A method, apparatus, device and system for RTK data transmission

Abstract

This invention discloses a method, apparatus, device, and system for RTK data transmission. The method includes: a base station determining link information of at least two communication links currently used for transmission; acquiring RTK data calculated based on positioning information collected in real-time by a positioning module; and transmitting the RTK data to a rover station through the at least two communication links. This method reduces the risk of data loss, improves the stability of RTK data transmission, and thus ensures positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of data communication technology, and in particular to a method, apparatus, device and system for RTK data transmission. Background Technology

[0002] RTK (Real-Time Kinematic) technology is a commonly used precision positioning technique. Its principle involves using a ground-based RTK base station to send position calibration data to a rover station on the drone. This allows the rover station to calculate precise positioning information, achieving centimeter-level accuracy. The key to this technology is ensuring that the base station's data is transmitted to the rover station on the drone. If this data transmission is lost, the rover station will be unable to obtain accurate positioning information. Summary of the Invention

[0003] The present invention aims to provide a method, apparatus, device and system for RTK data transmission to solve the problem of inaccurate positioning caused by the risk of data loss between the base station and the rover in the prior art.

[0004] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions:

[0005] According to one aspect of the present invention, a method for RTK data transmission is provided, the method comprising:

[0006] The base station determines the link information of at least two communication links used in the current transmission;

[0007] Obtain RTK data calculated based on the positioning information collected in real time by the positioning module;

[0008] The RTK data is transmitted to the mobile station through the at least two communication links.

[0009] Optionally, the link information includes link type and link parameters. The link type includes cellular mobile communication and radio communication. When the link type is cellular mobile communication, the link parameters include SIM card information. When the link type is radio communication, the link parameters include frequency point information.

[0010] Optionally, the at least two communication links include at least one cellular mobile communication link and at least one radio communication link.

[0011] Optionally, the link information of at least two communication links used in the current transmission, determined by the base station, includes:

[0012] Obtain the switchable frequency information of the at least one radio communication link;

[0013] According to the preset frequency switching strategy, the communication frequency points are switched sequentially and test data is transmitted to determine the optimal communication frequency point of at least one radio communication link;

[0014] The optimal communication frequency is used as the link information of the at least one radio communication link currently used for transmission.

[0015] Optionally, the step of sequentially switching communication frequencies and transmitting test data according to a preset frequency switching strategy, and determining the optimal communication frequency for the at least one radio communication link, includes:

[0016] The communication frequency points are switched sequentially according to the preset frequency switching strategy, and the current communication frequency point is sent to the mobile station through the at least one cellular mobile communication link;

[0017] The test data is sent to the mobile station via the current communication frequency, so that the mobile station can determine the optimal communication frequency based on the test data received at each communication frequency.

[0018] Optionally, the method further includes:

[0019] Receive link failure information returned by the mobile station;

[0020] If the link type in the failed transmission link information is radio communication, then the link information of the at least one radio communication link is re-determined.

[0021] According to another aspect of the present invention, an apparatus for RTK data transmission is provided, the apparatus comprising:

[0022] The link determination module is used to determine the link information of at least two communication links used in the current transmission;

[0023] The data acquisition module is used to acquire RTK data calculated based on the positioning information collected in real time by the positioning module;

[0024] A data transmission module is used to transmit the RTK data to the mobile station through the at least two communication links.

[0025] According to another aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and running on the memory, wherein the processor executes the program to implement the steps of the RTK data transmission method described in any of the preceding claims.

[0026] According to another aspect of the present invention, an RTK data transmission system is provided, comprising a base station and a rover station, wherein,

[0027] The base station includes a positioning module and a first data transceiver module. The first data transceiver module includes at least one cellular mobile communication unit and at least one radio communication unit, and is used to determine the link information of at least two communication links currently used for transmission using the method described in any one of claims 4 to 6, obtain RTK data calculated based on the positioning information collected in real time by the positioning module, and transmit the RTK data to the mobile station through the at least two communication links.

[0028] The mobile station includes a second data transceiver module, which includes at least one cellular mobile communication unit and at least one radio communication unit. The second data transceiver module is used to sequentially receive the current communication frequency point transmitted by the base station through the at least one cellular mobile communication unit, switch the current frequency point of the at least one radio communication unit to the current communication frequency point, receive test data transmitted by the base station, determine the optimal communication frequency point based on the test data received at each communication frequency point, set the current frequency point of the at least one radio communication unit to the optimal communication frequency point, and receive the RTK data through the at least one cellular mobile communication unit and the at least one radio communication unit, respectively.

[0029] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, performs the RTK data transmission method described in any of the preceding claims.

[0030] The beneficial effects of this invention are as follows: Unlike existing technologies, this invention employs at least two communication links between the base station and the rover to simultaneously transmit the base station's RTK data, reducing the risk of data loss and improving the stability of RTK data transmission, thereby ensuring positioning accuracy. Furthermore, this invention also tests the transmission performance of each frequency point of the radio communication link, selecting the optimal communication frequency point suitable for the current environment to maximize the stability of the communication link. Attached Figure Description

[0031] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0032] Figure 1 This is a schematic diagram of the structure of an RTK positioning system provided in an embodiment of the present invention;

[0033] Figure 2 This is a flowchart of an optional RTK data transmission method provided in Embodiment 1 of the present invention;

[0034] Figure 3 A flowchart illustrating another optional RTK data transmission method provided in Embodiment 1 of the present invention;

[0035] Figure 4 This is a schematic diagram of an optional RTK data transmission device provided in Embodiment 2 of the present invention;

[0036] Figure 5 This is a schematic diagram of an optional electronic device provided in Embodiment 3 of the present invention.

