Position Determination Method, Monitoring Method, Computer Device and Medium of Reference Station

Abstract

This application is applicable to the field of positioning technology, and provides a method for determining the position of a reference station, a monitoring method, a computer device, and a medium. Among them, the method for determining the position includes: sending positioning reference information to a mobile station device; the positioning reference information is obtained by the reference station device through reference station positioning calculation based on satellite signals received at a test position; receiving the positioning calculation status from the mobile station device; the positioning calculation status is obtained by the mobile station device through mobile station positioning calculation according to the positioning reference information or received satellite signals; obtaining the number of satellite signals received by the reference station device at the test position; if the positioning calculation status is a fixed solution, and the number of satellite signals received by the reference station device at the test position is greater than or equal to a first quantity threshold, then determine the test position as a candidate deployment position. This solution can not only improve the positioning accuracy, but also improve the accuracy, reliability, and effectiveness of determining the position of the reference station.

Description

Technical Field

[0001] This application belongs to the field of positioning technology, and particularly relates to a method for determining the position of a reference station, a monitoring method, a computer device, and a medium. Background Art

[0002] There are various outdoor positioning technologies. The single-point positioning technology based on the global positioning system (GPS) is a relatively widely used outdoor positioning technology at present. The principle of the single-point positioning technology is that a single receiver realizes positioning by calculating its distances from multiple satellites with known positions. However, affected by the refraction effect of the atmosphere on satellite signals, satellite ephemeris errors, and satellite clock errors, etc., the positioning accuracy of the single-point positioning technology is relatively low. At this time, in order to improve the positioning accuracy, the real time kinematic (RTK) technology is usually selected for positioning.

[0003] In a positioning system based on the RTK technology, a reference station and a mobile station are usually included, and the deployment position of the reference station will have a certain impact on the positioning accuracy. Therefore, how to accurately determine the deployment position of the reference station that can meet the positioning accuracy requirements is a technical problem to be solved urgently. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a method for determining the position of a reference station, a monitoring method, a computer device, and a medium to improve the accuracy of determining the deployment position of the reference station.

[0005] In a first aspect, the embodiments of this application provide a method for determining the position of a reference station, including:

[0006] Sending positioning reference information to a mobile station device; the positioning reference information is obtained by the reference station device through positioning and resolution calculation based on satellite signals received at a test position;

[0007] Receiving the positioning resolution status from the mobile station device; the positioning resolution status is obtained by the mobile station device through mobile station positioning and resolution calculation according to the positioning reference information or satellite signals received by the mobile station device;

[0008] Obtaining the number of satellite signals received by the reference station device at the test position;

[0009] If the positioning resolution status is a fixed solution and the number of satellite signals is greater than or equal to a first quantity threshold, then determining the test position as a candidate deployment position.

[0010] In an optional implementation manner of the first aspect, the method for determining the position of a reference station further includes:

[0011] Obtain the signal strength of the satellite signal received at the candidate deployment location;

[0012] If the signal strength is greater than a preset signal strength threshold, determine the candidate deployment location as the target deployment location.

[0013] In an optional implementation manner of the first aspect, the method for determining the position of the reference station further includes:

[0014] Obtain the target deployment range according to the candidate deployment location;

[0015] Obtain the signal strength of the satellite signals received at each target location within the target deployment range;

[0016] Determine the target location with the strongest signal strength as the target deployment location.

[0017] In an optional implementation manner of the first aspect, the method for determining the position of the reference station further includes:

[0018] Obtain the target deployment range according to the candidate deployment location;

[0019] Obtain the signal strength of the satellite signals received at each target location within the target deployment range during a preset time period;

[0020] Determine the signal fluctuation amplitude of each target location according to the signal strength of the satellite signals received during the preset time period;

[0021] Determine the candidate deployment location with the signal fluctuation amplitude less than the preset fluctuation threshold and the signal strength greater than the preset signal strength threshold as the target deployment location.

[0022] In the second aspect, an embodiment of the present application provides a monitoring method for a reference station. The position of the reference station is determined by the method described in the first aspect above. An antenna is installed on the reference station device. The monitoring method includes:

[0023] Obtain the amount of change in the attitude of the antenna;

[0024] Obtain fault information according to the amount of change in the attitude and a preset attitude change threshold;

[0025] Execute the preset maintenance strategy corresponding to the fault information to implement the control of the reference station.

[0026] In an optional implementation manner of the second aspect, the obtaining the amount of change in the attitude of the antenna includes:

[0027] Obtain the attitude information of the antenna during a preset sampling period;

[0028] Determine the amount of change in the attitude of the antenna per unit time according to the preset sampling period.

[0029] In an alternative implementation of the second aspect, the obtaining the amount of change in the attitude of the antenna further includes:

[0030] Obtain the attitude information of the antenna at the current moment and the preset initial attitude information;

[0031] Determine the amount of change in the attitude of the antenna at the current moment according to the attitude information of the antenna at the current moment and the initial attitude information.

[0032] In an alternative implementation of the second aspect, the attitude change threshold includes an attitude change rate threshold. The obtaining of the fault information according to the amount of change in the attitude and the preset attitude change threshold includes:

[0033] When the amount of change in the attitude of the antenna per unit time is greater than the attitude change rate threshold, obtain the fault information that the antenna is in a falling state; and / or

[0034] The attitude change threshold includes an attitude change difference threshold. The obtaining of the fault information according to the amount of change in the attitude and the preset attitude change threshold includes:

[0035] When the amount of change in the attitude of the antenna at the current moment is greater than the attitude change difference threshold, obtain the fault information that the antenna is in a tilted state.

[0036] In a third aspect, an embodiment of the present application provides a computer device, including:

[0037] A first sending unit, configured to send positioning reference information to a mobile station device; the positioning reference information is obtained by the reference station device through reference station positioning and calculation based on satellite signals received at a test location;

[0038] A first receiving unit, configured to receive the positioning and calculation status from the mobile station device; the positioning and calculation status is obtained by the mobile station device through mobile station positioning and calculation according to the positioning reference information;

[0039] A first obtaining unit, configured to obtain the number of satellite signals received by the reference station device at the test location;

[0040] A first determining unit, configured to, if the positioning and calculation status is a fixed solution and the number of satellite signals is greater than or equal to a first quantity threshold, determine the test location as a candidate deployment location.

