Method, device, computer storage medium and terminal for processing mesh handover data

Abstract

The application discloses a method, device, computer storage medium and terminal for processing grid switching data. According to GGA track data and RTCM (Radio Technical Commission for Maritime Services) differential data, the embodiment of the application determines information about grid switching and whether the accuracy jumps in a VRS (Virtual Reference Station) service process, displays the information about grid switching and whether the accuracy jumps, provides data support for troubleshooting of grid switching failure, and improves the troubleshooting efficiency of the grid switching failure.

Description

TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, satellite positioning technology, in particular to a method and device for processing grid switching data, a computer storage medium and a terminal. BACKGROUND

[0002] The virtual reference station (VRS) service usually divides different grids according to equal distances, determines the grid in which the user is currently located by obtaining the summary location reported by the user periodically, and then broadcasts the RTCM differential data of the grid to the user, thereby realizing high-precision positioning service of the user.

[0003] The VRS service is usually mainly applied to dynamic scenarios, such as unmanned aerial vehicles, autonomous driving and agricultural operations. When the user is located at the edge of a certain grid and needs to move into another grid, that is, when grid switching occurs, the following problems are more likely to occur: grid switching does not occur although it should occur; the grid does not switch as expected; and the positioning accuracy fluctuates greatly before and after the grid switching.

[0004] For the above problems of grid switching, the related art mainly analyzes and determines the relevant data related to the VRS service by the technical personnel, which is prone to introduce human factors and cannot quickly and actively locate the problems, and the processing efficiency is low. SUMMARY

[0005] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0006] The embodiments of the present application provide a method and device for processing grid switching data, a computer storage medium and a terminal, which can improve the troubleshooting efficiency of grid switching.

[0007] The embodiments of the present application provide a method for processing grid switching data, comprising:

[0008] According to the RTCM differential data of the international shipping industry radio technology committee, determine the switching information of the grid switching in the virtual reference station (VRS) service process;

[0009] According to the GGA trajectory data, determine the jump-related information of whether the accuracy jump occurs in the VRS service process;

[0010] According to the determined switching information and jump-related information, generate a first file;

[0011] The generated first file and the pre-stored second file are sent to a preset map application for loading, so as to display the information of whether the grid switching and the accuracy jump in the VRS service process in the grid displayed according to the grid distribution information in the second text.

[0012] The first file and the second file are files that can be loaded by the map application; and the second text includes grid distribution information involved in the VRS service process.

[0013] In another aspect, the embodiment of the present application further provides a computer storage medium, wherein a computer program is stored in the computer storage medium, and the computer program is executed by a processor to implement the method for processing grid switching data.

[0014] In another aspect, the embodiment of the present application further provides a terminal, comprising a memory and a processor, wherein the memory stores a computer program; and

[0015] The processor is configured to execute the computer program in the memory.

[0016] The computer program is executed by the processor to implement the method for processing grid switching data.

[0017] In another aspect, the embodiment of the present application further provides an apparatus for processing grid switching data, comprising a first determining unit, a second determining unit, a generating unit and a processing unit, wherein

[0018] The first determining unit is configured to determine switching information of a grid switching condition in a virtual reference station (VRS) service process according to radio technology commission for marine services (RTCM) differential data.

[0019] The second determining unit is configured to determine jump-related information of whether a precision jump occurs in the VRS service process according to GGA trajectory data.

[0020] The generating unit is configured to generate a first file according to the determined switching information and the jump-related information.

[0021] The processing unit is configured to send the generated first file and a pre-stored second file to a preset map application for loading, so as to display information of whether the grid switching condition and the precision jump in the VRS service process in a grid displayed according to grid distribution information in the second text.

[0022] The first file and the second file are files that can be loaded by the map application; and the second text includes grid distribution information involved in the VRS service process.

