Method and system for redundant switching of multiple base stations

Abstract

The present application discloses a method and system for redundant switching of multiple base stations, the method comprising: obtaining data collected by a monitoring station and several base stations; calculating the location of the monitoring station and the baseline distance between the monitoring station and the base station, selecting multiple available base stations from the base station according to the principle of proximity, dividing the baselines between the monitoring station and each available base station into different levels, the highest level baseline corresponds to the main base station, and the other levels of baselines correspond to redundant base stations; solving each baseline according to the collected data; judging whether the solution of the main base station is successful; if the solution fails, switching to the redundant base station with the highest baseline level and successful solution, selecting n historical solution results of each baseline before the current moment and calculating the corresponding center value, and superimposing the solution results of the redundant base station with the difference between the center value of the redundant base station and the center value of the main base station. The present application realizes smooth redundant switching of multiple base stations in the single baseline relative positioning mode, ensuring stable and highly available relative millimeter-level positioning services.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a method and system for redundant switching of multiple base stations. Background Art

[0002] GNSS single baseline relative positioning is a technology that processes satellite data collected from base stations and monitoring stations, solves the baseline vector between the base station and the monitoring station, and calculates the coordinates of the unknown monitoring station based on the known base station coordinates. Based on this technology, a relative millimeter-level coordinate sequence can be obtained, while absolute positioning is theoretically at the centimeter level. In this way, assuming that a monitoring station is configured with two base stations at the same time for single baseline relative positioning solution, the two single baselines can each solve and output stable millimeter-level monitoring station coordinates, but there will theoretically be an offset of more than centimeters between the two baselines to solve the monitoring station coordinates.

[0003] In actual business, some business scenarios require stable relative millimeter-level positioning services, such as deformation monitoring, and cannot accept centimeter-level offsets caused by station switching. However, in the single-station single-baseline solution mode, the base station is affected by factors such as equipment failure, network interruption, power failure, environmental interference, antenna damage, etc., and there is a single point of failure problem in the service, which makes it difficult to meet the high availability requirements of the business. Therefore, how to solve the automatic, smooth and seamless redundant station switching of multiple base stations in the single-baseline relative positioning mode becomes the key to providing high-availability relative millimeter-level positioning.

[0004] For business scenarios that require stable millimeter-level relative positioning, there are two main methods for dealing with the offset problem caused by base station switching, as described below:

[0005] 1) Network solution positioning method

[0006] The coordinates of the monitoring stations are calculated through mixed networking of multiple base stations and monitoring stations. When a base station failure occurs, it is only necessary to re-network and solve the problem to avoid offset problems caused by switching stations.

[0007] 2) Business platform processing method

[0008] In the single-baseline relative positioning mode, base station switching will cause offset. In this case, the back-end solution module does not process the data and directly outputs the data with offset, which is then handed over to the front-end business platform for compatible processing, such as displaying the data by item before and after the base station switching, displaying the data by segment before and after the base station switching, and annotating the offset problem through event tags.

[0009] The disadvantages of the prior art solutions are as follows:

[0010] 1) The network solution positioning method has the following problems:

[0011] a. Hybrid network positioning requires all sites to be included in each solution, which results in a large amount of data processing and heavy algorithm processing tasks.

[0012] b. Every time a networking base station fails and goes offline, the networking needs to be re-evaluated, which usually requires manual intervention and has poor flexibility.

[0013] 2) Business platform processing has the following problems:

[0014] a. Switching base stations will result in the fragmentation of data for the same project, which is not conducive to the analysis of the change trend of the overall positioning data of the project. For example, deformation monitoring business requires displacement analysis based on the change trend of long-term historical data. This method obviously cannot meet business needs.

[0015] b. The offset caused by switching base stations is not processed, and the offset problem is explained and noted through event tags. In actual business scenarios, switching base stations belongs to the server logic and is not actually required on the client side. Event tags cannot solve the customer's relatively stable millimeter-level positioning needs. Summary of the invention

[0016] The purpose of the present application is to provide a method and system for redundant switching of multiple base stations, so as to realize smooth redundant switching of multiple base stations at the millimeter level in a single-baseline relative positioning mode, and ensure stable and highly available relative millimeter-level positioning services.