[0041] In a fourth aspect, an embodiment of the present application provides another computer device, including:

[0042] A sixth acquisition unit, configured to acquire the amount of attitude change of the antenna;

[0043] A seventh acquisition unit, configured to acquire fault information according to the amount of attitude change and a preset attitude change threshold;

[0044] A reference station control unit, configured to execute a preset maintenance strategy corresponding to the fault information to implement control of the reference station.

[0045] In a fifth aspect, an embodiment of the present application provides a computer device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in the first aspect or the second aspect above is implemented.

[0046] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method described in the first aspect or the second aspect above is implemented.

[0047] In a seventh aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a computer device, the computer device is caused to execute the method described in the first aspect or the second aspect above.

[0048] Implementing the position determination method of the reference station, the monitoring method of the reference station, the computer-readable storage medium, and the computer program product provided by the embodiments of the present application has the following beneficial effects:

[0049] The method for determining the position of a reference station provided by the embodiments of the present application is such that the reference station device sends the positioning reference information obtained by its positioning and resolution calculation to the mobile station device, and receives the positioning resolution status returned by the mobile station device after performing mobile station positioning and resolution calculation based on the positioning reference information or the satellite signals received by the mobile station device. When the positioning resolution status is a fixed solution, it indicates that the positioning accuracy can reach the centimeter level, that is, it means that the positioning reference information obtained by the reference station device at the test position can eliminate the common error part between the reference station device and the mobile station device. In other words, the test position meets the positioning accuracy requirements for the deployment of the reference station position; at the same time, since the number of satellite signals received by the reference station device at the test position can be approximately used as a basis for judging the signal strength, therefore, when the number of satellite signals received by the reference station device at the test position is greater than or equal to the first number threshold, the signal strength requirements for the deployment of the reference station position are satisfied; thus, when the positioning resolution status is a fixed solution and the number of satellite signals received by the reference station device at the test position is greater than or equal to the first number threshold, the test position is determined as the candidate deployment position of the reference station, which can not only find a better reference station deployment position in the environment, improve the positioning accuracy, but also improve the accuracy, reliability and effectiveness of determining the reference station deployment position.

[0050] In addition, the embodiments of the present application also provide a method for monitoring a reference station. By detecting the attitude information of the antenna installed on the reference station device, obtaining the fault status according to the attitude information of the antenna, and executing the corresponding preset maintenance strategy when a fault occurs in the antenna, that is, it can not only effectively monitor the reference station device, but also perform maintenance in a timely manner when a fault is detected, thereby reducing the probability of damage to the internal components of the antenna. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0052] Figure 1 It is a schematic architecture diagram of a positioning system based on RTK technology provided by the embodiments of the present application;

[0053] Figure 2 It is a schematic flowchart of a method for determining the position of a reference station provided by the embodiments of the present application;

[0054] Figure 3 It is a schematic flowchart of a method for determining the position of a reference station provided by another embodiment of the present application;

[0055] Figure 4 A schematic flowchart of a method for determining the position of a reference station provided by another embodiment of the present application;

[0056] Figure 5 A schematic flowchart of a method for determining the position of a reference station provided by another embodiment of the present application;

[0057] Figure 6 A schematic flowchart of a method for monitoring a reference station provided by an embodiment of the present application;

[0058] Figure 7 A schematic diagram of the attitude of an antenna provided by an embodiment of the present application;

[0059] Figure 8 A schematic diagram of the structure of a computer device provided by an embodiment of the present application;

[0060] Figure 9 A schematic diagram of the structure of a computer device provided by another embodiment of the present application;

[0061] Figure 10 A schematic diagram of the structure of a computer device provided by another embodiment of the present application. Detailed implementation manners

[0062] It should be noted that the terms used in the implementation manner part of the embodiments of the present application are only used to explain the specific embodiments of the present application, rather than intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means "or", for example, A / B may mean A or B; "and / or" herein is only a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, unless otherwise specified, "a plurality of" means two or more than two, and "at least one", "one or more" means one, two or more than two.

[0063] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0064] References to "an embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0065] The method for determining the position of a reference station provided in an embodiment of the present application can be applied to a positioning system based on real time kinematic (RTK) technology. Please refer to Figure 1 , which is a schematic architecture diagram of a positioning system based on RTK technology provided in an embodiment of the present application. As Figure 1 shown, the positioning system may include a reference station device 11 and a mobile station device 12, and a communication link 13 is established between the reference station device 11 and the mobile station device 12.

[0066] Exemplarily, the reference station device 11 may be the reference station itself or a computer device disposed on the reference station. The mobile station device 12 may be the mobile station itself or a computer device disposed on the mobile station. Here, the specific types of the reference station device 11 and the mobile station device 12 are not particularly limited. The communication link 13 may be a communication link based on mobile data, wireless network or data transmission radio station, etc.

[0067] Among them, the communication link based on mobile data may include a third-generation mobile communication technology (3G) link, a fourth-generation mobile communication technology (4G) link, or a fifth-generation mobile communication technology (5G), etc. The communication link based on wireless network may include a wireless fidelity (WIFI) link or a Bluetooth link, etc. The communication link based on data transmission radio station is a radio communication link based on a radio station.

[0068] Both the reference station device 11 and the mobile device 12 have communication functions. Specifically, the reference station device 11 and the mobile device 12 can not only communicate with satellites (such asFigure 1 communicate with S1, S2, S3 or S4) in it. For example, receive satellite signals transmitted by satellites; data interaction can also be performed between the reference station device 11 and the mobile device 12 through the communication link 13. For example, the reference station device 11 can send positioning reference information to the mobile station device 12 through the communication link 13 as the positioning reference of the mobile station device 12.

[0069] The positioning principle of the positioning system based on RTK technology is that the reference station device 11 and the mobile station device 12 simultaneously observe satellite signals, and the reference station device 11 sends the carrier phase observations of the satellite signals it observes to the mobile station device 12; the mobile station device 12 uses the carrier phase observations from the reference station device 11 as positioning reference information, and by performing differential calculation on the carrier phase observations of the satellite signals it observes and the carrier phase observations from the reference station device 11, the positioning of the mobile station device 12 is realized. In this way, the common error part between the mobile station device 12 and the reference station device 11 can be eliminated, and the positioning accuracy can reach the centimeter level. However, the deployment of reference stations is not dense everywhere. Therefore, when using RTK technology for positioning, it is usually necessary to deploy reference stations by oneself to provide positioning reference information for the positioning of mobile station devices, and the deployment location of the reference stations will have a certain impact on the positioning accuracy. In view of this, the embodiment of the present application also provides a method for determining the position of a reference station, which can not only improve the positioning accuracy, but also improve the accuracy, reliability and effectiveness of determining the deployment position of the reference station.

