A method, device and storage medium for feedback of position change of RTK base station

Abstract

The present invention provides a method, device and storage medium for feedback of position change of an RTK base station, wherein the RTK base station continuously receives satellite signals and obtains observation data according to the satellite signals; the observation data received within the specified observation time is uploaded to a designated online precise single-point positioning server, and the single-point positioning information of the RTK base station is downloaded from the online precise single-point positioning server; the position of the RTK base station is judged to be changed according to the single-point positioning information of the RTK base station, and if changed, the change information is sent to the designated management personnel terminal. The basic data uploaded by the present invention is more accurate, the single-point positioning information of the RTK base station is obtained by solving the online precise single-point positioning server, the single-point positioning information of the RTK base station is used to judge whether the RTK position has changed, and the management personnel can be notified in time, so as to obtain accurate feedback when the spatial position of the RTK base station changes abnormally, so as to avoid affecting the user's measurement accuracy and delaying the measurement work due to the change of the base station position.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of base station positioning, and in particular to a method, a device and a storage medium for feedback of position changes of an RTK base station. Background Art

[0002] In actual production, when conducting RTK measurement, the position of the RTK base station often changes abnormally. Once the position of the base station receiver shifts, the mobile station receiver will inevitably be inaccurate. The mobile station receiver held by the user is often far away from the base station. If the position of the base station changes abnormally, there will be no timely feedback, resulting in rework, even engineering accidents and great waste.

[0003] Abnormal changes in the base station position may be caused by tilt and offset caused by human factors or bad weather. However, many manufacturers currently do not consider feedback on abnormal changes in the base station position, or simply judge abnormal changes in the base station position by the tilt degree of the electronic tilt sensor. Once the base station has a horizontal offset, it may not be detected, and even a false alarm may occur. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method, device and storage medium for feedback of position changes of an RTK base station in view of the deficiencies of the prior art.

[0005] The technical solution of the present invention to solve the above technical problem is as follows: a method for feedback of position change of an RTK reference station comprises the following steps:

[0006] Continuously receiving satellite signals through an RTK base station and obtaining observation data based on the satellite signals;

[0007] Upload the latest continuous observation data that meets the positioning result convergence requirements to the designated online precise point positioning server at the preset upload interval, and download the RTK reference station point positioning information from the online precise point positioning server;

[0008] It is determined whether the position of the RTK reference station has changed according to the single-point positioning information of the RTK reference station. If changed, the change information is sent to the designated management personnel terminal.

[0009] Another technical solution of the present invention to solve the above technical problem is as follows: an RTK reference station position change feedback device, comprising:

[0010] A receiving module, used to continuously receive satellite signals through an RTK base station and obtain observation data based on the satellite signals;

[0011] An upload module is used to upload the latest continuous observation data that meets the positioning result convergence requirements to a designated online precise point positioning server at a preset upload interval, and download the RTK reference station point positioning information from the online precise point positioning server;

[0012] The processing module is used to determine whether the position of the RTK reference station changes according to the single-point positioning information of the RTK reference station, and if changed, send the change information to the designated management personnel terminal.

[0013] Another technical solution of the present invention to solve the above-mentioned technical problem is as follows: a method for feedback of position changes of an RTK base station, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the RTK base station position change feedback device as described above is implemented.

[0014] Another technical solution of the present invention to solve the above technical problem is as follows: a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the RTK base station position change feedback method as described above is implemented.

[0015] The beneficial effects of the present invention are as follows: uploading the latest continuous observation data that meets the convergence requirements of positioning results at a preset upload interval to make basic data more accurate, and obtaining the single-point positioning information of the RTK base station through the online precise single-point positioning server. By using the single-point positioning information of the RTK base station, it is determined whether the position of the RTK base station has changed, and the management personnel can be notified in time to obtain accurate feedback when the spatial position of the RTK base station changes abnormally, thereby avoiding affecting the user's measurement accuracy and delaying the measurement work due to the change of the base station position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a flow chart of a method for feedback of position changes of an RTK reference station provided in an embodiment of the present invention;

[0017] Figure 2 A functional module block diagram of a RTK reference station position change feedback device provided by an embodiment of the present invention;

[0018] Figure 3 RTK reference station measurement principle diagram provided by an embodiment of the present invention;

[0019] Figure 4 A flow chart of realizing precise point positioning via an online PPP data processing platform provided by an embodiment of the present invention;

[0020] Figure 5 A specific flow chart of the RTK reference station position change feedback provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0022] Figure 1 A schematic diagram of a flow chart of a method for feedback of position changes of an RTK reference station provided in an embodiment of the present invention.

