Base station selection method, device, storage medium and server

Abstract

The embodiments of the present application provide a reference station selection method, device, storage medium and server, which relate to the field of communication technology. The method includes: obtaining at least one reference station around the positioning terminal according to the location information of the positioning terminal; obtaining the distance data between each reference station and the positioning terminal, and obtaining the status evaluation data of each reference station; determining the signal quality data corresponding to each reference station according to the status evaluation data and the distance data; determining the reference station that enables the positioning terminal to be accurately positioned from at least one reference station according to the signal quality data, so as to send the real-time differential data of the reference station to the positioning terminal. Since the reference station that enables the positioning terminal to be accurately positioned is determined from at least one reference station according to the signal quality data, so as to send the real-time differential data of the reference station to the positioning terminal, the present application can provide a high-quality reference station for the positioning terminal.

Description

[0001] This case is a divisional application. The application date of the original application is 2020-02-06, the application number is 2020100816585, and the name of the invention is "Base station selection method, device, storage medium and server". Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a reference station selection method, device, storage medium and server. Background Art

[0003] Real-time differential data (Radio Technical Commission for Maritime, RTCM) is a differential correction value provided by the base station. After obtaining the real-time differential data, the positioning terminal can use the data to eliminate the measurement error of the GPS (Global Positioning System) positioning of the positioning terminal, thereby improving its own positioning accuracy.

[0004] After the existing positioning terminal is connected to the server, the server usually uses the base station closest to the positioning terminal as the reference station and sends the real-time differential data of the reference station to the positioning terminal. In theory, when the base station operates well, the real-time differential data provided by the base station closer to the positioning terminal will have a better effect on eliminating GPS measurement errors. However, during actual operation, the base station may not be able to continuously provide effective real-time differential data to the positioning terminal due to factors such as changes in the external environment or its own failures. In other words, the real-time differential data provided by the base station closest to the positioning terminal is not necessarily the best quality data. Therefore, the existing technology cannot provide the positioning terminal with a base station with the best differential effect. Summary of the invention

[0005] The purpose of the present application includes, for example, providing a reference station selection method, device, storage medium and server, which can provide a high-quality reference station for a positioning terminal.

[0006] The embodiments of the present application can be implemented as follows:

[0007] In a first aspect, an embodiment provides a base station selection method, which is applied to a server, comprising: when a positioning terminal is connected to the server, determining whether the positioning terminal has been connected to the server within a recent preset time period; when the positioning terminal has been connected to the server within a recent preset time period, obtaining the base station to which the positioning terminal was last connected; when signal quality data corresponding to the base station last connected is greater than a preset threshold, using the base station last connected as a reference station for the positioning terminal, wherein the signal quality data characterizes the quality of real-time differential data provided by the base station to the positioning terminal.

[0008] In an optional implementation, the method further includes: determining whether the signal quality data corresponding to the reference station connected last time is greater than a preset threshold.

[0009] In an optional embodiment, when the positioning terminal has not been connected to the server within a recent preset time period, the method further includes: acquiring at least one base station around the positioning terminal based on the location information of the positioning terminal, including: acquiring all base stations within a preset range centered on the actual position corresponding to the location information, or acquiring a preset number of base stations closest to the positioning terminal based on the location information of the positioning terminal; acquiring distance data between each of the base stations and the positioning terminal, and acquiring status evaluation data of each of the base stations; the status evaluation data characterizes the operating status of the base station; determining signal quality data corresponding to each of the base stations based on the status evaluation data and the distance data; and determining a reference station from the at least one base station that enables the positioning terminal to be accurately positioned based on the signal quality data, so as to send real-time differential data of the reference station to the positioning terminal.

[0010] In an optional embodiment, the step of obtaining the distance data between each of the base stations and the positioning terminal, and obtaining the status evaluation data of each of the base stations includes: obtaining the distance data between each of the base stations and the positioning terminal; obtaining the basic status data of each of the base stations, the basic status data including at least one of signal quality change data, connection satellite data, and signal-to-noise ratio data; generating the status evaluation data of each of the base stations according to the basic status data and preset rules.

[0011] In an optional embodiment, a map area is preset in the server, and the map area includes multiple grid locations. Before the step of obtaining at least one base station around the positioning terminal according to the location information of the positioning terminal, the method also includes: obtaining the location information and signal coverage of all base stations; generating grid index information according to the location information and the signal coverage; wherein the grid index information includes a correspondence between the multiple grid locations and multiple base station sets, and the signal coverage of each base station in each of the base station sets covers its corresponding grid location; the step of obtaining at least one base station around the positioning terminal according to the location information of the positioning terminal includes: determining a target grid location corresponding to the positioning terminal from the multiple grid locations according to the location information of the positioning terminal; determining a target base station set from the multiple base station sets according to the target grid location and the correspondence, and using all base stations in the target base station set as at least one base station around the positioning terminal.

[0012] In an optional embodiment, the step of determining, from the at least one reference station based on the signal quality data, a reference station for accurately positioning the positioning terminal so as to send the real-time differential data of the reference station to the positioning terminal includes: obtaining, from the at least one reference station, a reference station whose corresponding signal quality data is greater than a preset threshold and has the best signal quality as the reference station of the positioning terminal so as to send the real-time differential data of the reference station to the positioning terminal.