[0070] The execution subject of the method for determining the position of the reference station provided by the embodiment of the present application can be Figure 1 the reference station device 11 in it. In specific applications, by configuring a target script file for the reference station device 11, the method for determining the position of the reference station provided by the embodiment of the present application is described by the target script file, and the reference station device 11 is made to execute the target script file when it is necessary to determine the deployment position of the reference station, and then execute each step in the method for determining the position of the reference station provided by the embodiment of the present application.

[0071] Please refer to Figure 2 , which is a schematic flowchart of a method for determining the position of a reference station provided by the embodiment of the present application. As Figure 2 shown, the method for determining the position of the reference station may include S21 to S24, which are described in detail as follows:

[0072] S21: Send positioning reference information to the mobile station device; the positioning reference information is obtained by the reference station device performing reference station positioning calculation based on the satellite signals received at the test position.

[0073] In one embodiment, the test location can be any location within a preset area. The preset area can be a geographical area demarcated by the tester himself / herself, or an existing demarcated geographical area (such as the North China region) or administrative area (such as Area B in City A), etc. In another embodiment, in the absence of a preset area, the test location can be any random location on the earth.

[0074] In a specific application, when it is necessary to determine the deployment location of the reference station, the tester can place the reference station device at the test location and trigger a preset location determination instruction to control the reference station device to start executing the reference station location determination method. Exemplarily, a test control can be set on the reference station device, and the tester can trigger the preset location determination instruction by clicking on the test control. When the reference station device detects that the test control is clicked, it determines that the preset location determination instruction is detected, and at this time, the reference station device executes the reference station location determination method. Among them, the test control can be a physical button or a software control obtained by encapsulating data or methods, and the type of the test control is not particularly limited here.

[0075] Specifically, the reference station device can receive satellite signals emitted by satellites at the test location and perform reference station positioning and solution based on the received satellite signals. The process of reference station positioning and solution is the process of the reference station device positioning itself and determining the carrier phase observables corresponding to the satellite signals it receives, that is, the reference station positioning and solution can obtain the positioning information of the reference station device and the carrier phase observables corresponding to the satellite signals received by the reference station device.

[0076] In one embodiment, when the reference station device positions itself, it can use satellite signals from at least 4 satellites and adopt GPS positioning technology to obtain the positioning information of the reference station device. It can be understood that the more satellite signals used in the reference station positioning and solution, the more accurate the obtained positioning information.

[0077] Among them, the positioning information of the reference station device can be represented by the three-dimensional coordinates of the reference station device. Exemplarily, the three-dimensional coordinates of the reference station device can be composed of the longitude, latitude, and height from the earth's surface at the location where the reference station device is located (i.e., the test location).

[0078] The reference station device can determine the carrier phase observation value corresponding to a satellite signal as the difference between the phase of the satellite signal received at a certain moment and the phase of the reference signal generated by the reference station device at that moment. Since the frequency of the reference signal generated by the reference station device is the same as the frequency of the satellite signal received by the reference station device, and the initial phase of the reference signal generated by the reference station device is the same as the initial phase of the satellite signal received by the reference station device, based on this, at any moment, the phase of the reference signal generated by the reference station device is equal to the phase of the satellite signal. Therefore, according to the carrier phase observation value corresponding to a certain satellite signal at any moment, the distance between the reference station device and the satellite transmitting the satellite signal at that moment can be calculated.

[0079] In the embodiment of the present application, after the reference station device obtains the positioning information of the reference station device and the carrier phase observation values corresponding to the satellite signals received by the reference station device, it can generate positioning reference information based on the positioning information and the carrier phase observation values corresponding to the satellite signals, and send the positioning reference information to the mobile station device. That is, the positioning reference information may include the positioning information of the reference station and the carrier phase observation values corresponding to the satellite signals received by the reference station.

[0080] In the embodiment of the present application, the mobile station device can receive the satellite signals transmitted by the satellites and / or the positioning reference information from the reference station device after power-on, and perform mobile station positioning calculation based on the received satellite signals and / or the positioning reference information from the reference station device. The process of mobile station positioning calculation is the process of the mobile station device positioning itself. The mobile station device can perform mobile station positioning calculation based on the satellite signals it receives to obtain the positioning information of the mobile station device; the mobile station device can also perform mobile station positioning calculation according to the positioning reference information from the reference station device to obtain the positioning information of the mobile station device. Since the latter can eliminate the common error between the mobile station device and the reference station device, the positioning accuracy is higher.

[0081] Based on this, in an embodiment of the present application, when the mobile station device performs mobile station positioning calculation, in the case where it does not receive the positioning reference information from the reference station device, the mobile station device can perform mobile station positioning calculation according to the satellite signals it receives itself to obtain the positioning calculation result. In this case, since the mobile station device only performs mobile station positioning calculation according to the satellite signals it receives itself without referring to the information from other devices, the mobile station device can determine the positioning calculation state corresponding to the positioning calculation result in this case as single-point positioning solution.

[0082] In another embodiment of the present application, when the mobile station device performs mobile station positioning calculation, in the case of receiving positioning reference information from the reference station device, the mobile station device can perform mobile station positioning calculation based on the carrier phase measurement corresponding to the satellite signal observed by itself and the positioning reference information from the reference station device. Specifically, the mobile station device can perform differential calculation (i.e., subtraction operation) on the carrier phase measurement corresponding to the satellite signal observed by itself and the carrier phase measurement from the reference station device to obtain the mobile station positioning calculation result. In this case, since the satellite signal (i.e., the modulated carrier signal) is a periodic sine signal, the reference station device and the mobile station device can only observe the part of the satellite signal that is less than one wavelength. Therefore, when performing mobile station positioning calculation, it is necessary to determine the number of full weeks that the satellite signal has passed from the satellite to the mobile station device, which is also called the integer ambiguity. That is, the mobile station positioning calculation result in this case includes the solution result of the ambiguity. Based on this, in a possible implementation, when the ambiguity solution result in the mobile station positioning calculation result is an integer, the mobile station device can determine the positioning calculation state corresponding to the positioning calculation result as a fixed solution. In another possible implementation, when the ambiguity solution result in the mobile station positioning calculation result is not an integer, the mobile station device can determine the positioning calculation state corresponding to the positioning calculation result as a floating-point solution.