[0023] Example 1: Figure 1 As shown, a method for feedback of position change of an RTK base station comprises the following steps:

[0024] S1: Continuously receiving satellite signals through the RTK base station and obtaining observation data according to the satellite signals;

[0025] S2: Upload the latest continuous observation data that meets the positioning result convergence requirements to the designated online precise point positioning server according to the preset upload interval, and download the RTK reference station point positioning information from the online precise point positioning server;

[0026] S3: judging whether the position of the RTK reference station has changed according to the single-point positioning information of the RTK reference station, and if changed, sending the change information to the designated management personnel terminal.

[0027] It should be understood that RTK (real-time dynamic carrier phase differential) positioning technology is widely used in various fields in the surveying and mapping industry. RTK positioning is to set up a differential base station with known coordinates and set up in an open environment. The base station transmits its observation values ​​to the mobile station through a data link. The mobile station receives data from the base station through the data link, combines its own observation values ​​to obtain a differential correction value, and then uses this correction value to correct the positioning result of the mobile station's GPS receiver to obtain the centimeter-level precise position of the mobile station.

[0028] In the above embodiment, the latest continuous observation data that meets the convergence requirements of the positioning results is uploaded at a preset upload interval to make the basic data more accurate, and the RTK base station single-point positioning information is obtained by solving the online precise single-point positioning server. The RTK base station single-point positioning information is used to determine whether the position of the RTK base station has changed, and the management personnel can be notified in time to obtain accurate feedback when the spatial position of the RTK base station changes abnormally, thereby avoiding affecting the user's measurement accuracy and delaying the measurement work due to changes in the base station position.

[0029] Based on Example 1, Example 2: The process of uploading the latest continuous observation data that meets the positioning result convergence requirement to the designated online precise point positioning server at a preset time interval includes:

[0030] When the upload time node is reached, the latest continuous observation data that meets the positioning result convergence requirements from the current upload time node is obtained, wherein the observation time of the latest continuous observation data that meets the positioning successful convergence requirements is greater than the preset upload interval time, the continuous observation data received within the observation time is converted into a Rinex data file, and the Rinex data file is uploaded to the online precise point positioning server through the FTP upload tool, and the upload time node is recorded.

[0031] Specifically, the coding is set in the single-chip control system inside the RTK base station receiver, and the receiver continuously observes and records;

[0032] That is to say, the time interval between two upload time nodes of the uploaded data is set, and when the upload time node is reached, the latest continuous observation data of n hours is recursively pushed forward.

[0033] For example, the base station continuous observation record has a fixed time interval of 1-2 hours from the last upload time node to the next upload time node. When the upload time node is reached, the latest continuous observation data of 3 hours is recursively pushed forward, where 3 hours is longer than the time required for the convergence of the positioning results of online precise single-point positioning, or other times longer than the time required for the convergence of the positioning results of online precise single-point positioning. Specifically, data is received at 8 o'clock in the morning, and uploaded after three hours of data is obtained, that is, the first three hours of data is uploaded at 11 o'clock, and the second three hours of data is uploaded after another 2 hours, that is, the three hours of data from 10 o'clock to 1 o'clock is uploaded at 1 o'clock in the afternoon. It can ensure the integrity of the uploaded files and make the basic data more accurate.

[0034] Specifically, the satellite observation data of GNSS receivers are generally stored in Rinex format, which is a standard data format commonly used in GPS measurement applications. Almost all measurement GPS receiver manufacturers provide tools to convert their format files into Rinex format files, and almost all data analysis and processing software can directly read Rinex format data.

[0035] With the rapid development of GNSS (Global Navigation Satellite System) online data processing technology and Internet technology, the emergence of online precise point positioning (PPP) technology has realized GNSS precise point positioning with high precision, cloud processing and cloud transmission.