[0023] The technical scheme of the application comprises: determining switching condition information of grid switching in a virtual reference station (VRS) service process according to RTCM differential data; determining jump-related information of whether a precision jump occurs in the VRS service process according to GGA trajectory data; generating a first file according to the determined switching condition information and the jump-related information; and sending the generated first file and a second file stored in advance to a preset map application for loading, so as to display information of the grid switching and whether the precision jumps in the VRS service process in a grid displayed according to grid distribution information in the second file; wherein the first file and the second file are files that can be loaded by the map application; and the second file comprises grid distribution information involved in the VRS service process. According to the GGA trajectory data and the RTCM differential data, the grid switching condition and the information of whether the precision jumps in the VRS service process are determined, and the grid switching condition and the information of whether the precision jumps are displayed, so that data support is provided for troubleshooting of a fault of grid switching, and the troubleshooting efficiency of the grid switching fault is improved.

[0024] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings are included to provide a further understanding of the technical scheme of the application, and constitute a part of the specification, and are used together with the embodiments of the application to explain the technical scheme of the application, and do not constitute a limitation on the technical scheme of the application.

[0026] Figure 1 A flowchart of a method for processing grid switching data according to an embodiment of the application;

[0027] Figure 2 A structural block diagram of an apparatus for processing grid switching data according to an embodiment of the application;

[0028] Figure 3 A flowchart of a method for processing grid switching data according to an application example of the application;

[0029] Figure 4 An interface schematic diagram of a map application displayed according to an application example of the application. DETAILED DESCRIPTION

[0030] In order to make the objects, technical scheme and advantages of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other in any manner without conflict.

[0031] The steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 1 The flowchart of the method for processing grid switching data in the embodiment of the present application is shown as follows, which comprises: Figure 1

[0033] Step 101, determining switching information of grid switching in a virtual reference station (VRS) service process according to RTCM (Radio Technical Commission for Maritime) difference data;

[0034] Step 102, determining jump related information of whether a precision jump occurs in the VRS service process according to GGA (Global Positioning System) track data;

[0035] It should be noted that the GGA track data in the embodiment of the present application is NMEA (National Marine Electronics Association, which is a set of standard information defined for receiver output) 0183 protocol, mainly including satellite navigation and positioning information.

[0036] The processing period of the RTCM difference data and the GGA track data in the embodiment of the present application is usually defaulted as 1 second, that is, 1 piece of RTCM difference data and GGA track data is processed per second.

[0037] Whether the precision jump occurs in the embodiment of the present application refers to whether a large jump of position in the GGA track data occurs when the VRS service switches (for example, because the real-time kinematic (RTK) algorithm restarts when the grid switches, resulting in calculation error; or, the RTK is unable to be fixed for a long time), which indicates that the position information obtained by the customer is inaccurate, and the precision jump occurs.

[0038] Step 103, generating a first file according to the determined switching information and the jump related information;

[0039] Step 104, sending the generated first file and a second file stored in advance to a preset map application for loading, so as to display the information of whether the grid switching and the precision jump in the VRS service process in the grid displayed according to the grid distribution information in the second text.

[0040] The first file and the second file are files loadable by the map application; and the second text includes the grid distribution information involved in the VRS service process. ​

[0041] In an exemplary instance, the first file and the second file of the embodiment of the present application can include files in a markup language (KML) format, which can be determined by a specific map application selected by those skilled in the art for displaying the grid switching condition and the precision jump.

[0042] In an exemplary instance, the map application in the embodiment of the present application can include a map that can be used for a VRS service, such as Google Maps, which is well known to those skilled in the art.

[0043] In an exemplary instance, the second file in the embodiment of the present application can include a grid distribution divided by a VRS service provider, for example, a grid distribution with a minimum grid of 0.05° longitude * 0.05° latitude.

[0044] In an exemplary instance, the embodiment of the present application can generate a corresponding file that can be loaded by a preset map application according to the switching condition information and the jump-related information, respectively; correspondingly, the map application loads the generated file.

[0045] The embodiment of the present application determines the information of the grid switching condition and the precision jump in the VRS service process according to the GGA track data and the RTCM differential data, and provides data support for troubleshooting of the grid switching fault by displaying the information of the grid switching condition and the precision jump, thereby improving the troubleshooting efficiency of the grid switching fault.

[0046] In an exemplary instance, the embodiment of the present application determines the switching condition information of the grid switching condition in the virtual reference station (VRS) service process, comprising:

[0047] Decoding the RTCM differential data to obtain reference station information of each epoch time contained in the RTCM differential data;

[0048] Determining the switching condition information according to the reference station information of adjacent epoch times;

[0049] The reference station information includes a reference station identity ID and a reference station coordinate.