[0083] It should be noted that when the positioning calculation state is a floating-point solution, it indicates that the satellite signals received by the reference station device and / or the mobile station device are unstable, which will reduce the positioning accuracy. When the positioning calculation state is a fixed solution, the positioning accuracy can be improved, and the positioning accuracy can reach the centimeter level.

[0084] In yet another embodiment of the present application, since within the first duration after the mobile station device is powered on, the mobile station positioning calculation program in the mobile station device has not started running, that is, within the first duration after the mobile station device is powered on, the mobile station device cannot obtain the mobile station positioning calculation result. Therefore, the mobile station device can determine the positioning calculation state within the first duration after it is powered on as an invalid solution. Wherein, the first duration can be the cold start duration of the mobile station device.

[0085] In the embodiments of the present application, after the mobile station device performs mobile station positioning calculation to obtain the positioning calculation state, it can send the positioning calculation state to the reference station device.

[0086] S22: Receive the positioning calculation state from the mobile station device; the positioning calculation state is obtained by the mobile station device performing mobile station positioning calculation based on the positioning reference information or the satellite signals received by the mobile station device.

[0087] In the embodiments of the present application, since the positioning calculation of the mobile station can be performed by the mobile station device after receiving the positioning reference information, or can be performed by the mobile station device without receiving the positioning reference information, therefore, the reference station device can receive the positioning calculation status from the mobile station device after sending the positioning reference information to the mobile station device; the reference station device can also receive the positioning calculation status from the mobile station device before sending the positioning reference information to the mobile station device (for example, when receiving a position determination instruction).

[0088] Specifically, the reference station device can receive the positioning calculation status from the mobile station device in real time, or can receive the positioning calculation status from the mobile station device once every second time period. Wherein, the second time period can be set according to actual requirements, and no special limitation is made here.

[0089] S23: Obtain the number of satellite signals received by the reference station device at the test position.

[0090] The number of satellite signals received by the reference station device at the test position is also the number of satellites that the reference station device can search for at the test position. And the more satellites that the reference station device can search for at the test position, it indicates that more satellite signals can be used for the reference station to perform positioning calculation, which can reduce the situation of inability to position or low positioning accuracy caused by unstable satellite signals.

[0091] In one embodiment, the reference station device can search for satellites in real time at the test position, and record the number of satellites that it can search for at the test position in a preset storage area. Based on this, the reference station device can obtain the number of satellites that the reference station device can search for at the test position from the preset storage area, and determine this number of satellites as the number of satellite signals received by the reference station device at the test position.

[0092] It should be noted that no special limitation is made on the execution order of S21, S22, and S23 in this embodiment.

[0093] S24: If the positioning calculation status is a fixed solution and the number of satellite signals is greater than or equal to the first quantity threshold, then determine the test position as a candidate deployment position.

[0094] Since the positioning accuracy can reach the centimeter level when the positioning solution state is the fixed solution, it indicates that the test location may meet the positioning accuracy requirements for the reference station location deployment; when the number of satellite signals received by the reference station device at the test location is greater than or equal to the first quantity threshold, it indicates that the test location may meet the signal strength requirements for the reference station location deployment. Therefore, after receiving the positioning solution state and obtaining the number of satellite signals it receives at the test location, the reference station device determines whether the positioning solution state is the fixed solution and whether the number of satellite signals received by the reference station device at the test location is greater than or equal to the first quantity threshold. Among them, the first quantity threshold is greater than 4, and the first quantity threshold can be an empirical value obtained through multiple tests that can meet the positioning accuracy requirements.

[0095] In an embodiment of the present application, if the positioning solution state is the fixed solution and the number of satellite signals received by the reference station device at the test location is greater than or equal to the first quantity threshold, the reference station device determines the test location as a candidate deployment location.

[0096] Optionally, after the reference station device determines the test location as a candidate deployment location, it may output a first prompt message to prompt the tester that the test location where the reference station device is currently located can be deployed with a reference station.

[0097] In another embodiment of the present application, if the positioning solution state is not the fixed solution or the number of satellite signals received by the reference station device at the test location is less than the first quantity threshold, the reference station device may output a second prompt message to prompt the tester that the test location where the reference station device is currently located is not suitable for deploying a reference station.

[0098] As can be seen above, for the method for determining the position of the reference station provided in this embodiment, the reference station device sends the positioning reference information obtained by performing positioning and solution calculation of the reference station to the mobile station device, and receives the positioning solution state returned by the mobile station device after performing mobile station positioning and solution calculation based on the positioning reference information or the satellite signals received by the mobile station device. When the positioning solution state is a fixed solution, it indicates that the positioning accuracy can reach the centimeter level, that is, it means that the positioning reference information obtained by the reference station device at the test position can eliminate the common error part between the reference station device and the mobile station device. That is to say, the test position meets the positioning accuracy requirements for the deployment of the reference station position. At the same time, since the number of satellite signals received by the reference station device at the test position can be approximately used as a basis for judging the signal strength, therefore, when the number of satellite signals received by the reference station device at the test position is greater than or equal to the first quantity threshold, the signal strength requirements for the deployment of the reference station position are satisfied. Therefore, when the positioning solution state is a fixed solution and the number of satellite signals received by the reference station device at the test position is greater than or equal to the first quantity threshold, the test position is determined as the candidate deployment position of the reference station, which can not only find a better reference station deployment position in the environment, improve the positioning accuracy, but also improve the accuracy, reliability and effectiveness of determining the reference station deployment position.

[0099] Please refer to Figure 3 , which is a schematic flowchart of a method for determining the position of a reference station provided in another embodiment of this application. As Figure 3 shown, the difference between this embodiment and the Figure 2 corresponding embodiment is that after S24, this embodiment may further include S31 to S32, which are described in detail as follows:

[0100] S31: Obtain the signal strength of the satellite signals received at the candidate deployment position.

[0101] In a possible implementation manner, a signal strength sensor may be provided on the reference station device, and the signal strength sensor can detect the signal strength of the satellite signals received by the reference station device. Based on this, the reference station device can obtain the signal strength of each satellite signal received by the reference station device at the candidate deployment position (i.e., the test position) detected by the signal strength sensor.