[0036] It should be understood that the online precise point positioning server only requires users to upload the observation files to be solved through a WEB page or a file transfer protocol (FTP) server. The online precise point positioning server background can automatically process the high-precision data and send it to the user through a communication link. The technology for developing a communication link interface on the user's GPS receiver for online precise point positioning has been realized.

[0037] The working principle of the precise point positioning of the online precise point positioning server is:

[0038] Precise point positioning refers to the use of GPS precise orbit and precise clock information provided by IGS (or other organizations) to calculate satellite orbits and clock errors, and at the same time apply a relatively complete physical correction model to correct various errors in the positioning process, to perform absolute positioning of a single station, and to determine the coordinates of a single measuring station in the ITRF (or WGS-84) coordinate system. Precise point positioning has high accuracy. Precise point positioning has the advantages of being able to operate at a single station, not being limited by baseline length, and directly obtaining the three-dimensional coordinates of the point (coordinates under the WGS-84 or ITRF framework).

[0039] Currently, multiple platforms at home and abroad, such as the APPS online precise point positioning platform, provide convenient, high-quality online point positioning services, so that GNSS precise point positioning solutions no longer need to rely on inefficient user computer solution programs.

[0040] Online precise point positioning method:

[0041] like Figure 4 As shown in the figure, the mathematical model of precise point positioning has been built into the PPP online precise point positioning server. Users upload the observation files to be solved through the file transfer protocol (FTP) server. The system background can automatically perform high-precision data processing and send the solution results to the user through the communication link. The specific steps are as follows:

[0042] S1.1: Upload the satellite observation file Rinex data and antenna height information to the online precise point positioning server through the FTP upload tool;

[0043] S1.2: The PPP online precise point positioning server receives the above data and performs a quality check on the observation data format to determine whether it meets the requirements of precise point positioning solution. If the data format is incorrect or the data volume is insufficient to complete the solution, the server sends feedback information to the user;

[0044] S1.3: After obtaining qualified observation data, the online precise point positioning server uses the required precise satellite ephemeris, precise satellite clock error, earth rotation parameters and other data to automatically solve the precise point positioning mathematical model in the background; it should be pointed out that the precise satellite ephemeris, precise satellite clock error and earth rotation parameters are automatically downloaded and updated by the online precise point positioning server from the IGS station regularly and stored in the database, without the need for users to consider;

[0045] S1.4: All solution results (files) of the online precise point positioning server are output to the same file through the FTP upload tool, which is convenient for downloading and extracting by the monitoring computer.

[0046] The solution results include the time, three-dimensional coordinates, and corresponding solution errors of the RTK base station receiver. The time and three-dimensional coordinate information can be used to indicate the position and attitude of the RTK base station at the corresponding time, and the solution error reflects the solution quality of the online precise point positioning server.

[0047] Simply put, the observation data is uploaded to a preset online precise point positioning server through the FTP upload tool. The observation data includes the satellite clock error parameters of the RTK base station. The online precise point positioning server replaces the satellite clock error parameters of the RTK base station with the precise satellite clock error, and obtains the single-point positioning information of the RTK base station based on the replaced satellite clock error parameters.

[0048] Based on Example 1, Example 3: The process of determining whether the position of the RTK reference station has changed according to the single-point positioning information of the RTK reference station includes:

[0049] Obtaining the three-dimensional coordinates of the RTK reference station from the single-point positioning information of the RTK reference station, and determining whether the three-dimensional coordinates of the RTK reference station are the first three-dimensional coordinates,

[0050] If yes, store the 3D coordinates of the RTK reference station.

[0051] If not, the difference between the stored last RTK reference station coordinates and the RTK reference station coordinates is calculated, and the absolute value of the difference is taken to obtain the absolute value of the coordinate difference. If it is determined that the absolute value of the coordinate difference is greater than the preset difference, it is determined that the position of the RTK reference station has changed, and change information is generated.

[0052] In the above embodiment, it is possible to determine in time whether the position of the RTK reference station has changed, thereby preventing the change in the position of the reference station from affecting the user's measurement accuracy and delaying the measurement work.

[0053] Based on Example 3, Example 4: before determining whether the position of the RTK reference station has changed, it also includes the following steps:

[0054] Obtaining a solution error from the single-point positioning information of the RTK reference station;

[0055] It is determined whether the solution error is greater than a preset error threshold. If so, the single-point positioning information of the RTK reference station is not adopted. If not, it is determined whether the position of the RTK reference station changes.