[0050] In an exemplary instance, the embodiment of the present application can obtain the reference station ID and the reference station coordinate from the RTCM differential data by referring to a related protocol; for example, decoding 1005 or 1006 data in each data packet in the RTCM differential data to obtain the reference station ID and the reference station coordinate corresponding to each epoch time.

[0051] In an exemplary instance, the switching condition information of the embodiment of the present application includes the reference station information and the epoch time of adjacent epoch times, and the following feedback information:

[0052] When both the reference station ID and reference station coordinates of adjacent epochs change, the first feedback information is given regarding whether the grid switching is abnormal, based on the reference station information of adjacent epochs.

[0053] The second feedback information is generated when the reference station coordinates do not change at adjacent epochs but the reference station ID changes;

[0054] The third feedback information is generated when the reference station ID remains unchanged at adjacent epochs but the reference station coordinates change.

[0055] In one exemplary instance, when both the reference station ID and reference station coordinates change in this embodiment of the invention, it can be determined whether the grid switching is abnormal based on relevant principles; for example: record the reference station ID and reference station coordinates (X-axis, Y-axis, and Z-axis coordinates) before and after the change, assuming the reference station ID for the two epochs before and after the change is: BaseID n and BaseID n+1 The coordinates of the reference stations are: (X n Y n Z n ) and (X n+1 Y n+1 Z n+1 ); the coordinates (X and Y) of the two reference stations at the preceding and following epochs. n Y n Z n ) and (X n+1 Y n+1 Z n+1 ) value converted to latitude and longitude BLH n and BLH n+1 Based on the latitude and longitude obtained from the conversion (BLH) n and BLH n+1 Calculate the distance D between the reference station coordinates of two consecutive epochs. n The calculated distance D n Compare with the preset maximum grid switching distance Dmax, if D n When D ≤ Dmax, the grid switching is considered normal; if D n >Dmax indicates an abnormal mesh switching pattern;

[0056] In one exemplary instance, after determining the switching information, the method of this embodiment of the invention further includes:

[0057] The confirmed switching information is displayed in the preset first display window.

[0058] In one exemplary instance, embodiments of the present invention determine jump-related information regarding whether a precision jump occurs during the VRS service process, including:

[0059] According to the GGA track data, the horizontal accuracy and the height accuracy per second of the GGA track data are calculated;

[0060] According to the horizontal accuracy and the height accuracy per second of the GGA track data obtained by calculation, the jump-related information is determined;

[0061] The jump-related information includes the coordinated universal time (UTC) time and the information of accuracy jump.

[0062] In an exemplary instance, the accuracy jump of the embodiment of the present application can be determined by a person skilled in the art with reference to related theories; in an exemplary instance, the accuracy jump of the embodiment of the present application includes: according to the actual scene, the horizontal accuracy jump threshold D_Hor and the height accuracy jump threshold D_Hgt are set according to experience; for example: in a flat road section, low-speed driving (the whole vehicle speed is not more than 40 kilometers / hour), then theoretically, the front and rear horizontal distance should not be more than 12 meters / second, and the height should not be more than 0.5 meters / second per second; considering the deviation redundancy, D_Hor can be set to 15 meters / second, and D_Hgt can be set to 1 meter / second; in a serious shielding scene and the like, the deviation redundancy can be set to be larger;

[0063] The UTC time GGA_UTC in the GGA track data is extracted n , and the longitude and latitude and height information GGA_BLH n is extracted. The horizontal accuracy GGA_Hor per second of adjacent two GGA track data and the height accuracy GGA_Hgt per second are calculated:

[0064] GGA_Hor=D[GGA_BLH n+1 –GGA_BLH n ] / (GGA_UTC n+1 –GGA_UTC n );

[0065] In the formula, D[] represents the horizontal distance per second calculated from the longitude and latitude coordinates of adjacent two GGAs;

[0066] GGA_Hgt=H[GGA_BLH n+1 –GGA_BLH n ] / (GGA_UTC n+1 –GGA_UTC n );

[0067] In the formula, H[] represents the height distance per second calculated from the height information of adjacent two GGA track data;

[0068] After GGA_Hor and GGA_Hgt are obtained, the embodiment of the application can determine whether the jump related information of precision jump occurs according to the related art, for example, when GGA_Hor is greater than D_Hor or GGA_Hgt is less than D_Hgt, it is determined that the precision jump occurs; the jump related information generated by the embodiment of the application includes: the UTC time when the precision jump occurs and the information of determining that the precision jump occurs.

