Integrated Beidou GNSS intelligent receiver

Abstract

The invention belongs to the technical field of satellite navigation and positioning, and particularly relates to an integrated Beidou GNSS intelligent receiver with integrated design, which is suitable for high-precision positioning, real-time monitoring and stable operation in a complex environment. The implementation steps are as follows: step 1, hardware design and assembly; 2, designing an algorithm; 3, designing a working principle; 4, deploying a base station and a mobile station in an actual application scene; and step 5, performance test and optimization.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite navigation and positioning, and particularly relates to an integrated one-piece Beidou GNSS intelligent receiver, which is suitable for high-precision positioning, real-time monitoring and stable operation in complex environments. Background Art

[0002] With the continuous development of satellite navigation technology, the Beidou satellite navigation system, as a globally satellite navigation system independently developed by China, has been widely used in many fields. With its globally covering satellite network, it continuously provides stable and accurate positioning services everywhere, and the cooperation between Beidou satellites can further improve the accuracy, thus meeting the requirements of many application fields with high precision requirements. However, at present, some receivers have low positioning accuracy, poor compatibility, cannot flexibly adapt to different network environments, and have high power consumption. At the same time, in the face of complex electromagnetic environments and multipath effects, their anti-interference ability is weak, resulting in unstable positioning signals and affecting the normal use of equipment. Therefore, there is a need for an integrated one-piece Beidou GNSS intelligent receiver that can meet the requirements of high precision, multi-function, low power consumption and strong anti-interference ability. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an integrated one-piece Beidou GNSS intelligent receiver to solve the problems of low positioning accuracy, poor communication compatibility, high power consumption and weak anti-interference ability of existing satellite navigation receivers, and meet the needs of all industries for high-precision positioning and stable data transmission.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] S1. Hardware design and assembly. This integrated one-piece Beidou GNSS intelligent receiver is built based on the ARM Cortex-A7 main control module and the UMD980 single Beidou high-precision RTK positioning module. At the same time, it integrates a GNSS receiver, a wired communication interface, a 4G network and Lora wireless communication functions to realize the integration of multiple communication methods, enhance the signal reception and transmission capabilities, and improve the compatibility and connection stability of this integrated one-piece Beidou GNSS intelligent receiver;

[0006] S2. Algorithm design. The Kalman filter noise reduction technology is adopted to improve the positioning accuracy. For the cycle slip problem, a detection method applicable to non-consecutive epochs is realized. A multipath identification method based on the prior information of the base station signal-to-noise ratio is proposed to identify and eliminate satellite data affected by multipath. A posterior residual ambiguity fixing algorithm is developed to ensure reliability and real-time performance;

[0007] S3. Working principle design. The present invention designs two modes: edge solution and central solution;

[0008] S4. Deploy the reference station and the mobile station in the actual application scenario. Apply the integrated Beidou GNSS intelligent receiver to the actual scenario;

[0009] S5. Performance testing and optimization. Conduct performance testing on the integrated Beidou GNSS intelligent receiver, and test the positioning accuracy in different environments. Optimize the hardware and software according to the test results.

[0010] Further, step S1 includes the following steps:

[0011] S11. Input power protection design. Adopt the TPS54560 asynchronous buck chip, whose voltage input range is 4.5 - 60V and the maximum output current is 5A. By setting the front-end voltage-dividing resistors, the chip works when the voltage of the EN enable pin is greater than 1.2V and stops working when it is lower than 9V. Cooperate with the SMBJ30CA undervoltage protection circuit to achieve a wide voltage input from DC9V to DC30V. Use the PMOS protection circuit to achieve the reverse connection prevention function to ensure the safety of the present invention when the power supply is abnormally connected;

[0012] S12. Power network design. Since the UMD980 does not support internal antenna feeding, select high-voltage-resistant and high-power devices from outside the module to feed the antenna, and add protective devices such as gas discharge tubes, varistors, and TVS tubes to the feeding circuit to improve the lightning and surge protection capabilities. On the power plane, divide the sensitive network of the UMD980 and the general network of the host, use the PZ1608U121 bead for isolation, and single-point grounding to reduce high-frequency noise interference;