[0056] In the above embodiment, the accuracy of the single-point positioning information of the RTK reference station is ensured by judging the solution error, thereby avoiding the situation of wrong judgment of position change.

[0057] The following is combined with Figure 5 The whole processing flow is described in detail:

[0058] S2.1: Continuously observe and receive satellite signals through the RTK base station to obtain observation data;

[0059] S2.2: Continuously store the observation data in Rinex format and start recording the observation time;

[0060] S2.3: When the upload time node is reached, the latest continuous observation data that meets the positioning result convergence requirements from the current upload time node is obtained, that is, after the continuous observation data is completely recorded for 3 hours, the Rinex data file within this period is uploaded to the online precise point positioning server through the FTP upload tool, and the time node of the uploaded data is recorded at the same time;

[0061] S2.4: Determine whether the upload time node has been reached. If so, execute S2.5. Otherwise, it prompts that the data is incomplete and does not meet the requirements of the online precise point positioning server. Continue to continuously observe and receive satellite signals through the RTK base station.

[0062] S2.5: Obtain the latest continuous observation data that meets the positioning result convergence requirements from the current upload time node, that is, upload the latest continuous observation data for 3 hours to the online precise point positioning server, and convert the continuous observation data into a Rinex data file; and so on;

[0063] S2.6: The online precise point positioning server receives the Rinex data file for precise point positioning solution. The computer program automatically accesses the solution result download port of the online precise point positioning server. If the solution is completed, the solution result output folder of the online precise point positioning server will be updated. The program detects the update status of the solution result folder on the platform and downloads the solution results. The solution results include XYZ files (time, three-dimensional coordinates and solution error), summary files, log files, etc.; parse the above files to extract time, three-dimensional coordinates, and solution error;

[0064] S2.7: Determine whether the solution error exceeds a threshold. If it exceeds the threshold, the result is not adopted. If it is less than the threshold, it is allowed to be adopted.

[0065] S2.8: Determine whether it is the first updated reference station coordinates. If it is the first updated reference station coordinates, store the coordinates as the reference station abnormal change reference. If it is not the first updated reference station coordinates, calculate the difference between it and the first updated coordinates. That is, compare the currently obtained RTK reference station coordinates with the coordinates when the RTK reference station did not change for the first time;

[0066] S2.9: Determine whether the coordinate difference exceeds a threshold value (3 cm in any direction). When the coordinate difference is normal, the program determines that the user base station is normal. When the coordinate difference exceeds the threshold value, the program determines that the base station position has changed abnormally.

[0067] S2.10: Generate warning SMS content, upload the above base station location information to the SMS sending platform through the API interface, call the SMS sending platform API interface to send the "base station movement warning" warning SMS to the RTK base station manager, and inform the manager of the abnormal change in the base station location and the change time.

[0068] Of course, if it is determined that the base station is normal, the text message content of "the base station is normal" is uploaded to the text message sending platform.

[0069] Figure 2 A functional module block diagram of an RTK reference station position change feedback device provided in an embodiment of the present invention.

[0070] Embodiment 5: A RTK reference station position change feedback device, comprising:

[0071] A receiving module, used to continuously receive satellite signals through an RTK base station and obtain observation data based on the satellite signals;

[0072] An upload module is used to upload the latest continuous observation data that meets the positioning result convergence requirements to a designated online precise point positioning server at a preset upload interval, and download the RTK reference station point positioning information from the online precise point positioning server;

[0073] The processing module is used to determine whether the position of the RTK reference station changes according to the single-point positioning information of the RTK reference station, and if changed, send the change information to the designated management personnel terminal.

[0074] like Figure 3 As shown in the figure, the working principle of the RTK base station is:

[0075] The RTK base station mainly includes a receiver, antenna and satellite signal receiver. The receiver receives navigation satellite signals such as BDS, GPS, GLONASS, etc. through the antenna, measures the three-dimensional coordinates of the base station position (it should be noted that this coordinate is a single-point solution, that is, an inaccurate value), and then broadcasts the carrier phase observation value, station coordinate information, etc. to the mobile station through the data link subsystem. RTK positioning is to set up a differential base station with known coordinates and set up in an open environment. The base station transmits its observation values ​​to the mobile station through the data link. The mobile station receives data from the base station through the data link, combines its own observation values ​​to obtain a differential correction value, and then uses this correction value to correct the positioning result of the mobile station GPS receiver to obtain the centimeter-level accurate position of the mobile station.