[0013] In a second aspect, an embodiment provides a base station selection device, which is applied to a server, and includes: a session module, which is used to determine whether the positioning terminal has been connected to the server within a recent preset time period when the positioning terminal is connected to the server; and is also used to obtain the base station to which the positioning terminal was last connected when the positioning terminal has been connected to the server within a recent preset time period; and is also used to use the base station to which the positioning terminal was last connected as a reference station for the positioning terminal when the signal quality data corresponding to the base station to which the positioning terminal was last connected is greater than a preset threshold, wherein the signal quality data characterizes the quality of real-time differential data provided by the base station to the positioning terminal.

[0014] In an optional implementation, the conversation module is further used to determine whether the signal quality data corresponding to the reference station connected last time is greater than a preset threshold.

[0015] In an optional embodiment, the device also includes a base station index module and a base station selection module; the base station index module is used to obtain at least one base station around the positioning terminal according to the location information of the positioning terminal, including: obtaining all base stations within a preset range centered on the actual position corresponding to the location information, or obtaining a preset number of base stations closest to the positioning terminal according to the location information of the positioning terminal; the base station selection module is used to obtain the distance data between each of the base stations and the positioning terminal, and obtain the status evaluation data of each of the base stations; the status evaluation data represents the operating status of the base station; the base station selection module is also used to determine the signal quality data corresponding to each of the base stations according to the status evaluation data and the distance data; the base station selection module is also used to determine the reference station that enables the positioning terminal to be accurately positioned from the at least one base station according to the signal quality data, so as to send the real-time differential data of the reference station to the positioning terminal.

[0016] In an optional embodiment, the base station selection module is used to obtain the distance data between each of the base stations and the positioning terminal; the base station selection module is also used to obtain the basic status data of each of the base stations, and the basic status data includes at least one of signal quality change data, connection satellite data, and signal-to-noise ratio data; the base station selection module is also used to generate status evaluation data for each of the base stations based on the basic status data and preset rules.

[0017] In an optional embodiment, a map area is preset in the server, and the map area includes multiple grid locations. The base station index module is used to obtain the location information and signal coverage of all reference stations; the base station index module is also used to generate grid index information based on the location information and the signal coverage; wherein the grid index information includes a correspondence between the multiple grid locations and multiple reference station sets, and the signal coverage of each reference station in each reference station set covers its corresponding grid location; the base station index module is also used to determine the target grid location corresponding to the positioning terminal from the multiple grid locations according to the location information of the positioning terminal; the base station index module is also used to determine a target reference station set from the multiple reference station sets according to the target grid location and the correspondence, and use all the reference stations in the target reference station set as at least one reference station around the positioning terminal.

[0018] In an optional embodiment, the base station selection module is used to obtain from the at least one reference station a reference station whose corresponding signal quality data is greater than a preset threshold and whose signal quality is best as the reference station of the positioning terminal, so as to send the real-time differential data of the reference station to the positioning terminal.

[0019] In a third aspect, an embodiment provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the reference station selection method as described in any one of the aforementioned embodiments is implemented.

[0020] In a fourth aspect, an embodiment provides a server, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions, and when the server is running, the processor communicates with the memory through the bus, and the processor executes the machine-readable instructions to execute a base station selection method as described in any one of the aforementioned embodiments.

[0021] The beneficial effects of the embodiments of the present application include, for example: since a reference station that can enable the positioning terminal to accurately locate is determined from at least one reference station based on signal quality data, so that the real-time differential data of the reference station can be sent to the positioning terminal, in other words, the present application can determine the reference station from at least one reference station, and the real-time differential data generated by the reference station can enable the positioning terminal to accurately locate, so that the present application can provide a high-quality reference station for the positioning terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A structural block diagram of a server provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of an application scenario of the reference station selection method provided in an embodiment of the present application;

[0025] Figure 3 A flow chart of a reference station selection method provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of a preset map area and a reference station provided in an embodiment of the present application;

[0027] Figure 5 Another flow chart of the reference station selection method provided in the embodiment of the present application;

[0028] Figure 6 Another flow chart of the reference station selection method provided in the embodiment of the present application;

[0029] Figure 7 Another flow chart of the reference station selection method provided in the embodiment of the present application;

[0030] Figure 8 Another flow chart of the reference station selection method provided in the embodiment of the present application;

[0031] Fig. 9 A functional module diagram of a reference station selection device provided in an embodiment of the present application.

[0032] Icons: 100 - server; 110 - memory; 120 - processor; 130 - bus; 140 - communication interface; 200 - positioning terminal; 300 - reference station; 400 - reference station selection device; 410 - base station index module; 420 - base station selection module; 430 - real-time differential data sending module; 440 - session module. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0037] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0038] In the process of implementing the technical solution of the embodiment of the present application, the inventor of the present application found that:

[0039] After the existing positioning terminal is connected to the server, the server usually uses the base station closest to the positioning terminal as the reference station and sends the real-time differential data of the reference station to the positioning terminal (i.e. the principle of closest distance). For example, for the existing NTRIP (Networked Transport of RTCM via Internet Protocol) server, each time the positioning terminal successfully logs into the NTRIP server, the positioning terminal will send location information to the NTRIP server. The NTRIP server finds the base station closest to the positioning terminal as the reference station based on the location information of the positioning terminal, and broadcasts the real-time differential data of the reference station to the positioning terminal.