[0013] S13. Wired and wireless transmission module design. For wired transmission, use the RJ45 Ethernet interface and the industrial-grade RTL8201FI-VB-CG Ethernet chip, which supports 10 / 100Mbps transmission. For wireless transmission, the LoRa module 255MN-L01C has a far coverage distance under the same power consumption, supports 255MESH networking and 255 hops, and the transmission rate is 2.1k - 62.5kbps. The 4G module Quectel EC20 is based on the LTE 3GPP Rel.11 technology, is equipped with a multi-constellation GNSS receiver, adapts to various environments, supports a maximum downlink rate of 150Mbps and an uplink rate of 50Mbps, is compatible with the whole-net 2G, 3G, and 4G networks, and the SIM card holder uses a self-elastic MiniSIM card holder;

[0014] S14. WiFi / BT design. Adopt the AP6212 chip to provide Wi-Fi connection in the 2.4GHz band, be compatible with the 802.11b / g / n single-band wireless standard and Bluetooth version 4.1, integrate a power amplifier and low power consumption. Support dual-mode operation of Bluetooth and WLAN, stabilize the voltage through decoupling capacitors, manage the power consumption through dual clock sources and low-power control pins, and use multiple serial ports to communicate with the host;

[0015] S15. Debug the assembled main board and check whether each module is working properly;

[0016] S16. Select a Beidou full-frequency antenna, install it according to the antenna installation specifications, and adjust the position and angle of the antenna to ensure the best signal reception effect.

[0017] Furthermore, step S2 specifically includes the following steps:

[0018] S21. Adopt the Kalman filter noise reduction technology, combine the double-difference solution model, establish the state equation and the observation equation, dynamically estimate the system state and update the error covariance to improve the positioning accuracy;

[0019] S22. For the cycle slip problem, a detection method applicable to non-consecutive epochs is implemented. By improving the high-order difference method, interrupt counting is performed during the receiver lock loss, the sampling interval is set, high-sampling-rate data is interpolated and constructed, and then the high-order difference method is used for four-difference detection;

[0020] S23. A multipath identification method based on the prior information of the base station signal-to-noise ratio is proposed. By calculating the difference between the SNR observation values of the same satellite signal received by the base station and the monitoring station, combining the satellite elevation angle and the signal-to-noise ratio threshold to screen the stationary sequence, and calculating the standard deviation to determine the reliable interval range of the satellite, so as to identify and eliminate the satellite data affected by multipath;

[0021] S24. Develop a posterior residual ambiguity fixing algorithm, combine the partial ambiguity (PAR) technology, roughly screen the ambiguity parameters through the elevation angle, signal-to-noise ratio, etc., obtain the candidate ambiguity solutions by using the LAMBDA algorithm, and perform the Ratio test. If it fails, the ambiguity parameter with the largest residual is eliminated and re-searched to ensure reliability and real-time performance.

[0022] Furthermore, step S3 specifically includes the following steps:

[0023] S31. In the edge solution mode, two GNSS devices need to be configured as the reference station and the mobile station respectively. The reference station receives the satellite signal and converts it into an electrical signal. The UM980 calculates the three-dimensional coordinates and sends the differential telegram to the mobile station through LORA. The mobile station performs RTK solution on the received satellite signal and the differential telegram, and then sends the accurate position information to the server through the 4G module, and the server performs subsequent data processing;

[0024] S32. In the central solution mode, the user uploads the GNSS raw data to the data center. The data center processes the satellite data of the reference station and the monitoring station in real time through the supporting solution software, generates high-precision deformation information and imports it into the database for use by the early warning analysis system.

[0025] Further, step S4 specifically includes the following steps:

[0026] S41. The reference station should be deployed in an open area with no obstruction and far from electromagnetic interference sources. When installing, the equipment should be stable and the antenna should be vertical. Set up the coordinate system, data output format, and communication parameters. The mobile station determines its position according to the monitoring or positioning requirements, the installation should be firm, connect all kinds of equipment, and configure the parameters and communication parameters that match the reference station;

[0027] S42. After the deployment is completed, conduct system debugging, check the working status of the equipment and the satellite signal reception, and test the positioning accuracy.