[0076] The difference between the mobile station and the base station is that the receiver receives data from the base station through the data link in addition to receiving satellite observation data through the antenna. The mobile station forms a double difference equation for the two sets of carrier phase observations collected and received in the system, and solves the baseline information of the mobile station and the base station and the three-dimensional coordinates of the mobile station in real time based on the principle of relative positioning.

[0077] On the basis of Example 5, Example 6: the uploading module uploads the latest continuous observation data that meets the positioning result convergence requirement to the designated online precise point positioning server at a preset time interval, specifically:

[0078] When the upload time node is reached, the latest continuous observation data that meets the positioning result convergence requirements from the current upload time node is obtained, wherein the observation time of the continuous observation data that meets the positioning successful convergence requirements is greater than the preset upload interval time, the continuous observation data received within the observation time is converted into a Rinex data file, and the Rinex data file is uploaded to the online precise point positioning server through the FTP upload tool, and the upload time node is recorded.

[0079] Based on Example 5, Example 7: In the processing module, it is determined whether the position of the RTK reference station changes according to the single-point positioning information of the RTK reference station, specifically:

[0080] Obtaining the three-dimensional coordinates of the RTK reference station from the single-point positioning information of the RTK reference station, and determining whether the three-dimensional coordinates of the RTK reference station are the first three-dimensional coordinates,

[0081] If yes, store the 3D coordinates of the RTK reference station.

[0082] If not, the difference between the stored last RTK reference station coordinates and the RTK reference station coordinates is calculated, and the absolute value of the difference is taken to obtain the absolute value of the coordinate difference. If the absolute value of the coordinate difference is greater than the preset difference, it is determined that the position of the RTK reference station has changed, and change information is generated.

[0083] On the basis of Example 7, Example 8: the processing module is further used for:

[0084] Obtaining a solution error from the single-point positioning information of the RTK reference station;

[0085] It is determined whether the solution error is greater than a preset error threshold. If so, the current RTK reference station single-point positioning information is discarded and the observation data is acquired again. If not, it is determined whether the position of the RTK reference station has changed.

[0086] Embodiment 9: A device for feedback of position changes of an RTK base station comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for feedback of position changes of the RTK base station as described above is implemented.

[0087] Embodiment 10: A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the RTK base station position change feedback method as described above is implemented.

[0088] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0089] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0091] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0092] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0093] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0094] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for feedback of position change of an RTK reference station, characterized in that: The steps include: Continuously receiving satellite signals through an RTK base station and obtaining observation data based on the satellite signals; Upload the latest continuous observation data that meets the positioning result convergence requirements to the designated online precise point positioning server at the preset upload interval, and download the RTK reference station point positioning information from the online precise point positioning server; The process of uploading the latest continuous observation data that meets the positioning result convergence requirements to the designated online precise point positioning server at a preset time interval includes: When the upload time node is reached, the latest continuous observation data that meets the positioning result convergence requirement from the current upload time node is obtained, wherein the observation time of the latest continuous observation data that meets the positioning result convergence requirement is greater than the preset upload interval time, the continuous observation data received within the observation time is converted into a Rinex data file, and the Rinex data file is uploaded to the online precise point positioning server through the FTP upload tool, and the upload time node is recorded; Determine whether the upload time node has been reached. If so, obtain the latest continuous observation data that meets the positioning result convergence requirements from the current upload time node, that is, upload the latest continuous observation data that meets the positioning result convergence requirements from the current upload time node to the online precise point positioning server, and convert the continuous observation data into a Rinex data file. Otherwise, it is prompted that the data is incomplete and does not meet the solution requirements of the online precise point positioning server. Continue to continuously observe and receive satellite signals through the RTK base station; The online precise point positioning server receives the Rinex data file for precise point positioning solution, and automatically accesses the solution result download port of the online precise point positioning server. If the solution is completed, the solution result output folder of the online precise point positioning server will be updated, the update status of the solution result folder on the detection platform will be downloaded, and the RTK base station point positioning information will be downloaded; Determine whether the position of the RTK reference station changes according to the single-point positioning information of the RTK reference station, and if so, send the change information to the designated management personnel terminal; The process of judging whether the position of the RTK reference station has changed according to the single-point positioning information of the RTK reference station comprises: Obtaining the three-dimensional coordinates of the RTK reference station from the single-point positioning information of the RTK reference station, and determining whether the three-dimensional coordinates of the RTK reference station are the first three-dimensional coordinates, If yes, store the 3D coordinates of the RTK reference station. If not, the stored coordinates of the last RTK reference station and the coordinates of the RTK reference station are calculated, and the absolute value of the difference is taken to obtain the absolute value of the coordinate difference. If the absolute value of the coordinate difference is greater than the preset difference, it is determined that the position of the RTK reference station has changed, and change information is generated; Before determining whether the position of the RTK base station has changed, the following steps are also included: Obtaining a solution error from the single-point positioning information of the RTK reference station; It is determined whether the solution error is greater than a preset error threshold. If so, the current RTK reference station single-point positioning information is discarded and the observation data is acquired again. If not, it is determined whether the position of the RTK reference station has changed.