[0040] Theoretically, when the base station is operating well, the closer the base station is to the positioning terminal, the better the quality of the real-time differential data provided, and the better the correction effect (that is, the better the real-time differential data is in eliminating GPS measurement errors). However, during actual operation, the base station may not be able to continuously provide effective real-time differential data to the positioning terminal due to factors such as changes in the external environment or its own failures. When the quality of the real-time differential data generated by the base station closest to the positioning terminal deteriorates due to factors such as changes in the external environment or its own failures, the positioning terminal may not be able to improve its own positioning accuracy based on the data. In other words, the real-time differential data provided by the base station closest to the positioning terminal is not necessarily the best quality data, so the existing technology cannot provide a high-quality base station for the positioning terminal (that is, the existing technology cannot provide the positioning terminal with a base station with the best differential effect).

[0041] In addition, the location of the positioning terminal often moves during actual use, and the reference station closest to the positioning terminal often changes. For example, as the positioning terminal moves, assuming that the reference station closest to the positioning terminal changes from reference station A to reference station B, if at this time (when the reference station closest to the positioning terminal becomes reference station B) the positioning terminal is disconnected from the server due to network fluctuations and other issues, then when the positioning terminal reconnects to the server, based on the above-mentioned principle of closest distance, the server will select reference station B as the reference station of the positioning terminal. However, due to the different locations and environments of the two reference stations, the real-time differential data collected and generated by them have certain differences. The positioning terminal receives the changed real-time differential data and needs to recalculate the relevant parameters to eliminate the measurement error of its own GPS positioning based on the data. In this process, positioning offset may occur, which is not conducive to the normal operation of the positioning terminal. Therefore, the existing technology cannot provide a high-quality reference station for a positioning terminal that has been disconnected and reconnected from the server.

[0042] Therefore, in order to improve the above defects, the embodiments of the present application propose a reference station selection method, device, storage medium and server, which can provide a high-quality reference station for the positioning terminal. It should be noted that the defects in the above solutions in the prior art are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the embodiments of the present application for the above problems below should be the contributions made by the inventor to the present application during the application process.

[0043] Please refer to Figure 1 , which is a structural block diagram of a server 100 provided in an embodiment of the present application. The server 100 may include a memory 110, a processor 120, a bus 130 and a communication interface 140, and the memory 110, the processor 120 and the communication interface 140 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more buses 130 or signal lines. The processor 120 can process information and / or data related to the reference station selection to perform one or more functions described in the present application. For example, the processor 120 can obtain the location information of the positioning terminal, and select the reference station according to the above data, thereby realizing the reference station selection method provided in the present application.

[0044] The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0045] The processor 120 may be an integrated circuit chip with signal processing capability. The processor 120 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0046] Understandably, Figure 1 The structure shown is for illustration only. The server 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0047] exist Figure 1 Based on the above, the embodiment of the present application also provides a schematic diagram of an application scenario of the reference station selection method. Figure 2 , several base stations 300 can be built in an area to provide positioning services for the positioning terminals in this area. The positioning terminal 200 can be a terminal held by a user. In this area, the user can perform work tasks based on the positioning service provided by the positioning terminal 200. The server 100 can be communicated with the positioning terminal 200, and the server can also be communicated with the above-mentioned several base stations 300 to provide high-precision service support for the positioning terminal 200.

[0048] Each reference station 300 can collect and produce real-time differential data, and send the real-time differential data to the server 100. When the positioning terminal 200 is in communication connection with the server 100, it can send its own location information to the server 100. When the server 100 obtains the real-time differential data of each reference station 300 and the location information of the positioning terminal 200, it can select the optimal reference station according to the reference station selection method provided in the present application, and send the real-time differential data of the reference station to the positioning terminal 200, so that the positioning terminal 200 can eliminate the measurement error of its own GPS positioning according to the real-time differential data after obtaining the real-time differential data, improve its own positioning accuracy, and then provide a high-quality reference station for the positioning terminal.

[0049] It can be understood that the server 100 provided in the present application can be a CORS server based on the NTRIP protocol (i.e., an NTRIP server), which can provide real-time differential data to the positioning terminal through the network. The positioning terminal 200 provided in the present application can be a terminal that needs to obtain real-time differential data, such as an unmanned aerial vehicle, an unmanned ship, an unmanned vehicle, a mobile phone, a tablet computer, a notebook computer, an ultra-mobile personal computer (UMPC), a handheld computer, a netbook, a personal digital assistant (PDA), a wearable server, a virtual reality device, etc., so the present application does not limit the specific terminal types of the server 100 and the positioning terminal 200.

[0050] For ease of understanding, the following examples of this application will be Figure 1 The server 100 and Figure 2 Taking the application environment shown as an example, in combination with the accompanying drawings, the reference station selection method provided in the embodiment of the present application is specifically described.

[0051] Please refer to Figure 3 , Figure 3 A flow chart of a reference station selection method provided in an embodiment of the present application is shown. The reference station selection method can be applied to the above-mentioned server 100, and the reference station selection method can include the following steps:

[0052] S110: Acquire at least one reference station around the positioning terminal according to the location information of the positioning terminal.

[0053] In some possible embodiments, the server 100 may receive the location information sent by the positioning terminal, and then acquire at least one reference station around the positioning terminal according to the location information. For example, the server 100 may receive GGA data sent by the positioning terminal, which includes the location information of the positioning terminal.

[0054] It should be understood that there are multiple ways to "obtain at least one base station around the positioning terminal" as mentioned above, for example, obtaining all base stations within a preset range centered on the actual position corresponding to the location information, or obtaining a preset number of base stations closest to the positioning terminal. Therefore, this application does not limit this.