[0028] Further, step S5 specifically includes the following steps:

[0029] S51. Conduct positioning tests in different environments, including open fields, urban environments, mountainous areas, etc., to test the positioning accuracy, anti-interference ability, and data transmission stability of the present invention. Record the test data, analyze the causes of positioning errors, and optimize and adjust the hardware and software;

[0030] S52. Test the power consumption of the present invention, simulate the power supply situation for 30 consecutive rainy days, monitor the battery voltage and power consumption changes, and ensure that the low-power operation requirements are met. Test the intelligent functions, such as power-off data storage protection, device self-restart, data automatic retransmission, etc., to ensure the normal operation of the functions.

[0031] The present invention has the following beneficial effects and advantages:

[0032] Compared with traditional receivers, the integrated Beidou GNSS intelligent receiver of the present invention has a significant improvement in positioning accuracy. It has high compatibility, stronger signal strength and more stable connection performance, and supports multiple differential positioning modes such as RTK, DGNSS, ground-based augmentation and PPP. The carrier phase measurement accuracy is up to 1 mm. In the RTK differential mode, the horizontal positioning accuracy is less than 8 mm and the elevation positioning accuracy is less than 1.5 cm. When statically solving, the planar accuracy can reach ±2.5 mm plus 1 ppm RMS, and the elevation accuracy can reach ±5 mm plus 1 ppm RMS. This high accuracy makes it very suitable for various monitoring scenarios such as deformation, cracks, galloping and inclination. In terms of functional characteristics, it has an automatic power-off data storage and protection function, is highly automated and intelligent, and supports the device to restart automatically. It adopts a low-power design and combines a power supply-on-demand mode. The sampling and data upload interval is not less than 15 seconds, and the power consumption is less than 2 W, which can meet the stable operation for 30 consecutive rainy days (including overvoltage and undervoltage protection mechanisms). Its professional anti-seismic, waterproof and dustproof structure adapts to the complex outdoor environment. The integrated Beidou GNSS intelligent receiver is equipped with the function of storing original data and sending it regularly. The sending frequency can be flexibly set, and it has the ability to monitor the data sending status and automatically retransmit the failed data to ensure data integrity. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is the hardware structure diagram of the present invention.

[0034] Figure 2 is the power supply design diagram of the present invention.

[0035] Figure 3 is the design diagram of the wired transmission module of the present invention.

[0036] Figure 4 is the design diagram of the LORA module of the present invention.

[0037] Figure 5 is the main board diagram of the present invention.

[0038] Figure 6 is the main board diagram of the present invention.

[0039] Figure 7 is the external view diagram of the present invention.

[0040] Figure 8 is the deployment diagram of the present invention.

[0041] Figure 9 is the deployment diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] Example:

[0043] S1. Hardware design and assembly: As Figure 1Assemble the ARM Cortex-A7 main control module, UMD980 single Beidou high-precision RTK positioning module, 4G module, Lora module, WiFi / BT module, etc. according to the design requirements. Connect the circuits of each module to ensure correct connection. Debug the assembled hardware to check whether each module is working properly. Step S1 includes the following steps:

[0044] S11. Input power protection design. As Figure 2 shown, use the TPS54560 asynchronous buck chip, whose voltage input range is 4.5 - 60V and the maximum output current is 5A. By setting the front-end voltage-dividing resistors, the chip works when the voltage of the EN enable pin is greater than 1.2V and stops working when it is lower than 9V. Cooperate with the SMBJ30CA undervoltage protection circuit to achieve a wide voltage input from DC9V to DC30V. Use the PMOS protection circuit to achieve the reverse connection prevention function to ensure the safety of the present invention when the power supply is abnormally connected;

[0045] S12. Power network design. Since the UMD980 does not support internal antenna feeding, select high-voltage-resistant and high-power devices from outside the module to feed the antenna, and add protective devices such as gas discharge tubes, varistors, and TVS tubes to the feeding circuit to improve the lightning protection and surge protection capabilities. On the power plane, divide the sensitive network of the UMD980 and the general network of the host, use the PZ1608U121 bead for isolation, and single-point grounding to reduce high-frequency noise interference;