[0102] In another possible implementation manner, the reference station device can determine the signal strength of the satellite signals received at the candidate deployment position according to the number of satellite signals received at the candidate deployment position and the signal-to-noise ratio of each satellite signal. The signal strength of the satellite signals can be used to represent the overall signal strength of all the satellite signals received by the reference station device at the candidate deployment position. Among them, the correspondence between the number of satellite signals and the signal-to-noise ratio of the satellite signals and the signal strength of the satellite signals can be obtained through experimental measurement, and no special limitation is made here.

[0103] S32: If the signal strength is greater than a preset signal strength threshold, determine the candidate deployment location as the target deployment location.

[0104] In a possible implementation, after the reference station device obtains the signal strengths of various satellite signals from the signal strength sensor, it can compare the signal strengths of various satellite signals with the preset signal strength threshold. When the signal strengths of at least a second quantity threshold of satellite signals are greater than the preset signal strength threshold, the reference station device can determine the candidate deployment location as the target deployment location.

[0105] In another possible implementation, after the reference station device determines the signal strength of the satellite signal according to the number of satellite signals received at the candidate deployment location and the signal-to-noise ratio of each satellite signal, it can compare this strength with the preset signal strength threshold. When the signal strength of the satellite signal is greater than the preset signal strength threshold, the reference station device can determine the candidate deployment location as the target deployment location.

[0106] Among them, the preset signal strength threshold can be a minimum strength value obtained through multiple tests that can meet the requirements of positioning accuracy.

[0107] Optionally, after the reference station device determines the candidate deployment location as the target deployment location, it can also output a third prompt message to prompt the tester that the current test location of the reference station device is a better reference station deployment location.

[0108] As can be seen from the above, in the method for determining the location of the reference station provided in this embodiment, when the signal strength of the satellite signal received by the reference station device at the candidate deployment location is greater than the preset signal strength threshold, the candidate deployment location is determined as the target deployment location, so that the best reference station deployment location in the environment can be determined, and the deployment of the reference station can further improve the positioning accuracy.

[0109] Please refer to Figure 4 , which is a schematic flowchart of a method for determining the location of a reference station provided in another embodiment of the present application. As Figure 4 shown, the difference between this embodiment and the Figure 2 corresponding embodiment is that this embodiment may further include S41 to S43 after S24, which are described in detail as follows:

[0110] S41: Obtain a target deployment range according to the candidate deployment location.

[0111] In this embodiment, in order to further improve the accuracy and reliability of determining the reference station deployment location. After the reference station device determines the candidate deployment location, it can obtain a target deployment range according to the candidate deployment location.

[0112] In a possible implementation, the reference station device can determine a circular area centered at the candidate deployment location based on a preset radius, and determine this circular area as the target deployment range. The preset radius can be set according to actual requirements, and no special limitation is imposed here.

[0113] In another possible implementation, the reference station device can determine a rectangular area centered at the candidate deployment location based on a preset side length, and determine this rectangular area as the target deployment range. The preset side length can be set according to actual requirements, and no special limitation is imposed here.

[0114] Of course, the target deployment range can also be an area of other shapes, and the center of the target deployment range may not be the candidate deployment location. The candidate deployment location only needs to be included within the target deployment range. This embodiment does not impose special limitations on the determination method of the target deployment range and the shape of the target deployment range.

[0115] In this embodiment, after the reference station device determines the target deployment range, it can use each position within the target deployment range as a test position, and execute S21 - S24 for each test position within the target deployment range, so as to determine all candidate deployment positions within the target deployment range, and determine all candidate deployment positions within the target range as target positions.

[0116] S42: Obtain the signal strength of the satellite signals received at each target position within the target deployment range.

[0117] The method by which the reference station device obtains the signal strength of the satellite signals received at each target position within the target deployment range can refer to the relevant description in S31, and will not be elaborated here.

[0118] S43: Determine the target position with the strongest signal strength as the target deployment position.

[0119] After the reference station device obtains the signal strength corresponding to each target position within the target deployment range, it can determine the target position with the strongest signal strength as the target deployment position.

[0120] As can be seen from the above, for the position determination method of the reference station provided in this embodiment, after determining the candidate deployment position, it first roughly determines a target deployment range based on the candidate deployment position, and executes the steps of determining the candidate deployment position for each position within the target deployment range, so as to determine all target positions within the target deployment range. And by comparing the signal strength of the satellite signals received at each target position within the target deployment range, determining the target position with the strongest signal strength within the target deployment range as the target deployment position can further improve the accuracy and reliability of determining the deployment position of the reference station.

[0121] Please refer to Figure 5 , which is a schematic flowchart of a method for determining the position of a reference station provided in another embodiment of the present application. As Figure 5 shown, the difference between this embodiment and the corresponding embodiment in Figure 2 is that after S24, this embodiment may further include S51 to S54, which are described in detail as follows:

[0122] S51: Obtain a target deployment range according to the candidate deployment position.

[0123] The method for obtaining the target deployment range in this embodiment is the same as that in the corresponding embodiment in Figure 4 . Specifically, reference can be made to the relevant description in S41, which will not be elaborated here.

[0124] S52: Obtain the signal strength of the satellite signals received at each target position within a preset time period in the target deployment range.

[0125] The method for determining the target position in this embodiment is the same as that in the corresponding embodiment in Figure 4 . Specifically, reference can be made to the relevant description in S41, which will not be elaborated here.

[0126] In this embodiment, after the reference station device determines each target position within the target deployment range, it respectively obtains the signal strength of multiple satellite signals received at each target position within a preset time period.

[0127] S53: Determine the signal fluctuation amplitude of each target position according to the signal strength of the satellite signals received within the preset time period.

[0128] In a possible implementation manner, for each target position, the reference station device may calculate the variance or standard deviation of the signal strength of multiple satellite signals received at the target position within a preset time period, and determine the variance or standard deviation as the signal fluctuation amplitude of the target position.

[0129] S54: Determine the candidate deployment position with the signal fluctuation amplitude less than a preset fluctuation threshold and the signal strength greater than a preset signal strength threshold as the target deployment position.

[0130] In this embodiment, the preset fluctuation threshold may be the maximum signal fluctuation amplitude that can meet the positioning accuracy requirements obtained through multiple tests.

[0131] In a possible implementation, if the signal strength of the satellite signals received at the target location within a preset time period is obtained by the reference station device from the signal strength sensor, after the reference station device determines the signal fluctuation amplitude of the target location, it can determine the candidate deployment location where the signal fluctuation amplitude is less than the preset fluctuation threshold and the signal strength of at least the second quantity threshold of satellite signals is greater than the preset signal strength threshold as the target deployment location.