[0055] S120, obtaining distance data between each reference station and the positioning terminal, and obtaining status evaluation data of each reference station; the status evaluation data represents the operating status of the reference station.

[0056] The above-mentioned distance data between the base station and the positioning terminal can be the distance between the actual geographical locations of the base station and the positioning terminal. In actual applications, the better the operating status of the base station, the better the quality of the real-time differential data it collects and generates (the better the quality of the real-time differential data used by the positioning terminal, the more it can eliminate the measurement error of its own GPS positioning and improve the positioning accuracy). The above-mentioned calculated status evaluation data represents the operating status of the base station. Therefore, it can be understood that the status evaluation data can represent the quality of the real-time differential data collected and generated by the base station.

[0057] It can be understood that the data related to the operating status of the base station (i.e., data that can reflect the operating status of the base station) includes but is not limited to various basic status data of the base station, real-time differential data collected and acquired, etc. Therefore, the above-mentioned status evaluation data of the base station can be calculated based on the basic status data sent by the base station to the server 100, or calculated based on the real-time differential data sent by the base station to the server 100, or calculated based on other data. Therefore, this application does not limit how to obtain the status evaluation data of each base station.

[0058] S130, determining signal quality data corresponding to each reference station according to the state evaluation data and the distance data; the signal quality data represents the quality of the real-time differential data provided by the reference station to the positioning terminal.

[0059] In practical applications, for two reference stations with consistent status evaluation data, the one that is closer to the positioning terminal and the one that provides the real-time differential data to the positioning terminal can better improve the positioning accuracy of the positioning terminal; for two reference stations with consistent distance data from the positioning terminal, the one with better status evaluation data and the one that provides the real-time differential data to the positioning terminal can better improve the positioning accuracy of the positioning terminal. In other words, although the size of the distance data between each reference station and the positioning terminal will determine the positioning accuracy of the positioning terminal, the status evaluation data, that is, the quality of the real-time differential data collected and generated by the reference station, will also affect the positioning accuracy of the terminal to a certain extent, that is, both the status evaluation data and the distance data will affect the positioning accuracy of the positioning terminal.

[0060] Therefore, in order to accurately determine the quality of the real-time differential data collected and generated by each base station for the positioning terminal (that is, the quality of the real-time differential data provided by the base station to the positioning terminal), the signal quality data corresponding to each base station can be determined based on the state evaluation data and the distance data, that is, the state evaluation data and the distance data are simultaneously taken into account as factors affecting the signal quality data corresponding to each base station, thereby achieving that the determined signal quality data corresponding to each base station can characterize the quality of the real-time differential data provided by the base station to the positioning terminal.

[0061] Among them, there can be many specific methods for the above-mentioned "determining the signal quality data corresponding to each reference station based on the state evaluation data and the distance data". For example, the state evaluation data and the distance data are respectively used as two indicators, and the signal quality data corresponding to each reference station is determined by taking a weighted average of the two indicators, or the state evaluation data and the distance data are input as parameters into a trained model to calculate the signal quality data corresponding to each reference station. Furthermore, this application does not limit the specific method of "determining the signal quality data corresponding to each reference station based on the state evaluation data and the distance data".

[0062] S140, determining a reference station that enables the positioning terminal to be accurately positioned from at least one reference station according to the signal quality data, so as to send real-time differential data of the reference station to the positioning terminal.

[0063] In some possible embodiments, a reference station that enables the positioning terminal to be accurately positioned can be determined from at least one reference station based on signal quality data and a preset threshold, wherein the preset threshold can characterize that the quality of the real-time differential data provided by the reference station to the positioning terminal is just enough to enable the positioning terminal to be accurately positioned, and then a reference station whose corresponding signal quality data is greater than the preset threshold can be arbitrarily selected from at least one reference station as a reference station, so that the real-time differential data of the reference station can be sent to the positioning terminal, so that the positioning terminal can be accurately positioned; or all reference stations whose signal quality data is greater than the preset threshold in at least one reference station can be determined, and then the reference station closest to the positioning terminal is determined from these reference stations as the reference station. It should be understood that the present application does not limit how to "determine a reference station that enables the positioning terminal to be accurately positioned from at least one reference station based on signal quality data".

[0064] In some other possible embodiments, the above-mentioned “in order to send the real-time differential data of the reference station to the positioning terminal” can mean that the server 100 sends the real-time differential data obtained from the reference station to the positioning terminal, or the server 100 sends the specific information of the reference station to the positioning terminal, and the positioning terminal communicates directly with the reference station to enable the positioning terminal to obtain the real-time differential data of the reference station. This application does not limit this.

[0065] It should be understood that by selecting a reference station based on the two indicators of distance and signal quality data, when there are multiple reference stations with similar distances to the positioning terminal, it is possible to avoid selecting a reference station with a slightly closer distance but poorer signal quality as a reference station, thereby ensuring that the returned real-time differential data is stable and effective. In other words, since a reference station that enables the positioning terminal to be accurately positioned is determined from at least one reference station based on the signal quality data, so that the real-time differential data of the reference station is sent to the positioning terminal, in other words, the present application can determine a reference station from at least one reference station, and the real-time differential data generated by the reference station can enable the positioning terminal to be accurately positioned, so that the present application can provide a high-quality reference station for the positioning terminal.

[0066] In some possible embodiments, Figure 4 As shown, a map area may be preset in the server 100, and the map area may include a plurality of grid positions, that is, each grid position may be an area including a preset area in the map area. Figure 3 Based on Figure 5 Before acquiring at least one reference station around the positioning terminal according to the location information of the positioning terminal, the method provided by the present application may further include the following steps:

[0067] S100, obtaining location information and signal coverage of all reference stations.