[0046] S13. Wired and wireless transmission module design. As Figure 3 shown, for wired transmission, use the RJ45 Ethernet interface and the industrial-grade RTL8201FI-VB-CG Ethernet chip, which supports 10 / 100Mbps transmission. For wireless transmission, as Figure 4 shown, the LoRa module 255MN-L01C has a far coverage distance under the same power consumption, supports 255MESH networking and 255 hops, and the transmission rate is 2.1k - 62.5kbps. The 4G module Quectel EC20 is based on the LTE 3GPP Rel.11 technology, adds a multi-constellation GNSS receiver, adapts to various environments, is compatible with the whole-net 2G, 3G, and 4G networks, and the SIM card holder uses a self-elastic MiniSIM card holder;

[0047] S14. WiFi / BT design. Use the AP6212 chip to provide 2.4GHz band Wi-Fi connection, compatible with the 802.11b / g / n single-band wireless standard and Bluetooth version 4.1, integrating a power amplifier and low power consumption. Support dual-mode operation of Bluetooth and WLAN, stabilize the voltage through decoupling capacitors, manage the power consumption through dual clock sources and low-power control pins, and use multiple serial ports to communicate with the host;

[0048] S15. AsFigure 5 Figure 6 Debug the assembled main board as shown to check whether each module is working properly;

[0049] S16. Select the BT-800S Beidou full-frequency antenna, install it according to the antenna installation specifications, and adjust the position and angle of the antenna to ensure the best signal reception effect.

[0050] S2. Algorithm design. Adopt the Kalman filter noise reduction technology to improve the positioning accuracy. For the cycle slip problem, a detection method applicable to discontinuous epochs is realized. A multipath identification method based on the prior information of the base station signal-to-noise ratio is proposed to identify and eliminate the satellite data affected by multipath. Develop a posterior residual ambiguity fixing algorithm to ensure reliability and real-time performance.

[0051] Furthermore, step S2 includes the following steps:

[0052] S21. Since the double-difference solution model is affected by the baseline length and multipath effect, use the Kalman filter for assistance. In double-difference positioning, the pseudorange observation equations of the reference station and the mobile station are respectively:

[0053] (1)

[0054] (2)

[0055] The above equations are respectively differenced to obtain the single-difference results:

[0056] (3)

[0057] (4)

[0058] Then the single-difference results are differenced again to obtain the double-difference results:

[0059] (5)

[0060] After double-differencing, the receiver clock error and the satellite clock error are basically eliminated. In the case of short baselines, the double-difference of the ionospheric delay and the double-difference of the tropospheric delay can be considered as 0. After sorting, the carrier phase double-difference model is:

[0061] (6)

[0062] Adjust the parameters of the Kalman filter in real time to adapt to different positioning environments;

[0063] S22. Monitor the signal status of the integrated Beidou GNSS intelligent receiver. When signal loss of lock is detected, start the interruption count, record the epoch of loss of lock t1 and the epoch of reacquisition t2, and calculate the loss of lock time Δt. Set the sampling interval of the high-order difference method according to the loss of lock time, perform interpolation processing on the original data, interpolate the carrier observations with a sampling interval of Δt to a sampling interval of 1 s, and construct high-sampling-rate data. Then use the high-order difference method for four-difference detection to accurately identify and repair cycle slips, ensuring the continuity and accuracy of carrier phase measurement;

[0064] S23. Write the code for the multipath identification algorithm based on the prior information of the base station signal-to-noise ratio. According to the data processing flow, process the signal-to-noise ratio data of the base station and the monitoring station, and identify and eliminate the satellite data affected by multipath;

[0065] S24. Implement the posterior residual ambiguity fixing algorithm. Combine the PAR technology, and use the LAMBDA algorithm and Ratio test to complete the ambiguity fixing calculation in the software.

[0066] S3. The present invention designs two modes of edge solution and central solution, and selects the mode according to the actual environment. Step S3 specifically includes the following steps:

[0067] S31. In the edge solution mode, configure the parameters of the reference station and the rover, and implement functions such as satellite signal reception, differential message sending and receiving, RTK solution, and data uploading;

[0068] S32. In the central solution mode, complete functions such as uploading of original data, data processing and analysis by the data center solution software. At the same time, integrate the Kalman filter noise reduction algorithm, cycle slip detection algorithm, and multipath error processing algorithm into the software to ensure the effective operation of the algorithms.