[0069] In an exemplary instance, the jump related information of the embodiment of the application further includes: the longitude, latitude and height information in the GGA track data and the reference station ID information.

[0070] In an exemplary instance, after the jump related information is determined, the method of the embodiment of the application further includes:

[0071] The determined jump related information is displayed through a preset second display window.

[0072] In an exemplary instance, before the switching situation information of the grid switching in the virtual reference station (VRS) service process is determined, the method of the embodiment of the application further includes:

[0073] The RTCM differential data is decoded to obtain the first start epoch time and the first end time of the VRS service;

[0074] The second start epoch time and the second end time of the VRS service are determined according to the GGA track data;

[0075] The time intersection of the VRS service of the RTCM differential data and the GGA track data is determined according to the determined first start epoch time, the first end time, the second start epoch time and the second end time;

[0076] When the determined time intersection of the VRS service is empty, the information of the error of the RTCM differential data and the GGA track data is fed back through a preset third display window;

[0077] When the determined time intersection of the VRS service is less than a preset time length, the information of the VRS service of the RTCM differential data and the GGA track data being too short in time length is fed back through the third display window;

[0078] In an exemplary instance, the preset time length in the embodiment of the application can be set by a technician according to experience, and the specific value is not used to limit the protection scope of the application.

[0079] According to the related art, the GGA track data in the embodiment of the application records the UTC time, and in an exemplary instance, the UTC time is converted into GPS time according to the global positioning system (GPS) week information, to obtain the second start epoch time and the second end time;

[0080] In an exemplary instance, after determining the time intersection of the VRS service of the RTCM differential data and the GGA trajectory data, the embodiment method of the present application further comprises:

[0081] According to the predetermined upload frequency of the GGA trajectory data and the delivery frequency of the RTCM differential data, it is determined whether the data packet loss occurs in the time intersection of the RTCM differential data and the GGA trajectory data.

[0082] When it is determined that the RTCM differential data and the GGA trajectory data have data packet loss, the time information of each data packet lost is determined.

[0083] The embodiment of the present application also provides a computer storage medium, the computer storage medium storing a computer program, and the computer program is executed by a processor to realize the above-mentioned method for processing grid switching data.

[0084] The embodiment of the present application also provides a terminal, comprising a memory and a processor, the memory storing a computer program; wherein,

[0085] The processor is configured to execute the computer program in the memory;

[0086] The computer program is executed by the processor to realize the above-mentioned method for processing grid switching data.

[0087] Figure 2 The structure block diagram of the device for processing grid switching data of the embodiment of the present application is shown in Figure 2 It comprises a first determining unit, a second determining unit, a generating unit and a processing unit; wherein,

[0088] The first determining unit is configured to determine the switching condition information of the grid switching in the virtual reference station (VRS) service process according to the RTCM differential data of the International Radio Technical Committee for Marine Navigation Services (RTCM);

[0089] The second determining unit is configured to determine the jump-related information of whether the accuracy jump occurs in the VRS service process according to the GGA trajectory data;

[0090] The generating unit is configured to generate a first file according to the determined switching condition information and the jump-related information;

[0091] The processing unit is configured to send the generated first file and a second file stored in advance to a preset map application for loading, so as to display the information of whether the grid switching occurs in the VRS service process and the accuracy jump in the grid displayed according to the grid distribution information in the second text;

[0092] The first file and the second file are files that can be loaded by a map application; the second text includes grid distribution information involved in a VRS service process.

[0093] The embodiment of the application determines grid switching information and information about whether the precision jumps in the VRS service process according to the GGA track data and the RTCM differential data, displays the grid switching information and the information about whether the precision jumps, and provides data support for troubleshooting of grid switching failure, thereby improving the troubleshooting efficiency of the grid switching failure.