[0068] The above signal coverage range represents all areas where the base station signal can be effectively received.

[0069] S101, generating grid index information according to location information and signal coverage;

[0070] The grid index information includes a correspondence between a plurality of grid positions and a plurality of reference station sets, and the signal coverage range of each reference station in each reference station set covers the corresponding grid position.

[0071] Continue with Figure 4In the map area shown, there are 5 reference stations in the map area, namely, reference station 1 to reference station 5, and the map area includes 20×20 grid positions. The server 100 can generate grid index information according to the position information of all reference stations and the signal coverage of all reference stations. For example, the server 100 can determine all reference stations that can receive signals at each grid position one by one, and establish a corresponding relationship between each grid position and all reference stations (i.e., a reference station set) that can receive signals (taking grid position A in the figure as an example, all reference stations that can receive signals include reference station 1 and reference station 4, so a corresponding relationship can be established between grid position A and reference station 1 and reference station 4), thereby obtaining grid index information including the corresponding relationship between multiple grid positions and multiple reference station sets, wherein it can be understood that the signal coverage of each reference station in each reference station set covers its corresponding grid position.

[0072] For some possible embodiments, please continue to refer to Figure 5 Regarding how to obtain at least one reference station around the positioning terminal according to the location information of the positioning terminal, S110 may include:

[0073] S110A: Determine a target grid position corresponding to the positioning terminal from multiple grid positions according to the position information of the positioning terminal.

[0074] S110B: Determine a target reference station set from multiple reference station sets according to the target grid position and the corresponding relationship, and use all reference stations in the target reference station set as at least one reference station around the positioning terminal.

[0075] It can be understood that the signals of all reference stations in the target reference station set can be received by the positioning terminal, that is, the position of the positioning terminal can be covered by the signal coverage range of all reference stations in the target reference station set.

[0076] The above S110A and S110B are further explained below in combination with practical applications. It is assumed that the grid index information includes the correspondence between multiple grid positions and multiple base station sets as shown in Table 1 below, and it is assumed that the position information of the positioning terminal indicates that the positioning terminal is actually located at grid position 2. Therefore, the server 100 can determine from the multiple grid positions that the target grid position of the positioning terminal is grid position 2.

[0077] Table 1

[0078]

[0079] After determining that the target grid position of the positioning terminal is grid position 2, the target reference station set (including reference station 1, reference station 2, and reference station 3) can be determined from multiple reference station sets, and all reference stations in the target reference station set (including reference station 1, reference station 2, and reference station 3) are used as at least one reference station around the positioning terminal.

[0080] In some possible embodiments, for how to obtain the distance data between each reference station and the positioning terminal, and obtain the status evaluation data of each reference station, please refer to Figure 6 , S120 may include:

[0081] S120A, obtaining distance data between each base station and the positioning terminal.

[0082] S120B, obtaining basic status data of each reference station, where the basic status data includes at least one of signal quality change data, connection satellite data, and signal-to-noise ratio data.

[0083] It can be understood that the above-mentioned basic status data includes at least one of signal quality change data, connection satellite data, and signal-to-noise ratio data, and in some possible implementations, the above-mentioned basic status data may also include other data that can represent the operating status of the reference station, such as the operating time, location, historical signal quality data of the reference station, etc. Therefore, in the present application, the basic status data may actually include at least one of all the data that can represent the operating status of the reference station.

[0084] S120C: Generate status evaluation data for each reference station according to the basic status data and preset rules.

[0085] In some possible implementations, after obtaining the basic status data, the basic status data can be input into a pre-trained machine learning-related training model (for example, a neural network model, etc.), and the data output by the model can be used as the status evaluation data of each reference station, wherein the training process of the training model can be trained based on the historical basic status data of the reference station; in addition, in some other implementations, the basic status data can also be input into a pre-established function formula to generate the status evaluation data of each reference station. Therefore, the present application does not limit the specific form of "generating the status evaluation data of each reference station based on the basic status data and preset rules".

[0086] In some possible embodiments, in order to provide the best quality reference station to the positioning terminal, Figure 3 Based on Figure 7 , S140 may include:

[0087] S140A, obtaining from at least one reference station a reference station whose corresponding signal quality data is greater than a preset threshold and whose signal quality is the best as a reference station of the positioning terminal, so as to send the real-time differential data of the reference station to the positioning terminal.

[0088] In some possible implementations, the above-mentioned preset threshold can characterize that the quality of the real-time differential data provided by the reference station to the positioning terminal is just enough to enable the positioning terminal to accurately locate. After determining the signal quality data corresponding to each reference station, the server 100 can determine a reference station that meets the preset conditions from at least one reference station as a reference station, so as to send the real-time differential data of the reference station to the positioning terminal, wherein the preset condition is that the corresponding signal quality data is greater than the preset threshold and the signal quality data is the best. For example, at least one target reference station can be first obtained from at least one reference station; the signal quality data corresponding to each target reference station is greater than the preset threshold; then, according to the signal quality data, the target reference station with the best signal quality is determined from at least one target reference station as the reference station of the positioning terminal, so as to send the real-time differential data of the reference station to the positioning terminal.

[0089] It should be understood that since the signal quality of the reference station is the best among at least one reference station and the signal quality data corresponding to the reference station is greater than the preset threshold, the purpose of providing the best quality reference station for the positioning terminal is achieved.