[0069] S4. Deploy the reference station and the rover in the actual application scenario. Apply the integrated Beidou GNSS intelligent receiver to the actual scenario. Step S4 includes the following steps:

[0070] S41. Select an open and electromagnetic interference-free site for the reference station, build a stable support, correctly install and connect the reference station host, core module, communication equipment, and power supply equipment in sequence, set parameters such as the coordinate system, data output format, and communication frequency, and check the satellite signal reception and communication conditions after turning on the equipment. The rover determines the installation location according to the application scenario, such as Figure 8 , Figure 9 as shown, connect the antenna, communication module, and power supply, configure the parameters matching the reference station, and finally perform the positioning and data uploading function tests to ensure the normal operation of the equipment, accurate positioning, and error-free data transmission.

[0071] S5. Conduct performance tests on the integrated Beidou GNSS intelligent receiver. Step S5 includes the following steps:

[0072] S51. Conduct positioning tests in different environments, including open fields, urban environments, mountainous areas, etc., to test the positioning accuracy, anti-interference ability, and data transmission stability of the present invention. Record the test data, analyze the causes of positioning errors, and optimize and adjust the hardware and software;

[0073] S52. Test the power consumption of the present invention, simulate the power supply situation for 30 consecutive rainy days, monitor the battery voltage and power consumption changes, and ensure that the low-power operation requirements are met. Test the intelligent functions, such as power-off data storage protection, device self-restart, data automatic retransmission, etc., to ensure the normal operation of the functions;

[0074] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An integrated Beidou GNSS intelligent receiver, characterized in that: The following steps are involved: S1. Hardware design and assembly. This integrated Beidou GNSS smart receiver is built based on the ARMCortex-A7 main control module and the UMD980 single Beidou high-precision RTK positioning module. It also integrates the GNSS receiver, wired communication interface, 4G network and Lora wireless communication functions to achieve the integration of multiple communication methods, enhance signal reception and transmission capabilities, and improve the compatibility and connection stability of this integrated Beidou GNSS smart receiver. S2, algorithm design; Kalman filter noise reduction technology is used to improve positioning accuracy; for the cycle slip problem, a detection method suitable for non-continuous epochs is implemented; a multipath identification method based on base station signal-to-noise ratio prior information is proposed to identify and remove satellite data affected by multipath; a posteriori residual ambiguity fixing algorithm is developed to ensure reliability and real-time performance; S3, working principle design; the present invention designs two modes: edge solution and center solution; S4, deploy base stations and mobile stations in actual application scenarios; Apply the integrated Beidou GNSS smart receiver to actual scenarios; S5. Performance testing and optimization; Perform performance tests on the integrated Beidou GNSS smart receiver, test the positioning accuracy in different environments, and optimize the hardware and software based on the test results.

2. The integrated Beidou GNSS intelligent receiver according to claim 1, characterized in that: Step S1 comprises the following steps: S11, input power protection design; adopt TPS54560 asynchronous buck chip, whose voltage input range is 4.5-60V, and output current is 5A at most; by setting the front-end voltage divider resistor, the chip works when the EN enable pin voltage is greater than 1.2V, and stops working when it is lower than 9V, and cooperates with SMBJ30CA undervoltage protection circuit to realize DC9V to DC30V wide voltage input; use PMOS protection circuit to realize anti-reverse connection function, to ensure the safety of the present invention when the power supply is abnormal; S12, power network design; As UMD980 does not support internal antenna feeding, high-voltage and high-power devices are selected from the outside of the module to feed the antenna, and protective devices such as gas discharge tubes, varistors, and TVS tubes are added to the feeding circuit to improve lightning protection and surge protection capabilities; on the power plane, the UMD980 sensitive network and the host general network are separated, and PZ1608U121 magnetic beads are used for isolation and single-point grounding to reduce high-frequency noise interference; S13, wired and wireless transmission module design; wired transmission uses RJ45 Ethernet interface and industrial-grade RTL8201FI-VB-CG Ethernet chip, supporting 10 / 100Mbps transmission. For wireless transmission, LoRa module 255MN-L01C has a long coverage distance at the same power consumption, supports 255MESH networking and 255 hops, and a transmission rate of 2.1k-62.5kbps; 4G module QuectelEC20 is based on LTE3GPPRel.11 technology, equipped with multi-constellation GNSS receivers, adaptable to a variety of environments, supports a maximum downlink rate of 150Mbps and an uplink rate of 50Mbps, and is compatible with all-Netcom 2G, 3G, and 4G networks. The SIM card holder uses a self-popup MiniSIM card holder; S14, WiFi / BT design; uses AP6212 chip, provides 2.4GHz band Wi-Fi connection, compatible with 802.11b / g / n single-band wireless standards, Bluetooth 4.1 version, integrated power amplifier and low power consumption; supports Bluetooth and WLAN dual-mode operation, stabilizes voltage through decoupling capacitors, dual clock sources and low-power control pins to manage power consumption, and multiple serial ports to communicate with the host; S15, debug the assembled mainboard and check whether each module is working properly; S16. Select a Beidou full-band antenna, install it according to the antenna installation specifications, and adjust the antenna position and angle to ensure optimal signal reception.