[0094] In an exemplary example, the first determining unit of the embodiment of the application is configured to:

[0095] decode the RTCM differential data to obtain reference station information of each epoch time contained in the RTCM differential data;

[0096] determine the switching information according to the reference station information of adjacent epoch times;

[0097] The reference station information includes a reference station identity ID and reference station coordinates.

[0098] In an exemplary example, the switching information in the embodiment of the application includes reference station information and epoch times of adjacent epoch times, and the following feedback information:

[0099] first feedback information about whether the grid switching determined according to the reference station information of adjacent epoch times is abnormal when the reference station ID and the reference station coordinates of adjacent epoch times both change;

[0100] second feedback information generated when the reference station coordinates of adjacent epoch times do not change but the reference station ID changes;

[0101] third feedback information generated when the reference station ID of adjacent epoch times does not change but the reference station coordinates change.

[0102] In an exemplary example, the device of the embodiment of the application further includes a first display unit configured to:

[0103] display the determined switching information through a preset first display window.

[0104] In an exemplary example, the second determining unit of the embodiment of the application is configured to:

[0105] calculate the horizontal precision and the height precision of the GGA track data per second according to the GGA track data;

[0106] determine the jump-related information according to the calculated horizontal precision and height precision of the GGA track data per second;

[0107] Among them, jump-related information includes: information on jumps in Coordinated Universal Time (UTC) time and precision.

[0108] In one exemplary instance, the apparatus of this embodiment of the invention further includes a second display unit, configured to display determined jump-related information through a preset second display window.

[0109] In one exemplary embodiment, the apparatus of the present invention further includes a first time unit, a second time unit, a time intersection unit, and a processing unit; wherein.

[0110] The first time unit is set as follows: decode RTCM differential data to obtain the first start epoch time and the first end time of the VRS service;

[0111] The second time unit is set as follows: based on the GGA trajectory data, determine the second start epoch time and the second end time of the VRS service;

[0112] The time intersection unit is set up to determine the time intersection of VRS services for RTCM differential data and GGA trajectory data based on the determined first start epoch time, first end time, second start epoch time and second end time;

[0113] The processing unit is configured to: when the time intersection of the determined VRS service is empty, provide feedback on errors in the RTCM differential data and GGA trajectory data through a preset third display window; when the time intersection of the determined VRS service is less than a preset duration, provide feedback on the duration of the VRS service for the RTCM differential data and GGA trajectory data being too short through the third display window.

[0114] In one exemplary instance, the processing unit of this embodiment of the invention is further configured as follows:

[0115] Based on the predetermined upload frequency of GGA trajectory data and the download frequency of RTCM differential data, determine whether data packet loss occurs in RTCM differential data and GGA trajectory data within the time intersection.

[0116] When packet loss occurs in RTCM differential data and GGA trajectory data, determine the time information of each lost packet.

[0117] The following application examples briefly illustrate the embodiments of the present invention. These application examples are only used to describe the embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

[0118] Application Examples

[0119] Figure 3 A flowchart illustrating the processing of grid switching data as an application example of this invention is shown below. Figure 3 As shown, it includes:

[0120] Step 301, configure a preset time length T, a grid switching maximum distance Dmax, a horizontal precision jump threshold value D_Hor and an elevation precision jump threshold value D_Hgt;

[0121] Step 302, pre-process RTCM differential data and GGA track data;

[0122] In an exemplary instance, the pre-processing of the embodiment of the application comprises time alignment processing of the RTCM differential data and the GGA track data;

[0123] The time alignment processing in the application example comprises:

[0124] Decoding the RTCM differential data to obtain a first start time and a first end time of VRS service; for the GGA track data, because it is recorded as UTC time, it is necessary to obtain GPS week information of the GGA track data; according to the GPS week information, the GPS time is converted to obtain a second start time and a second end time of VRS service;

[0125] According to the determined first start time, the first end time, the second start time and the second end time, the time intersection of the VRS service of the RTCM differential data and the GGA track data is determined;

[0126] When the determined time intersection of the VRS service is empty, the information of errors of the RTCM differential data and the GGA track data is fed back through a preset third display window;

[0127] When the determined time intersection of the VRS service is less than the preset time length, the information of the time length of the VRS service of the RTCM differential data and the GGA track data being too short is fed back through the third display window;

[0128] The pre-processing of the application example further comprises integrity checking of the RTCM differential data and the GGA track data; the integrity checking comprises:

[0129] According to the pre-determined uploading frequency of the GGA track data and the issuing frequency of the RTCM differential data, it is determined whether data packet loss occurs in the time intersection of the RTCM differential data and the GGA track data;

[0130] When it is determined that the RTCM differential data and the GGA track data have data packet loss, the time information of each data packet lost is determined.