[0017] In one embodiment of the present application, a method for redundant switching of multiple base stations is disclosed, including:

[0018] Obtain data collected by monitoring stations and several base stations;

[0019] Calculating the location of the monitoring station and the baseline distance between the monitoring station and each of the base stations, selecting multiple available base stations from the plurality of base stations according to the baseline distance between the monitoring station and each of the base stations in accordance with the proximity principle, and dividing the baselines between the monitoring station and each of the available base stations into different levels, wherein the available base station corresponding to the highest level baseline is the primary base station, and the available base stations corresponding to the other levels of baselines are redundant base stations;

[0020] Resolving each of the baselines according to the collected data;

[0021] Determining whether the master base station solution is successful; and

[0022] If the solution fails, switch to the redundant base station with the highest baseline level and successful solution, and select n historical solution results of each baseline before the current moment and calculate the corresponding center value, and superimpose the solution result of the redundant base station with the difference between the center value of the redundant base station and the center value of the main base station.

[0023] In a preferred embodiment, using Calculate the central value, where n represents the number of historical solution results, x irepresents the historical solution result at the i-th moment, Indicates the center value.

[0024] In a preferred example, if the solution is successful, the solution result of the primary base station is output.

[0025] In a preferred example, selecting a plurality of available base stations further comprises: selecting two available base stations within a predetermined range.

[0026] In a preferred example, the predetermined range is an area with a baseline less than or equal to 10 km.

[0027] In a preferred example, the method further includes: calculating the difference between the superposition result and the center value of the main base station; and determining whether the difference is within a predetermined tolerance range, and if not, performing manual station switching.

[0028] In a preferred example, the data collected by the monitoring station and the plurality of base stations include satellite data and ephemeris data.

[0029] In a preferred example, the results of each baseline solution include monitoring station coordinates and algorithm operation logs.

[0030] In one embodiment of the present application, a multi-base station redundant switching system is disclosed, including:

[0031] A data input module is configured to obtain positioning data of a monitoring station and a plurality of base stations;

[0032] a station selection module, configured to calculate the location of the monitoring station and the baseline distance between the monitoring station and each of the base stations, select multiple available base stations from the plurality of base stations according to the baseline distance between the monitoring station and each of the base stations in accordance with the proximity principle, and divide the baselines between the monitoring station and each of the available base stations into different levels, wherein the available base station corresponding to the highest level baseline is the primary base station, and the available base stations corresponding to the baselines of other levels are redundant base stations;

[0033] A calculation module, configured to calculate each baseline according to the collected data;

[0034] a switching decision module, configured to determine whether the primary base station solution is successful, and if the solution fails, switch to a redundant base station with the highest baseline level and successful solution; and

[0035] The offset processing module is configured to select n historical solution results of each baseline before the current moment and calculate the corresponding central value, and superimpose the solution result of the redundant base station on the difference between the central value of the redundant base station and the central value of the main base station.

[0036] In one embodiment of the present application, a computer-readable storage medium is further disclosed, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the steps in the method described above are implemented.

[0037] This patent proposes a method and system for redundant switching of multiple base stations, which have at least the following beneficial effects:

[0038] 1) Through system design, the present invention can intelligently complete the evaluation of available redundant base stations and automatic redundant station switching to ensure continuous high availability of services.

[0039] 2) The present invention supports millimeter-level horizontal redundant station cutting through algorithm design, avoiding the station cutting offset problem in the single baseline relative positioning mode.

[0040] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all deemed to have been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a flowchart of a method for redundant switching of multiple base stations according to the first embodiment of the present application;

[0042] Figure 2 It is a schematic structural diagram of a system for redundant switching of multiple base stations according to the second embodiment of the present application.

[0043] Figure 3 It is a detailed flowchart of a method for redundant switching of multiple base stations according to an embodiment of the present application;

[0044] Figure 4 It is a schematic diagram of a baseline solution structure according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0046] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0047] In one embodiment of the present application, a method for redundant switching of multiple base stations is disclosed. Figure 1 The flowchart of the method for switching multiple base stations is shown, and the method comprises the following steps:

[0048] Step 110, obtaining data collected by the monitoring station and several base stations.