[0090] In some possible embodiments, in order to solve the technical problem that the prior art cannot provide a high-quality reference station for a positioning terminal that has experienced a disconnection and reconnection with a server, Figure 3 Based on Figure 8 , the method provided in this application may also include:

[0091] S150, when the positioning terminal is connected to the server, it is determined whether the positioning terminal has been connected to the server in the most recent preset time period. If the positioning terminal has been connected to the server in the most recent preset time period, S160 is executed; if the positioning terminal has not been connected to the server in the most recent preset time period, the above S110 can be returned to execute.

[0092] The above-mentioned most recent preset time period can be understood as the preset time period from the moment the positioning terminal connects to the server. For example, when the preset time period is 1 minute, and the moment the positioning terminal connects to the server is "17:10:1", the most recent preset time period is "17:9:1-17:10:1".

[0093] In some possible implementations, since the user usually logs into the server 100 in the form of an account, each time the user logs into the server 100 through an account, the positioning terminal controlled by the user may be different, and there may even be a situation where one account corresponds to multiple positioning terminals. In this case, the current positioning terminal may not be a terminal that is disconnected and reconnected due to network fluctuations. Therefore, S150 may include: after the server 100 obtains the user's account login information (the login information includes the location information of the current positioning terminal), it is determined whether the user has a record of account login information in the most recent preset time period; if so, it is determined whether the distance between the location information of the positioning terminal in the most recent account login information recorded in the record and the location information of the current positioning terminal is less than a preset value; if it is less than the preset value, it means that the current positioning terminal is a terminal that is disconnected and reconnected due to network fluctuations, and S160 is executed; if it is greater than or equal to the preset value, it means that the current positioning terminal is not a terminal that is disconnected and reconnected due to network fluctuations, and S110 is executed. It can be understood that before S150, the method may also include: obtaining the connection information between the positioning terminal and the server in the most recent preset time period.

[0094] S160: When the positioning terminal has been connected to the server within the most recent preset time period, the reference station to which the positioning terminal was last connected is obtained.

[0095] In some possible implementations, the reference station that the positioning terminal last connected to can be pre-recorded in the memory by the server 100, that is, the server 100 will record all the reference stations that the positioning terminal has connected to. When it is determined that the positioning terminal has been connected to the server in the most recent preset time period, the server 100 can obtain the reference station that the positioning terminal last connected to from all the reference stations that the positioning terminal has connected to, wherein the server 100 provided in the present application can record the corresponding relationship between the positioning terminal and the reference station when determining the reference station of the positioning terminal (it can also be understood that the server 100 binds the positioning terminal to the reference station), and then send the real-time differential data of the reference station to the positioning terminal, therefore, all the reference stations that the above-mentioned positioning terminal has connected to can be understood as all the reference stations that the positioning terminal has corresponded to (bound to).

[0096] S170, determining whether the signal quality data corresponding to the reference station connected last time is greater than a preset threshold, if so, executing S180; if not, returning to executing S110.

[0097] S180: When the signal quality data corresponding to the reference station connected last time is greater than a preset threshold, the reference station connected last time is used as a reference station for the positioning terminal.

[0098] In some possible implementations, after obtaining the reference station to which the positioning terminal last connected, the server 100 can determine whether the signal quality data corresponding to the reference station last connected is greater than a preset threshold, that is, determine whether the reference station last connected can provide effective real-time differential data for the positioning terminal, so that the positioning terminal can achieve accurate positioning. When the signal quality data corresponding to the reference station last connected is greater than the preset threshold, the server 100 can use the reference station last connected as a reference station for the positioning terminal.

[0099] It should be understood that since the above S150-S180 allows the positioning terminal to lock onto a certain base station as much as possible during use, the stability of the positioning service is ensured, thereby solving the technical problem that the existing technology cannot provide a high-quality base station for the positioning terminal that has experienced disconnection and reconnection with the server.

[0100] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing the reference station selection device is given below. Fig. 9 , Fig. 9 A functional module diagram of the reference station selection device provided in the embodiment of the present application is shown. It should be noted that the basic principle and technical effect of the reference station selection device 400 provided in this embodiment are the same as those of the above embodiment. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment. The reference station selection device 400 includes: a base station index module 410, a base station selection module 420, a real-time differential data sending module 430, and a session module 440.

[0101] Optionally, the above modules may be stored in a memory in the form of software or firmware or solidified in an operating system (OS) of the server 100 provided in the present application, and may be executed by a processor in the server 100. At the same time, data, program codes, etc. required to execute the above modules may be stored in the memory.

[0102] The base station index module 410 may be configured to acquire at least one reference station around the positioning terminal according to the location information of the positioning terminal.

[0103] It can be understood that the base station index module 410 can be used to support the server 100 to execute the above-mentioned S110, etc., and / or other processes for the technology described in this document.

[0104] The base station selection module 420 can be used to obtain the distance data between each base station and the positioning terminal, and to obtain the status evaluation data of each base station; the status evaluation data characterizes the operating status of the base station; it is also used to determine the signal quality data corresponding to each base station based on the status evaluation data and the distance data; the signal quality data characterizes the quality of the real-time differential data provided by the base station to the positioning terminal; it is also used to determine the reference station that enables the positioning terminal to be accurately positioned from at least one base station based on the signal quality data, so as to send the real-time differential data of the reference station to the positioning terminal.