[0132] In another possible implementation, if the signal strength of the satellite signals received at the target location within a preset time period is determined by the reference station device according to the number of satellite signals received at the target location and the signal-to-noise ratio of each satellite signal, after the reference station device determines the signal fluctuation amplitude of the target location, it can determine the candidate deployment location where the signal fluctuation amplitude is less than the preset fluctuation threshold and the signal strength of the satellite signals is greater than the preset signal strength threshold as the target deployment location.

[0133] As can be seen above, in the method for determining the position of the reference station provided in this embodiment, when determining the target deployment location within the target deployment range, the signal fluctuation amplitude and signal strength corresponding to each target location within the target deployment range are comprehensively considered, so that the best deployment location within the target deployment range can be determined, making the deployment of the reference station location more accurate, reliable and effective.

[0134] In the embodiment of the present application, the reference station device is based on Figures 2 to 5 After determining the candidate deployment location or the target deployment location according to the method for determining the position of the reference station in any one of the embodiments, the tester can deploy the reference station device at the candidate deployment location or the target deployment location. After that, the tester can trigger a preset monitoring instruction to control the reference station device to monitor itself, including but not limited to monitoring the antenna installed on the reference station device to determine whether the antenna has faults such as tilting or falling. Based on this, the embodiment of the present application also provides a method for monitoring the reference station. The execution subject of the method for monitoring the reference station can be the reference station device. Please refer to Figure 6 , which is a schematic flowchart of a method for monitoring a reference station provided in the embodiment of the present application. As Figure 6 shown, the method for monitoring the reference station may include S61 - S63, which are described in detail as follows:

[0135] S61: Obtain the attitude change amount of the antenna.

[0136] In the embodiment of the present application, the reference station device can obtain the attitude change amount of the antenna installed on the reference station device when detecting that the preset monitoring instruction is triggered.

[0137] Exemplarily, a monitoring control can be set on the reference station device, and the tester can trigger a preset monitoring instruction by clicking on the monitoring control. When the reference station device detects that the monitoring control is clicked, it determines that the preset monitoring instruction has been detected. Herein, the monitoring control can be a physical button or a software control obtained by encapsulating data or methods, and the type of the monitoring control is not particularly limited herein.

[0138] In the embodiments of the present application, the attitude information of the antenna can include the pitch angle and roll angle of the antenna, etc. Among them, the pitch angle of the antenna refers to the angle between the vertical axis of the antenna and the horizontal plane, and the roll angle of the antenna refers to the angle between the horizontal axis of the antenna and the horizontal plane. Exemplarily, as Figure 7 shown Figure 7 in, β is the pitch angle of the antenna 71, and θ is the roll angle of the antenna 71.

[0139] In one embodiment, an attitude sensor for detecting the attitude information of the antenna can be set in the reference station device. Among them, the attitude sensor can include an accelerometer. The accelerometer can be used to measure the acceleration of the antenna. Since the gravitational acceleration is the acceleration that an object has under the action of gravity, in the case of no external force, the accelerometer can measure the pitch angle and roll angle of the antenna. Exemplarily, the accelerometer can be an inertial measurement unit (IMU).

[0140] Based on this, the reference station device can obtain the pitch angle and roll angle of the antenna detected by the accelerometer.

[0141] In one embodiment, S61 can specifically include the following steps:

[0142] Obtain the attitude information of the antenna within a preset sampling period;

[0143] Determine the attitude change amount of the antenna per unit time according to the preset sampling period.

[0144] Among them, the start time of the preset sampling period can be the time when the reference station device detects the preset monitoring instruction, and the duration of the preset sampling period can be set according to actual needs, and it is not particularly limited herein.

[0145] In this embodiment, the reference station device can obtain the attitude information of the antenna (including the pitch angle and roll angle of the antenna) at the start time of the sampling period and the attitude information of the antenna (including the pitch angle and roll angle of the antenna) at the end time of the sampling period, and determine the attitude change amount of the antenna per unit time according to the following formula (1):

[0146] Δp = (p2 - p1) / Δt; Formula (1)

[0147] Wherein, Δp is the attitude change amount of the antenna per unit time, p1 is the attitude information of the antenna at the start time of the sampling period, p2 is the attitude information of the antenna at the end time of the sampling period, and Δt is the duration of the sampling period.

[0148] Specifically, the reference station device can calculate the pitch angle change amount and roll angle change amount of the antenna per unit time according to formula (1). Among them, the pitch angle change amount of the antenna per unit time can be used to describe the change rate of the pitch angle, and the roll angle change amount of the antenna per unit time can be used to describe the change rate of the roll angle. The reference station device can determine the attitude change amount of the antenna at the current moment as the pitch angle change amount and / or roll angle change amount of the antenna per unit time.

[0149] In another embodiment, S61 may specifically include the following steps:

[0150] Obtain the attitude information of the antenna at the current moment and the preset initial attitude information;

[0151] Determine the attitude change amount of the antenna at the current moment according to the attitude information of the antenna at the current moment and the initial attitude information.

[0152] Wherein, the preset initial attitude information may be the attitude information of the antenna obtained by the reference station device when detecting a preset monitoring instruction. The reference station device can determine the difference between the attitude information of the antenna at the current moment and the initial attitude information as the attitude change amount of the antenna at the current moment.

[0153] Specifically, the initial attitude information may include an initial pitch angle and an initial roll angle. Based on this, the reference station device can determine the difference between the pitch angle of the antenna at the current moment and the initial pitch angle as the attitude change amount of the antenna at the current moment, or determine the difference between the roll angle of the antenna at the current moment and the initial roll angle as the attitude change amount of the antenna at the current moment.

[0154] S62: Obtain fault information according to the attitude change amount and a preset attitude change threshold.

[0155] In one embodiment, the attitude change threshold may include an attitude change rate threshold, and the attitude change rate threshold can be set according to actual needs, and no special limitation is made here.

[0156] Based on this, S62 may specifically include the following steps:

[0157] When the attitude change amount of the antenna per unit time is greater than the attitude change rate threshold, obtain the fault information that the antenna is in a falling state.