[0049] In one embodiment, the data collected by the monitoring station and the plurality of base stations include satellite data and ephemeris data.

[0050] Step 120, calculate the location of the monitoring station and the baseline distance between the monitoring station and each base station, select multiple available base stations from the plurality of base stations according to the baseline distance between the monitoring station and each base station according to the principle of proximity, and divide the baselines between the monitoring station and each available base station into different levels. The available base station corresponding to the highest level baseline is the primary base station, and the available base stations corresponding to the other levels of baselines are redundant base stations.

[0051] In one embodiment, selecting a plurality of available base stations further comprises: selecting two available base stations within a predetermined range. In one embodiment, the predetermined range is an area with a baseline less than or equal to 10 km.

[0052] Step 130, solving each baseline according to the collected data. Baseline solving, namely baseline vector solving, refers to the process of solving the baseline vector coordinate difference between two synchronously observed stations using carrier phase observations or their differential observations in satellite positioning.

[0053] In one embodiment, the results of each baseline solution include monitoring station coordinates and algorithm operation logs.

[0054] Step 140: determine whether the master base station solution is successful.

[0055] Step 150, if the solution fails, switch to the redundant base station with the highest baseline level and successful solution, and select n historical solution results of each baseline before the current moment and calculate the corresponding center value, and superimpose the solution result of the redundant base station with the difference between the center value of the redundant base station and the center value of the main base station.

[0056] In one embodiment, based on the central limit theorem, Calculate the central value, where n represents the number of historical solution results, x i represents the historical solution result at the i-th moment, Indicates the center value.

[0057] In one embodiment, if the solution is successful, the solution result of the primary base station is output.

[0058] In one embodiment, the method for redundant switching of multiple base stations further includes: calculating the difference between the superposition result and the center value of the main base station; and determining whether the difference is within a predetermined tolerance range, and if not, performing manual switching.

[0059] In this embodiment, based on the central limit theorem, by analyzing the coordinate sequence of the main baseline and the redundant baseline, the fixed offset of the baseline solution is determined and eliminated, achieving sub-centimeter-level multi-base station redundancy, solving base station anomalies, and solving service single point failure problems. This method is not limited to base station switching scenarios, but theoretically can adapt to all sub-centimeter-level fixed offset switching scenarios, such as fixed offset scenarios caused by algorithm version upgrades and base station coordinate updates.

[0060] The second embodiment of the present application relates to a system for redundant switching of multiple base stations. The system is theoretically applicable to all sub-centimeter-level redundant switching scenarios of multiple base stations. The system includes a data input module, a station selection module, a solution module, a switching decision module, and a division and offset processing module, wherein:

[0061] The data input module is configured to obtain positioning data of the monitoring station and a plurality of base stations;

[0062] The station selection module is configured to calculate the location of the monitoring station and the baseline distance between the monitoring station and each base station, select multiple available base stations from the plurality of base stations according to the baseline distance between the monitoring station and each base station according to the proximity principle, and divide the baselines between the monitoring station and each available base station into different levels, wherein the available base station corresponding to the highest level baseline is the main base station, and the available base stations corresponding to the baselines of other levels are redundant base stations;

[0063] The solution module is configured to solve each baseline according to the collected data;

[0064] The switching decision module is configured to determine whether the primary base station solution is successful, and if the solution fails, switch to the redundant base station with the highest baseline level and successful solution;

[0065] The offset processing module is configured to select n historical solution results of each baseline before the current moment and calculate the corresponding central value, and superimpose the solution result of the redundant base station on the difference between the central value of the redundant base station and the central value of the main base station.

[0066] The first implementation manner is a method implementation manner corresponding to the present implementation manner. The technical details in the first implementation manner can be applied to the present implementation manner, and the technical details in the present implementation manner can also be applied to the first implementation manner.