[0105] It can be understood that the base station selection module 420 can be used to support the server 100 to execute the above-mentioned S120, S130, S140, etc., and / or other processes for the technology described in this document, for example, S110A, S110B, S120A, S120B, S120C, S140A.

[0106] The base station index module 410 can be used to obtain the location information and signal coverage of all base stations; it is also used to generate grid index information based on the location information and signal coverage; wherein the grid index information includes the correspondence between multiple grid locations and multiple base station sets, and the signal coverage of each base station in each base station set covers its corresponding grid location.

[0107] It can be understood that the base station index module 410 can be used to support the server 100 to execute the above-mentioned S100, etc., and / or other processes used for the technology described in this document, for example, S100, S101.

[0108] Furthermore, the real-time differential data sending module 430 can be used to send the real-time differential data of the reference station to the positioning terminal, that is, to bind the positioning terminal to the reference station and continuously provide the real-time differential data of the reference station to the positioning terminal.

[0109] The session module 440 can be used to determine whether the positioning terminal has been connected to the server within a recent preset time period when the positioning terminal is connected to the server; and to obtain the reference station to which the positioning terminal was last connected when the positioning terminal has been connected to the server within a recent preset time period; and to use the reference station to which the positioning terminal was last connected as a reference station for the positioning terminal when the signal quality data corresponding to the reference station to which the positioning terminal was last connected is greater than a preset threshold.

[0110] It is understandable that the session module 440 can be used to support the server 100 in executing the above-mentioned S150, S160, S170, S180, etc., and / or other processes for the technology described in this document.

[0111] The session module is also used to store the connection information between the positioning terminal and the server, that is, to store a collection of connection records of the same positioning terminal within a period of time. This collection can be called a session.

[0112] The entire process from the initial login of the positioning terminal to the server, the server selecting a reference station from at least one base station for the positioning terminal, and sending real-time differential data to the positioning terminal, to the end of the positioning terminal using the service and disconnecting from the server, is a session of the positioning terminal. For the server, some status information, such as the reference station ID, can be saved through the session module during this session. This session will have an expiration time (for example, 5 minutes). If the positioning terminal is disconnected and the positioning terminal does not reconnect after the expiration time, the session ends. After that, the positioning terminal will create a new session when it connects to the server again. If the positioning terminal reconnects quickly after disconnection (for example, 5 seconds), then the connection is still in the same session, and the reference station saved in the session will be used as the base station (refer to S150-S180 above).

[0113] Therefore, the session module provided in the present application can obtain the reference station that the positioning terminal last connected to in the same session (ie, the above-mentioned "obtaining the connection information between the positioning terminal and the server in the most recent preset time period" before S150 can be executed by the session module).

[0114] Based on the above method embodiment, the embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above reference station selection method are executed.

[0115] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, it can execute the above-mentioned base station selection method, thereby solving the problem that the existing technology cannot provide high-quality base stations for the positioning terminal, and realizing the provision of high-quality base stations for the positioning terminal, thereby improving the positioning accuracy of the positioning terminal.

[0116] In summary, the embodiment of the present application provides a reference station selection method, device, storage medium and server, the method comprising: obtaining at least one reference station around the positioning terminal according to the location information of the positioning terminal; obtaining the distance data between each reference station and the positioning terminal, and obtaining the state evaluation data of each reference station; the state evaluation data characterizes the operating state of the reference station; determining the signal quality data corresponding to each reference station according to the state evaluation data and the distance data; the signal quality data characterizes the quality of the real-time differential data provided by the reference station to the positioning terminal; determining the reference station that enables the positioning terminal to be accurately positioned from at least one reference station according to the signal quality data, so as to send the real-time differential data of the reference station to the positioning terminal. Since the reference station that enables the positioning terminal to be accurately positioned is determined from at least one reference station according to the signal quality data, so as to send the real-time differential data of the reference station to the positioning terminal, in other words, the present application can determine the reference station from at least one reference station, and the real-time differential data generated by the reference station can enable the positioning terminal to be accurately positioned, so that the present application can provide a high-quality reference station for the positioning terminal.

[0117] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A reference station selection method, characterized in that: Applicable to servers, including: When the positioning terminal is connected to the server, determining whether the positioning terminal has been connected to the server within a recent preset time period; When the positioning terminal has been connected to the server within a recent preset time period, obtaining the reference station to which the positioning terminal was last connected; When the signal quality data corresponding to the last connected reference station is greater than a preset threshold, the last connected reference station is used as the reference station of the positioning terminal, wherein the signal quality data represents the quality of the real-time differential data provided by the reference station to the positioning terminal.

2. The method according to claim 1, characterized in that The method further comprises: Determine whether the signal quality data corresponding to the last connected reference station is greater than a preset threshold.

3. The method according to claim 1, characterized in that When the positioning terminal has not been connected to the server within a recent preset time period, the method further includes: Acquiring at least one reference station around the positioning terminal according to the position information of the positioning terminal, including: acquiring all reference stations within a preset range centered on the actual position corresponding to the position information, or acquiring a preset number of reference stations closest to the positioning terminal according to the position information of the positioning terminal; Acquire the distance data between each of the reference stations and the positioning terminal, and acquire the status evaluation data of each of the reference stations; the status evaluation data represents the operating status of the reference station; Determine the signal quality data corresponding to each of the reference stations according to the state evaluation data and the distance data; A reference station that enables the positioning terminal to be accurately positioned is determined from the at least one reference station according to the signal quality data, so as to send the real-time differential data of the reference station to the positioning terminal.