[0131] Step 303, when the time intersection of the VRS service determined according to the preprocessing result is greater than or equal to the preset time length T, distinguishing the RTCM differential data and the GGA trajectory data; for the RTCM differential data, performing the processing of step 3040; for the GGA trajectory data, performing the processing of step 3050;

[0132] Step 3040, for the RTCM differential data, decoding the 1005 or 1006 data in each data packet to obtain the reference station ID (recorded as BaseID in the application example) and the reference station coordinates (X, Y, Z) (recorded as XYZ in the application example);

[0133] Step 3041, determining the switching condition information of the grid switching condition in the VRS service process according to the reference station ID and the reference station coordinates obtained by decoding;

[0134] The application example determines the switching condition information, including:

[0135] If the BaseID of the adjacent epoch time changes, and the XYZ also changes, record the BaseID n , BaseID n+1 , XYZ n , XYZ n+1 before and after the change, and continue to decode the corresponding epoch time T n , T n+1 ; convert the reference station coordinates XYZ n , XYZ n+1 values before and after the change into the longitude, latitude and height BLH n , BLH n+1 , and record them; calculate the distance D n between the two reference station coordinates according to the longitude, latitude and height BLH values of the two reference stations; if D1≤Dmax, it is considered that this is a normal grid switching. If D1>Dmax, it is considered that this is a grid switching exception; the first feedback information of the application example according to whether the grid switching determined by the reference station information of the adjacent epoch time is abnormal or not;

[0136] If the BaseID of the adjacent epoch time changes, and the XYZ does not change, record the BaseID n , BaseID n+1 , XYZ n and XYZ n+1 before and after the change, and continue to decode the corresponding epoch time T n , T n+1 , and generate BaseID n , BaseID n+1 , XYZ n and XYZ n+1The second feedback information is that the reference station ID has changed, but the reference station coordinates have not changed;

[0137] If the BaseID remains unchanged in adjacent epochs, but XYZ changes, record the BaseID before and after the change. n BaseID n+1 XYZ n and XYZ n+1 And continue decoding the corresponding epoch time T n T n+1 Generate a database containing BaseID n BaseID n+1 XYZ n and XYZ n+1 The third feedback message indicates that the reference station ID has not changed, but the reference station coordinates have changed.

[0138] In an application example of this invention, when determining switching status information, the determined switching status information is displayed through a preset first display window.

[0139] Step 3042: Generate a markup language (KML) file containing grid switching information.

[0140] Step 3050: Based on the GGA trajectory data, determine whether any precision jumps or related information occur during the VRS service process;

[0141] Step 3051: Generate a KML file containing transition information;

[0142] Step 3060: Send the KML file containing grid switching information, the KML file containing jump information, and the pre-stored second file containing grid distribution information to the preset map application for loading, so as to display the grid switching status and whether the accuracy jumps during the VRS service process.

[0143] By using the grid switching status and accuracy abrupt changes displayed on the map application, technicians can check and analyze faults that occur during grid switching. Figure 4 The interface diagram of the map application shown is an example of the application of this invention. Figure 4 As shown, this embodiment of the invention loads a KML file through a map application and displays the reference station ID (BaseID), GGA trajectory, jump-related information, and grid switching information in the VRS grid. From the image, grid switching-related issues (especially grid boundary areas) and trajectory accuracy jumps can be quickly and intuitively located.

[0144] Those of ordinary skill in the art will realize and understand that all or some of the steps in the methods disclosed above and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the components can be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on computer-readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, it is common and well understood by those of ordinary skill in the art that communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and can include any information delivery media.