[0158] In this embodiment, when the change amount of the pitch angle and / or the roll angle of the antenna per unit time is greater than the attitude change rate threshold, it indicates that the antenna is quickly tilting in a certain direction and there is a possibility of falling to the ground and colliding with the ground. Therefore, in order to reduce the probability of damage to the internal components of the antenna, when the reference station device detects that the change amount of the pitch angle and / or the roll angle of the antenna per unit time is greater than the attitude change rate threshold, it determines that the antenna is in a fault state of falling.

[0159] In another embodiment, the attitude change threshold may include an attitude change difference threshold, and the attitude change difference threshold can be set according to actual needs and is not particularly limited here.

[0160] Based on this, S62 may specifically include the following steps:

[0161] When the attitude change amount of the antenna at the current moment is greater than the attitude change difference threshold, obtain the fault information that the antenna is in an inclined state.

[0162] In this embodiment, when the change amount of the pitch angle and / or the roll angle of the antenna at the current moment is greater than the attitude change difference threshold, it indicates that the antenna is tilted in a certain direction. Therefore, when the reference station device detects that the change amount of the pitch angle and / or the roll angle of the antenna at the current moment is greater than the attitude change difference threshold, it determines that the antenna is in a fault state of inclination.

[0163] S63: Execute the preset maintenance strategy corresponding to the fault information to realize the control of the reference station.

[0164] In the embodiments of the present application, different fault information may correspond to different preset maintenance strategies.

[0165] Exemplarily, when the antenna is quickly tilting, if the antenna is powered on, it is very likely to damage the internal components of the antenna. Therefore, in order to reduce the probability of damage to the internal components of the antenna, when the antenna is quickly tilting, the antenna can be powered off, or the maintenance personnel can be notified in time to adjust the angle of the antenna. Based on this, the preset maintenance strategy corresponding to the fault information that the antenna is in a falling state can be: power off the antenna and output a first alarm message. That is, when the reference station device determines that the antenna is in a fault state of falling, it can power off the antenna and output a first alarm message. The first alarm message is used to prompt that the antenna has fallen.

[0166] Exemplarily, since the tilt of the antenna will affect the signal transmission quality, it is necessary to promptly notify the maintenance personnel to adjust the angle of the antenna when the antenna is tilted. Based on this, the preset maintenance strategy corresponding to the fault information that the antenna is in a tilted state can be: outputting a second alarm message. That is, when the reference station device determines the fault information that the antenna is in a tilted state, it can output a second alarm message. The second alarm signal is used to prompt that the antenna is tilted.

[0167] Optionally, the first alarm message and the second alarm message can be alarm messages in different forms, which can be specifically set according to actual needs and are not particularly limited here.

[0168] As can be seen from the above, the monitoring method of the reference station provided by the embodiments of the present application detects the attitude information of the antenna installed on the reference station device, obtains the fault state according to the attitude information of the antenna, and executes the corresponding preset maintenance strategy when the antenna fails. That is, it can not only effectively monitor the reference station device, but also perform maintenance in a timely manner when a fault is detected, thereby reducing the probability of damage to the internal components of the antenna. It can be understood that the magnitudes of the sequence numbers of the above steps in the embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0169] Based on the reference station position determination method provided by the above embodiments, the embodiments of the present invention further provide an embodiment of a computer device for implementing the method embodiments. Please refer to Figure 8 , which is a schematic structural diagram of a computer device provided by the embodiments of the present application. For the convenience of description, only the parts related to this embodiment are shown. As Figure 8 shown, the computer device 80 may include: a first sending unit 81, a first receiving unit 82, a first obtaining unit 83, and a first determining unit 84. Among them:

[0170] The first sending unit 81 is used to send positioning reference information to the mobile station device; the positioning reference information is obtained by the reference station device through positioning and resolution of the reference station based on the satellite signals received at the test position.

[0171] The first receiving unit 82 is used to receive the positioning resolution status from the mobile station device; the positioning resolution status is obtained by the mobile station device through positioning and resolution of the mobile station according to the positioning reference information.

[0172] The first obtaining unit 83 is used to obtain the number of satellite signals received by the reference station device at the test position.

[0173] The first determination unit 84 is configured to determine the test location as a candidate deployment location if the positioning solution state is a fixed solution and the number of satellite signals is greater than or equal to the first quantity threshold.

[0174] Optionally, the computer device 80 further includes a second acquisition unit and a second determination unit.

[0175] The second acquisition unit is configured to acquire the signal strength of the satellite signals received at the candidate deployment location.

[0176] The second determination unit is configured to determine the candidate deployment location as the target deployment location if the signal strength is greater than the preset signal strength threshold.

[0177] Optionally, the computer device 80 further includes a third acquisition unit and a fourth acquisition unit.

[0178] The third acquisition unit is configured to acquire a target deployment range according to the candidate deployment location.

[0179] The fourth acquisition unit is configured to acquire the signal strength of the satellite signals received at each target location within the target deployment range.

[0180] The second determination unit is further configured to determine the target location with the strongest signal strength as the target deployment location.

[0181] Optionally, the computer device 80 further includes a fifth acquisition unit and a third determination unit.

[0182] The fifth acquisition unit is configured to acquire the signal strength of the satellite signals received at each target location within the target deployment range during a preset time period.

[0183] The third determination unit is configured to determine the signal fluctuation amplitude of each target location according to the signal strength of the satellite signals received during the preset time period.

[0184] The second determination unit is further configured to determine the candidate deployment location with the signal fluctuation amplitude less than the preset fluctuation threshold and the signal strength greater than the preset signal strength threshold as the target deployment location.

[0185] Based on the monitoring method of the reference station provided in the above embodiments, the embodiments of the present invention further provide an embodiment of a computer device for implementing the method embodiments. Please refer to Figure 9 , which is a schematic structural diagram of a computer device provided in another embodiment of the present application. For ease of description, only the parts related to this embodiment are shown. As Figure 9 shown, the computer device 90 may include: a sixth acquisition unit 91, a seventh acquisition unit 92, and a reference station control unit 93. Among them:

[0186] The sixth acquisition unit 91 is configured to acquire the amount of change in the attitude of the antenna.

[0187] The seventh acquisition unit 92 is configured to acquire fault information according to the amount of change in the attitude and a preset attitude change threshold.

[0188] The reference station control unit 93 is configured to execute a preset maintenance strategy corresponding to the fault information to implement the control of the reference station.

[0189] Optionally, the sixth acquisition unit 91 is specifically configured to:

[0190] Acquire the attitude information of the antenna within a preset sampling period;

[0191] Determine the attitude of the antenna per unit time according to the preset sampling period.