3. The integrated Beidou GNSS intelligent receiver according to claim 1, characterized in that: Step S2 comprises the following steps: S21, using Kalman filter noise reduction technology, combined with double difference solution model, by establishing state equation and observation equation, dynamically estimate the system state and update the error covariance to improve positioning accuracy; S22. To solve the cycle slip problem, a detection method suitable for discontinuous epochs is implemented. By improving the high-order difference method, interrupt counting is performed during the receiver loss of lock, sampling intervals are set, and high sampling rate data is constructed by interpolation. Then, the high-order difference method is used for 4-difference detection. S23. A multipath identification method based on prior information of base station signal-to-noise ratio is proposed. The difference between the SNR observation values ​​of the same satellite signal received by the base station and the monitoring station is calculated. The stationary sequence is selected by combining the satellite altitude angle and the signal-to-noise ratio threshold. The standard deviation is calculated to determine the range of the satellite reliable interval, thereby identifying and eliminating satellite data affected by multipath. S24. Develop a posteriori residual ambiguity fixing algorithm, combined with partial ambiguity (PAR) technology, coarsely screen ambiguity parameters such as altitude angle and signal-to-noise ratio, use the LAMBDA algorithm to obtain candidate ambiguity solutions, and perform Ratio test. If it fails, eliminate the ambiguity parameter with the largest residual and search again to ensure reliability and real-time performance.

4. The integrated Beidou GNSS intelligent receiver according to claim 1, characterized in that: Step S3 includes the following steps: S31, edge solution mode requires configuration of two GNSS devices as the base station and mobile station respectively. The base station receives satellite signals and converts them into electrical signals. The UM980 calculates the three-dimensional coordinates and sends differential messages to the mobile station through LORA. The mobile station performs RTK solution on the received satellite signals and differential messages, and then sends the precise location information to the server through the 4G module. The server performs subsequent data processing. In S32 and central solution mode, users upload the original GNSS data to the data center, which processes the satellite data of the base station and monitoring station in real time through the supporting solution software, generates high-precision deformation information and imports it into the database for use by the early warning analysis system.

5. The integrated Beidou GNSS intelligent receiver according to claim 1, characterized in that: Step S4 is as follows: S41. The base station should be deployed in a place with a wide field of view, unobstructed and far away from electromagnetic interference sources. The equipment should be stable and the antenna should be vertical during installation. The coordinate system, data output format and communication parameters should be set properly. The mobile station should determine the location according to the monitoring or positioning requirements, be firmly installed, connect various equipment, and configure parameters matching the base station and communication parameters. S42. After deployment, perform system debugging, check the working status of the equipment, satellite signal reception, and test the positioning accuracy.

6. The integrated Beidou GNSS intelligent receiver according to claim 1, characterized in that: Step S5 is specifically as follows: S51, perform positioning tests in different environments, including open fields, urban environments, mountainous areas, etc., to test the positioning accuracy, anti-interference ability and data transmission stability of the present invention; record test data, analyze the causes of positioning errors, and optimize and adjust the hardware and software; S52. Test the power consumption of the present invention, simulate the power supply situation of 30 consecutive rainy days, monitor the battery voltage and power consumption changes, and ensure that the receiver meets the low power consumption operation requirements; test the intelligent functions, such as power-off data storage protection, device autonomous restart, automatic data retransmission, etc., to ensure the normal operation of the functions.

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