2. An RTK reference station position change feedback device, characterized in that: include: A receiving module, used to continuously receive satellite signals through an RTK base station and obtain observation data based on the satellite signals; An upload module is used to upload the latest continuous observation data that meets the positioning result convergence requirements to a designated online precise point positioning server at a preset upload interval, and download the RTK reference station point positioning information from the online precise point positioning server; The process of uploading the latest continuous observation data that meets the positioning result convergence requirements to the designated online precise point positioning server at a preset time interval includes: When the upload time node is reached, the latest continuous observation data that meets the positioning result convergence requirement from the current upload time node is obtained, wherein the observation time of the latest continuous observation data that meets the positioning result convergence requirement is greater than the preset upload interval time, the continuous observation data received within the observation time is converted into a Rinex data file, and the Rinex data file is uploaded to the online precise point positioning server through the FTP upload tool, and the upload time node is recorded; Determine whether the upload time node has been reached. If so, obtain the latest continuous observation data that meets the positioning result convergence requirements from the current upload time node, that is, upload the latest continuous observation data that meets the positioning result convergence requirements from the current upload time node to the online precise point positioning server, and convert the continuous observation data into a Rinex data file. Otherwise, it is prompted that the data is incomplete and does not meet the solution requirements of the online precise point positioning server. Continue to continuously observe and receive satellite signals through the RTK base station; The online precise point positioning server receives the Rinex data file for precise point positioning solution, and automatically accesses the solution result download port of the online precise point positioning server. If the solution is completed, the solution result output folder of the online precise point positioning server will be updated, the update status of the solution result folder on the detection platform will be downloaded, and the RTK base station point positioning information will be downloaded; A processing module, used for judging whether the position of the RTK reference station has changed according to the single-point positioning information of the RTK reference station, and if changed, sending the change information to the designated management personnel terminal; The processing module determines whether the position of the RTK reference station changes according to the single-point positioning information of the RTK reference station, specifically: Obtaining the three-dimensional coordinates of the RTK reference station from the single-point positioning information of the RTK reference station, and determining whether the three-dimensional coordinates of the RTK reference station are the first three-dimensional coordinates, If yes, store the 3D coordinates of the RTK reference station. If not, the stored coordinates of the last RTK reference station and the coordinates of the RTK reference station are calculated, and the absolute value of the difference is taken to obtain the absolute value of the coordinate difference. If the absolute value of the coordinate difference is greater than the preset difference, it is determined that the position of the RTK reference station has changed, and change information is generated; The processing module is also used for: Obtaining a solution error from the single-point positioning information of the RTK reference station; It is determined whether the solution error is greater than a preset error threshold. If so, the current RTK reference station single-point positioning information is discarded and the observation data is acquired again. If not, it is determined whether the position of the RTK reference station has changed.

3. An RTK reference station position change feedback device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the RTK reference station position change feedback method as claimed in claim 1 is implemented.

4. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the RTK reference station position change feedback method as claimed in claim 1 is implemented.

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