[0067] It should be noted that those skilled in the art should understand that the implementation functions of each module shown in the implementation of the system for redundant switching of multiple base stations can be understood with reference to the relevant description of the method for redundant switching of multiple base stations. The functions of each module shown in the implementation of the system for redundant switching of multiple base stations can be implemented by a program (executable instruction) running on a processor, or by a specific logic circuit. If the system for redundant switching of multiple base stations in the embodiment of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or partly reflected in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM, Read Only Memory), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0068] In order to better understand the technical solution of this specification, a specific example is used for illustration below. The details listed in this example are mainly for ease of understanding and are not intended to limit the scope of protection of this application.

[0069] GNSS single baseline relative positioning can obtain a relative millimeter-level precision coordinate sequence, but the actual absolute positioning coordinates are theoretically at the centimeter level. If different base stations are used to perform single baseline relative positioning solutions for the same monitoring station, there will theoretically be a centimeter-level fixed offset. If the fixed offset can be determined and eliminated by analyzing the GNSS coordinate sequence, millimeter-level horizontal multi-base station redundant switching can be achieved.

[0070] The GNSS positioning coordinate sequence approximately follows a normal distribution. Based on the central limit theorem, the center value of the coordinate sequence of the primary and backup baseline solutions in the same period can be calculated and determined. The center value deviation of the primary and backup baselines can be determined by making a difference in the center value. Under the condition of sufficient sample size, the center value deviation can be regarded as a fixed offset of the coordinate sequence of the primary and backup baseline solutions. Once the fixed offset is determined, the coordinate correction method can be used to eliminate the offset of the backup baseline solution, and realize millimeter-level horizontal switching of the primary and backup base stations.

[0071] Structural reference of millimeter-level multi-base station redundant system Figure 2 As shown, it includes six parts: base station and monitoring station data input module 101, available redundant station selection module 102, relative phase solution module 103, redundant station switching decision module 104, switching station offset processing module 105, and switching station execution and verification module 106. The functions of each module of the system are described in detail as follows:

[0072] The function of the base station and monitoring station data input module 101 is to receive and store the satellite data and ephemeris data collected by the monitoring station and the base station.

[0073] The function of the available redundant station selection module 102 is to calculate the approximate baseline distance based on the data uploaded by the base station and the monitoring station, and then select N available base stations within the system set available base station distance L according to the approximate baseline distance. For the requirement of millimeter-level relative positioning accuracy, L<10km is preferred. Considering that the more redundant base stations are, the greater the system resource consumption is, preferably N=2.

[0074] The function of the relative phase solution module 103 is to perform single baseline relative millimeter-level positioning solution according to the input monitoring station and corresponding bound base station data.

[0075] The function of the redundant station switching decision module 104 is to make a decision on whether to execute the station switching. The specific execution rules are described in detail in the following workflow description.

[0076] The function of the switching offset processing module 105 is to perform the main and standby baseline offset processing after the decision to execute the switching of the main and standby base stations is made, eliminate the switching offset, and complete the millimeter-level horizontal switching. The specific offset processing theoretical method is detailed in the millimeter-level horizontal redundant switching principle below.

[0077] The function of the station switching execution and verification module 106 is to execute the station switching and verify that the offset is effectively cleared after the station switching. The verification method is described in detail in the following workflow description.

[0078] Millimeter-level multi-base station redundancy workflow diagram reference Figure 3 As shown, the method includes the following steps:

[0079] 201.a: The user side builds a monitoring station to collect satellite data and uploads the data to the server side in a certain format and rules. The uploaded data includes satellite data collected by the equipment and ephemeris data. For example, the collected data is uploaded through the 4G public network according to the NTRIP protocol.

[0080] 201.b: The user end or the operator of the ground-based augmentation system builds a base station to collect satellite data and uploads the data to the server end in a certain format according to the rules. The uploaded data includes satellite data collected by the equipment and ephemeris data. The server end determines the precise coordinates of the base station through data processing. Data processing can use open commercial software such as Bernese.