4. The method according to claim 3, characterized in that The step of obtaining the distance data between each of the reference stations and the positioning terminal and obtaining the status evaluation data of each of the reference stations comprises: Acquiring distance data between each of the reference stations and the positioning terminal; Acquire basic status data of each of the reference stations, wherein the basic status data includes at least one of signal quality change data, connection satellite data, and signal-to-noise ratio data; The status evaluation data of each reference station is generated according to the basic status data and preset rules.

5. The method according to claim 3, characterized in that: The server has a map area preset therein, the map area including a plurality of grid locations, and before the step of acquiring at least one reference station around the positioning terminal according to the location information of the positioning terminal, the method further includes: Obtain the location information and signal coverage of all base stations; The grid index information is generated according to the position information and the signal coverage range, including: determining all reference stations that can receive signals at each grid position one by one, and establishing a corresponding relationship between each grid position and all reference stations that can receive signals, thereby obtaining grid index information including a corresponding relationship between multiple grid positions and multiple reference station sets; wherein the grid index information includes a corresponding relationship between the multiple grid positions and multiple reference station sets, and the signal coverage range of each reference station in each of the reference station sets covers the corresponding grid position; The step of acquiring at least one reference station around the positioning terminal according to the location information of the positioning terminal comprises: Determine a target grid position corresponding to the positioning terminal from the multiple grid positions according to the position information of the positioning terminal; According to the target grid position and the corresponding relationship, a target reference station set is determined from the multiple reference station sets, and all reference stations in the target reference station set are used as at least one reference station around the positioning terminal.

6. The method according to claim 3, characterized in that: The step of determining, from the at least one reference station according to the signal quality data, a reference station for accurately positioning the positioning terminal so as to send the real-time differential data of the reference station to the positioning terminal comprises: A reference station having the best signal quality and corresponding signal quality data greater than a preset threshold is obtained from the at least one reference station as a reference station for the positioning terminal, so as to send the real-time differential data of the reference station to the positioning terminal.

7. A reference station selection device, characterized in that: Applicable to servers, including: A session module is used to determine whether the positioning terminal has been connected to the server within a recent preset time period when the positioning terminal is connected to the server; it is also used to obtain the reference station to which the positioning terminal was last connected when the positioning terminal has been connected to the server within a recent preset time period; it is also used to use the reference station to which the positioning terminal was last connected as a reference station for the positioning terminal when the signal quality data corresponding to the reference station to which the positioning terminal was last connected is greater than a preset threshold, wherein the signal quality data represents the quality of real-time differential data provided by the reference station to the positioning terminal.

8. The device according to claim 7, characterized in that The conversation module is further used to determine whether the signal quality data corresponding to the reference station connected last time is greater than a preset threshold.

9. The device according to claim 7, characterized in that The device also includes a base station index module and a base station selection module; The base station index module is used to obtain at least one reference station around the positioning terminal according to the location information of the positioning terminal when the positioning terminal has not been connected to the server within the most recent preset time period, including: obtaining all reference stations within a preset range centered on the actual position corresponding to the location information, or obtaining a preset number of reference stations closest to the positioning terminal according to the location information of the positioning terminal; The base station selection module is used to obtain the distance data between each of the reference stations and the positioning terminal, and obtain the status evaluation data of each of the reference stations; the status evaluation data represents the operating status of the reference station; The base station selection module is further used to determine the signal quality data corresponding to each of the reference stations according to the state evaluation data and the distance data; The base station selection module is further used to determine a reference station from the at least one reference station that enables the positioning terminal to be accurately positioned according to the signal quality data, so as to send the real-time differential data of the reference station to the positioning terminal.

10. The device according to claim 9, characterized in that The base station selection module is used to obtain distance data between each of the reference stations and the positioning terminal; The base station selection module is further used to obtain basic status data of each reference station, wherein the basic status data includes at least one of signal quality change data, connection satellite data, and signal-to-noise ratio data; The base station selection module is further used to generate status evaluation data of each reference station according to the basic status data and preset rules.

11. The device according to claim 9, characterized in that The server is preset with a map area, the map area includes a plurality of grid locations, and the base station index module is used to obtain the location information and signal coverage of all reference stations; The base station index module is also used to generate grid index information according to the location information and the signal coverage range, including: determining all reference stations that can receive signals at each grid location one by one, and establishing a corresponding relationship between each grid location and all reference stations that can receive signals, thereby obtaining grid index information including a corresponding relationship between multiple grid locations and multiple reference station sets; wherein the grid index information includes a corresponding relationship between the multiple grid locations and multiple reference station sets, and the signal coverage range of each reference station in each of the reference station sets covers its corresponding grid location; The base station index module is further used to determine the target grid position corresponding to the positioning terminal from the multiple grid positions according to the position information of the positioning terminal; The base station index module is further configured to determine a target reference station set from the multiple reference station sets according to the target grid position and the corresponding relationship, and use all reference stations in the target reference station set as at least one reference station around the positioning terminal.

12. The device according to claim 9, characterized in that The base station selection module is used to obtain from the at least one reference station a reference station with corresponding signal quality data greater than a preset threshold and the best signal quality as a reference station for the positioning terminal, so as to send the real-time differential data of the reference station to the positioning terminal.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the reference station selection method according to any one of claims 1 to 6 is implemented.

14. A server, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions. When the server is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to execute the reference station selection method according to any one of claims 1 to 6.

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