[0192] Optionally, the sixth acquisition unit 91 is specifically configured to:

[0193] Acquire the attitude information of the antenna at the current moment and the preset initial attitude information;

[0194] Determine the amount of change in the attitude of the antenna at the current moment according to the attitude information of the antenna at the current moment and the initial attitude information.

[0195] Optionally, the attitude change threshold includes an attitude change rate threshold, and the seventh acquisition unit 92 is specifically configured to:

[0196] When the amount of change in the attitude of the antenna per unit time is greater than the attitude change rate threshold, acquire the fault information that the antenna is in a fallen state; and / or

[0197] The attitude change threshold includes an attitude change difference threshold, and the seventh acquisition unit 92 is specifically configured to:

[0198] When the amount of change in the attitude of the antenna at the current moment is greater than the attitude change difference threshold, acquire the fault information that the antenna is in a tilted state.

[0199] It should be noted that for the information interaction, execution process, etc. between the above units, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought thereby can be specifically referred to the method embodiment part, and will not be elaborated here.

[0200] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units is used as an example. In actual applications, the above functions can be allocated to different functional units as needed, that is, the internal structure of the computer device is divided into different functional units to complete all or part of the functions described above. Each functional unit in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0201] Please refer to Figure 10 , Figure 10 which is a schematic structural diagram of a computer device provided in another embodiment of this application. As Figure 10 shown, the computer device 10 provided in this embodiment may include: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100, such as a program corresponding to the method for determining the position of a reference station. When the processor 100 executes the computer program 102, it implements the steps in the foregoing method for determining the position of the reference station or the method for monitoring the reference station in the embodiment, such as Figure 2 the S21 to S24 shown in Figure 6 or Figure 8 the S61 to S63 shown in Figure 9 . Alternatively, when the processor 100 executes the computer program 102, it implements the functions of each module / unit in the foregoing computer device embodiment, such as Figure 8 the functions of the units 81 to 84 shown in Figure 9 or

[0202] the functions of the units 91 to 93 shown in Figure 8 or Figure 9 .

[0203] Those skilled in the art can understand that Figure 10 is merely an example of the computer device 10, and does not constitute a limitation on the computer device 10. It may include more or fewer components than shown in the figure, or combine some components, or different components.

[0204] The processor 100 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0205] The memory 101 may be an internal storage unit of the computer device 10, such as the hard disk or memory of the computer device 10. The memory 101 may also be an external storage device of the computer device 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, or a flash card equipped on the computer device 10, etc. Further, the memory 101 may also include both an internal storage unit and an external storage device of the computer device 10. The memory 101 is used to store computer programs and other programs and data required by the computer device. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0206] The embodiments of the present application also provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0207] The embodiments of the present application provide a computer program product, when the computer program product runs on a computer device, enabling the computer device to implement the steps in the above-mentioned method embodiments when executed.

[0208] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0209] Those of ordinary skill in the art will appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0210] The above-described embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for determining the position of a reference station, characterized in that, Including: Sending positioning reference information to a mobile station device; The positioning reference information is obtained by a reference station device through positioning solution calculation based on satellite signals received at a test location; Receiving a positioning solution state from the mobile station device; The positioning solution state is obtained by the mobile station device through positioning solution calculation based on the positioning reference information or satellite signals received by the mobile station device; the positioning solution state includes a single-point positioning solution, a fixed solution, and a floating-point solution; Obtaining the number of satellite signals received by the reference station device at the test location; If the positioning solution state is a fixed solution and the number of satellite signals is greater than or equal to a first quantity threshold, then determining the test location as a candidate deployment location.

2. The method for determining the position of the reference station according to claim 1, wherein Further including: Obtaining the signal strength of satellite signals received at the candidate deployment location; If the signal strength is greater than a preset signal strength threshold, then determining the candidate deployment location as a target deployment location.

3. The method for determining the position of the reference station according to claim 1, characterized in that, Further including: Obtaining a target deployment range according to the candidate deployment location; Obtaining the signal strength of satellite signals received at each target location within the target deployment range; Determining the target location with the strongest signal strength as the target deployment location.

4. The method for determining the position of the reference station according to claim 1, wherein Further including: Obtaining a target deployment range according to the candidate deployment location; Obtaining the signal strength of satellite signals received at each target location within the target deployment range during a preset time period; Determining the signal fluctuation amplitude of each target location according to the signal strength of satellite signals received during the preset time period; Determining the candidate deployment location with a signal fluctuation amplitude less than a preset fluctuation threshold and a signal strength greater than a preset signal strength threshold as the target deployment location.

5. A monitoring method for a reference station, characterized in that, The position of the reference station is determined by the method for determining the position of the reference station according to any one of claims 1-4. An antenna is installed on the reference station device. The monitoring method includes: Obtaining the amount of attitude change of the antenna; Obtaining fault information according to the amount of attitude change and a preset attitude change threshold; Executing a preset maintenance strategy corresponding to the fault information to implement control of the reference station.

6. The monitoring method of the reference station according to claim 5, wherein, The obtaining the amount of attitude change of the antenna includes: Obtaining the attitude information of the antenna during a preset sampling period; Determining the amount of attitude change of the antenna per unit time according to the preset sampling period.

7. The monitoring method of the reference station according to claim 5, wherein The obtaining the amount of attitude change of the antenna further includes: Obtaining the attitude information of the antenna at the current moment and preset initial attitude information; Determining the amount of attitude change of the antenna at the current moment according to the attitude information of the antenna at the current moment and the initial attitude information.

8. The monitoring method of the reference station according to claim 6 or 7, characterized in that, The attitude change threshold includes an attitude change rate threshold. The obtaining fault information according to the amount of attitude change and a preset attitude change threshold includes: When the amount of attitude change of the antenna per unit time is greater than the attitude change rate threshold, obtaining fault information that the antenna is in a fallen state; and / or The attitude change threshold includes an attitude change difference threshold. The obtaining fault information according to the amount of attitude change and a preset attitude change threshold includes: When the attitude change amount of the antenna at the current moment is greater than the attitude change difference threshold, obtain the fault information that the antenna is in an inclined state.

9. A computer device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for determining the position of the reference station as described in claims 1-4 or the method for monitoring the reference station as described in any one of claims 5-8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the position of the reference station as described in claims 1-4 or the method for monitoring the reference station as described in any one of claims 5-8.

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