[0081] 202.a: Based on the monitoring station data uploaded in 201.a, the approximate location coordinates of the monitoring station can be determined through single point positioning (SPP) solution. Based on the approximate location coordinates of the monitoring station and the base station coordinates solved by the base station data uploaded in 201.b, the approximate baseline distance between the two can be determined. According to the station selection distance L (preferably L≤10km), the system selects N (preferably N=2) available base stations within the range of L according to the principle of proximity. The one with the smallest baseline distance is used as the main station, and the priority level 1 is enabled. The remaining available stations are all standby stations, and the priority is evaluated in order of level 2, level 3…level N according to the baseline distance.

[0082] 203.a: Perform level 1 baseline GNSS single baseline relative positioning solution according to the station selection result of step 202.a, and output the solution result and algorithm operation log. The solution result is the solution coordinate result of the monitoring station, such as the CGCS2000 coordinate of the monitoring station. The algorithm log usually includes the algorithm execution code, mainly obtaining the algorithm execution success / failure code.

[0083] 203.b: Execute level2, ..., levelN baseline GNSS single baseline relative positioning solution according to the station selection result in step 202.a, and output the solution result and algorithm operation log.

[0084] 204.a: Make a station switching decision based on the solution results and log information output in steps 203.a and 203.b.

[0085] 204.a1: According to the level 1 baseline solution log information of step 203.a, if the solution is successful, it is decided that the level 1 baseline is available, and 205.a is executed according to the process; if the solution fails, it is decided that the level 1 baseline is unavailable, and 204.a2 is executed according to the process.

[0086] 204.a2: According to the level 2 to level N baseline solution log information in step 203.b, if there is a successfully solved baseline, it is decided that redundant site switching can be performed, and the successfully solved baseline with the highest level is selected as the site switching object. If all standby sites fail to be solved, it is decided that redundant site switching cannot be supported, and the process ends.

[0087] 205.a: If the decision level 1 baseline is available, the system activates the master station. It is possible that the level 1 baseline has been normal and does not need to be changed, or it is possible that the level 1 baseline is reactivated after the fault is recovered.

[0088] 205.b: According to the decision result of 204.a, if the decision is to execute redundant station switching, the system runs the active and standby offset processing module to determine the station switching offset. The principle of the offset processing method is described in detail below.

[0089] 206.a: Perform station switching and verification according to the offset processing result of 205.a. The verification method is described in detail below.

[0090] like Figure 4 As shown, the monitoring station is bound to the main base station to perform level 1 baseline solution, and a set of monitoring station coordinate sequences can be solved. Synchronously, the monitoring station is bound to the backup base station to perform level 2 to level N baseline solution, and the coordinate sequence of the monitoring station bound to each backup base station can be solved. There is a system deviation dx in the main and backup baseline solution theory. The task of the station switching offset processing module is to effectively eliminate the fixed offset dx of the main and backup baseline solution through calculation processing, and achieve millimeter-level horizontal splicing of the main and backup baselines.

[0091] When the main base station is abnormally unavailable and the system decides to perform redundant station switching, n historical solution coordinate sequences can be selected from the moment of solution abnormality as samples. Based on the central limit theorem, the central value of the level 1 to level N baseline solution coordinate sequence is calculated, and the calculation formula is as follows:

[0092]

[0093] Where n represents the number of samples of the historical solution coordinate sequence. Based on the satellite positioning cycle, it is preferred to take a 7-day solution coordinate sequence. If the solution frequency is 1 hour / time, then n = 168. i Indicates the GNSS solution coordinate result at the i-th moment, including the three-dimensional space coordinate (X / Y / Z) sequence. Indicates selecting the sample center value.

[0094] Based on the above principle, the center value of the coordinate sequence of the baseline solution results of the samples in the same period of level 1 to level N can be calculated respectively: The fixed offset of the primary and standby baseline solutions can be determined by taking the difference of the center value:

[0095]

[0096] The spare redundant baseline can be added with an offset dx to complete the offset elimination and achieve millimeter-level horizontal redundant cutting station.

[0097]

[0098] Where: x t+1 It means that after the main base station is abnormal at time t, the solution result needs to be output at time t+1. Indicates the original solution result of the backup redundant baseline at time t+1.

