is used for wireless communication with the mobile terminal;

Generate working information, wherein the working information includes information of the target working channel;

The working information is broadcast through preset broadcast rules and at least one public channel, and the working information is used to instruct the mobile terminal to establish a wireless communication connection with the base station through the target working channel.
The radio station connection method according to claim 1, wherein broadcasting the working information to the mobile terminal through preset broadcast rules and at least one public channel includes:

Polling at least one of the public channels in a preset order;

The working information is broadcast over the currently polled public channel.
The radio station connection method according to claim 1, wherein broadcasting the working information through preset broadcast rules and at least one public channel includes:

Select the target public channel with the smallest signal field strength from at least one public channel;

The working information is broadcast over the target public channel.
The wireless station connection method according to claim 1, characterized in that the method further includes:

Obtain positioning reference data;

After establishing a radio station connection with at least one of the mobile terminals, polling the public channel and the target working channel according to a preset period;

The working information is broadcast through the polled public channel, and the positioning reference data is transmitted to the connected mobile terminal through the polled target working channel.
The wireless station connection method according to claim 1, characterized in that the method further includes:

Regularly scan the signal field strength of each working channel in the working channel set, update the target working channel with the smallest signal field strength, and execute the step of generating working information and subsequent steps according to the updated target working channel;

or,

Receive the scan command, rescan the signal field strength of each working channel in the working channel set, update the target working channel with the smallest signal field strength, and execute based on the updated target working channel. Perform the steps to generate job information and the steps that follow.
The radio station connection method according to claim 1, wherein the preset broadcast rules include polling at least one of the public channels and broadcasting the working information according to the first time;

The mobile terminal is configured to poll at least one of the public channels according to a second time and receive the work information;

Wherein, the second time is greater than the first time, or the second time is less than the first time.
A radio station connection method, characterized in that it is applied to the mobile terminal of the RTK positioning system, and the mobile terminal can communicate wirelessly with the base station. The method includes:

Obtain working information broadcast from the base station from a public channel, where the working information includes a target working channel for establishing wireless communication with the base station;

Use the working information to compare with preset information, and use the working information to establish wireless communication with the base station after the comparison passes;

Receive positioning reference data transmitted by the base station through wireless communication.
The wireless station connection method according to claim 7, wherein the working information further includes frequency point information and the base station number of the base station;

The method of using the working information to compare with preset information, and using the working information to establish wireless communication with the base station after passing the comparison, includes:

Compare the base station number with the preset number;

When the base station number is consistent with the preset number, use the frequency point information to compare with the frequency point list of the target working channel;

If the frequency point information exists in the frequency point list, the comparison passes;

Establish wireless communication with the base station using the target working channel and the frequency point information.
An RTK positioning system, characterized by including a base station and a mobile terminal;

After startup, the base station selects the target working channel with the smallest current signal field strength from the pre-stored working channels. The target working channel is used for wireless communication with the mobile terminal; generates working information and passes preset broadcast rules and At least one common channel broadcasts the working information; wherein the working information includes information of the target working channel;

After being started, the mobile terminal obtains the working information broadcast from the base station from the public channel; uses the working information to compare with the preset information, and uses the working information after the comparison is passed Establish wireless communication with the base station;

The base station acquires positioning reference data, and after establishing wireless communication with the mobile terminal, transmits the positioning reference data to the mobile terminal through the target working channel.
A computer-readable storage medium, characterized in that the computer storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute as described in any one of claims 1 to 8 wireless station connection method.