Claims

1. A method for processing grid switching data, comprising: Based on the RTCM differential data from the International Maritime Radio Technical Committee, the switching information of the grid switching during the Virtual Reference Station (VRS) service was determined; Based on GGA trajectory data, determine whether any precision jumps occur during the VRS service process; Based on the determined switching information and transition-related information, generate the first file; The generated first file and the pre-stored second file are sent to a preset map application for loading, so as to display information on grid switching and whether the accuracy changes during the VRS service process in the grid displayed according to the grid distribution information in the second text; The first file and the second file are files that the map application can load; the second text includes grid distribution information involved in the VRS service process.

2. The method according to claim 1, characterized in that, The switching information during the determination of the mesh switching status in the Virtual Reference Station (VRS) service includes: Decode the RTCM differential data to obtain the reference station information for each epoch contained in the RTCM differential data; The switching information is determined based on the reference station information of adjacent epoch times; The reference station information includes: reference station identification ID and reference station coordinates.

3. The method according to claim 2, characterized in that, The switching information includes the reference station information and epoch time for adjacent epochs, as well as the following feedback information: When both the reference station ID and the reference station coordinates change in adjacent epochs, the first feedback information is provided regarding whether the grid switching is abnormal, based on the reference station information of adjacent epochs. The second feedback information is generated when the reference station coordinates do not change at adjacent epoch times but the reference station ID changes; The third feedback information is generated when the reference station ID does not change but the reference station coordinates change in adjacent epochs.

4. The method according to claim 2 or 3, characterized in that, After determining the switching information, the method further includes: The determined switching information is displayed through a preset first display window.

5. The method according to claim 1, characterized in that, The jump-related information for determining whether a precision jump occurs during the VRS service process includes: Based on the GGA trajectory data, calculate the horizontal and vertical accuracy of the GGA trajectory data per second; Based on the calculated horizontal and vertical accuracy per second of the GGA trajectory data, the jump-related information is determined; The jump-related information includes information about jumps in Coordinated Universal Time (UTC) time and precision.

6. The method according to claim 5, characterized in that, After determining the transition-related information, the method further includes: The determined transition-related information is displayed through a preset second display window.

7. The method according to claim 1, 2, 3, 5 or 6, characterized in that, Before determining the switching information of the grid switching during the virtual reference station (VRS) service process, the method further includes: Decode the RTCM differential data to obtain the first start epoch time and the first end time of the VRS service; Based on the GGA trajectory data, determine the second start epoch time and the second end time of the VRS service; Based on the determined first start epoch time, first end time, second start epoch time, and second end time, determine the time intersection of the VRS service of the RTCM differential data and the GGA trajectory data; When the determined time intersection of the VRS service is empty, the system will provide feedback on the errors in the RTCM differential data and the GGA trajectory data through a preset third display window. When the time intersection of the determined VRS services is less than the preset duration, the third display window will provide feedback that the duration of the VRS services for the RTCM differential data and the GGA trajectory data is too short.

8. The method according to claim 7, characterized in that, After determining the temporal intersection of the VRS services of the RTCM differential data and GGA trajectory data, the method further includes: Based on the predetermined upload frequency of GGA trajectory data and the download frequency of RTCM differential data, determine whether data packet loss occurs in the RTCM differential data and the GGA trajectory data within the time intersection; When it is determined that the RTCM differential data and the GGA trajectory data have been lost, the time information of each lost data packet is determined.

9. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for processing grid switching data as described in any one of claims 1 to 8.

10. A terminal, comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When the computer program is executed by the processor, it implements the method for processing grid switching data as described in any one of claims 1 to 8.

11. An apparatus for processing grid switching data, comprising: The system comprises a first determining unit, a second determining unit, a generating unit, and a processing unit; wherein... The first determining unit is set to: determine the switching status information of the grid switching during the Virtual Reference Station (VRS) service process based on the RTCM differential data from the International Maritime Radio Technical Committee; The second determining unit is set as follows: based on the GGA trajectory data, determine whether any precision jump-related information occurs during the VRS service process; The generation unit is configured to generate a first file based on the determined switching information and transition-related information. The processing unit is configured to send the generated first file and the pre-stored second file to a preset map application for loading, so as to display information on grid switching and accuracy jumps during the VRS service process in the grid displayed according to the grid distribution information in the second text; The first file and the second file are files that the map application can load; the second text includes grid distribution information involved in the VRS service process.

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