[0099] After the offset processing, the backup base station calculates the output coordinate x at theoretical time t+1 t+1 The center value of the coordinate sequence solved historically with the main base station The difference should be within the limit Δx.

[0100]

[0101] Preferably, Δx≤σ, where σ represents the root mean square error of the historical coordinate sequence of the main base station. If Δx>σ, manual station switching is performed.

[0102] Accordingly, the present application also provides a computer-readable storage medium in which computer executable instructions are stored, and when the computer executable instructions are executed by the processor, the various method embodiments of the present application are implemented. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media do not include temporary computer-readable media (transitory media), such as modulated data signals and carriers.

[0103] It should be noted that in the application documents of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0104] All documents mentioned in this application are considered to be included in the disclosure of this application as a whole, so that they can be used as the basis for modification when necessary. In addition, it should be understood that after reading the above disclosure of this application, those skilled in the art can make various changes or modifications to this application, and these equivalent forms also fall within the scope of protection claimed in this application.

Claims

1. A method for redundant switching of multiple base stations, characterized in that: include: Obtain data collected by monitoring stations and several base stations; Calculating the location of the monitoring station and the baseline distance between the monitoring station and each of the base stations, selecting multiple available base stations from the plurality of base stations according to the baseline distance between the monitoring station and each of the base stations in accordance with the proximity principle, and dividing the baselines between the monitoring station and each of the available base stations into different levels, wherein the available base station corresponding to the highest level baseline is the primary base station, and the available base stations corresponding to the other levels of baselines are redundant base stations; Resolving each of the baselines according to the collected data; Determining whether the master base station solution is successful; and If the solution fails, switch to the redundant base station with the highest baseline level and successful solution, and select n historical solution results of each baseline before the current moment and calculate the corresponding center value, and add the solution result of the redundant base station to the difference between the center value of the redundant base station and the center value of the main base station, wherein the solution is adopted Calculate the central value, where n represents the number of historical solution results, x i represents the historical solution result at the i-th moment, Indicates the center value.

2. The method for switching multiple base stations according to claim 1, characterized in that: If the solution is successful, the solution result of the master base station is output.

3. The method for redundant switching of multiple base stations according to claim 1, characterized in that: Selecting a plurality of available base stations further includes: selecting two available base stations within a predetermined range.

4. The method for redundant switching of multiple base stations according to claim 3, characterized in that: The predetermined range is an area where the baseline is less than or equal to 10 km.

5. The method for switching multiple base stations according to claim 1, characterized in that: Also includes: Calculate the difference between the superposition result and the center value of the main base station; determine whether the difference is within a predetermined tolerance range, and if not, perform manual station switching.

6. The method for switching multiple base stations according to claim 1, characterized in that: The data collected by the monitoring station and the plurality of base stations include satellite data and ephemeris data.

7. The method for switching multiple base stations according to claim 1, characterized in that: The results of each baseline solution include monitoring station coordinates and algorithm operation logs.

8. A multi-base station redundant switching system, characterized in that: include: A data input module is configured to obtain data collected by a monitoring station and a plurality of base stations; a station selection module, configured to calculate the location of the monitoring station and the baseline distance between the monitoring station and each of the base stations, select multiple available base stations from the plurality of base stations according to the baseline distance between the monitoring station and each of the base stations in accordance with the proximity principle, and divide the baselines between the monitoring station and each of the available base stations into different levels, wherein the available base station corresponding to the highest level baseline is the primary base station, and the available base stations corresponding to the baselines of other levels are redundant base stations; A solution module, configured to solve each baseline according to the collected data; a switching decision module, configured to determine whether the primary base station solution is successful, and if the solution fails, switch to a redundant base station with the highest baseline level and successful solution; and The offset processing module is configured to select n historical solution results of each baseline before the current moment and calculate the corresponding center value, and superimpose the solution result of the redundant base station on the difference between the center value of the redundant base station and the center value of the main base station, wherein the method is adopted Calculate the central value, where n represents the number of historical solution results, x i represents the historical solution result at the i-th moment, Indicates the center value.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the steps in the method according to any one of claims 1 to 7 are implemented.

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