[0037] Figure 6 This is a schematic diagram of an optional RTK data transmission system provided in Embodiment 4 of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Please see Figure 1 , Figure 1 The diagram shows a schematic representation of an RTK positioning system according to an embodiment of the present invention. In this embodiment, the system includes a satellite, a base station, and a rover station. Both the base station and the rover station are equipped with receivers. The base station and the rover station simultaneously receive satellite signals. The base station continuously observes the satellite and calculates RTK differential data based on its own position. This RTK differential data is then transmitted to the rover station via a data communication link. The rover station uses the received RTK differential data set and a positioning algorithm to calculate its three-dimensional coordinates and positioning accuracy.

[0041] However, in practical applications, due to the limited coverage of mobile communication signals or the presence of obstacles such as mountains, tall buildings, and trees, RTK data can be lost during transmission. Therefore, this invention aims to ensure the stability of RTK differential data transmission and achieve multi-link redundant transmission of RTK differential data by employing at least two cellular mobile communication units, or at least two radio communication units, or at least one cellular mobile communication unit and at least one radio communication unit simultaneously transmitting the RTK differential data.

[0042] Example 1

[0043] According to embodiments of the present invention, a method for RTK data transmission is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than that shown here.

[0044] Please see Figure 2 , Figure 2 The diagram shows a flowchart of an optional RTK data transmission method according to Embodiment 1 of the present invention. The method is applied to an electronic device at a base station. The electronic device can be of any type, including a terminal comprising a processor, memory, and a communication unit. The method includes:

[0045] Step S201: Determine the link information of at least two communication links used in the current transmission.

[0046] The base station and the rover communicate via a pre-established communication link. Currently, commonly used communication links include cellular mobile communication links and radio communication links. In this invention, to reduce the risk of data loss and improve the stability of RTK differential data, at least two communication links are used to transmit RTK data. These at least two communication links can be at least two cellular mobile communication links, or at least two radio communication links, or at least one cellular mobile link and at least one radio communication link.

[0047] Specifically, a cellular mobile communication link uses a cellular wireless network to connect a base station and a mobile station via a wireless channel, enabling mutual communication. This can include second-generation (2G), third-generation (3G), fourth-generation (4G), and fifth-generation (5G) mobile communication technologies. A radio station communication link is a one-to-many radio communication method that utilizes a radio station. A radio station is a station equipped with equipment for transmitting and receiving radio signals; based on the frequency band used, it can be collectively referred to as a long-wave radio, medium-wave radio, short-wave radio (also known as a high-frequency radio), ultra-short-wave radio, microwave radio, etc.

[0048] To achieve multi-link redundant transmission of RTK data, at least two matched wireless communication devices should be equipped at both the base station and the mobile station. For example, if the base station is equipped with two radios, then the mobile station also needs to be equipped with two radios; if the base station is equipped with one cellular mobile communication device and one radio, then the mobile station also needs to be equipped with one cellular mobile communication device and one radio. Preferably, the at least two communication links include at least one cellular mobile communication link and at least one radio communication link. This fully utilizes the long transmission distance of cellular mobile communication devices and the high speed and stability of radio communication devices, thereby reducing the RTK data loss rate and improving the stability of RTK data transmission.

[0049] Different wireless communication methods correspond to different link information. In some embodiments, the link information includes link type and link parameters. The link type includes cellular mobile communication and radio communication. When the link type is cellular mobile communication, the link parameters include SIM card information. When the link type is radio communication, the link parameters include frequency point information.

[0050] For cellular mobile communication, the link information is determined after the base station and mobile station are set up; for radio communication, the link information can be set according to the current environment. In this invention, before sending RTK data to the mobile station, the base station first determines the link information of at least two communication links used for the current transmission, specifically including: (1) when there are more than two communication links (e.g., one cellular mobile communication link and two radio communication links), at least two communication links can be selected according to the current environment; (2) when the selected at least two communication links include a radio communication link, the optimal communication frequency of the radio communication link is determined. Specifically, the current environment information can be input into the base station, and the base station can intelligently select at least two communication links adapted to the current environment and the optimal communication frequency of the radio communication link according to the preset link selection strategy. For example, by inputting environmental information such as latitude and longitude, climate information, and geographical features, the optimal communication frequency of the communication link adapted to the current environment and the radio communication link can be found. In some embodiments, the environmental information can also be combined with historical information of the current location or similar locations to adapt to a better communication link. In addition, the optimal communication frequency can also be determined by sequentially testing each frequency point by sending test packets between the base station and the mobile station. The specific implementation method will be discussed later. Figure 3 Detailed descriptions are provided in the embodiments.

[0051] Step S202: Obtain RTK data calculated based on the positioning information collected in real time by the positioning module.

[0052] Step S203: The RTK data is transmitted to the mobile station through the at least two communication links.

[0053] After receiving RTK data packets from the base station via at least two communication links, the mobile station can perform integrity checks on the RTK data packets according to their format to determine if any data is lost. In one embodiment, the data packets from the base station are generally in RTCM format, mainly including RTCM2.X, RTCM3.0, and RTCM3.2. A standard RTCM data packet consists of a fixed preamble, reserved words, a message length definition, a message, and a 24-bit periodic redundancy check (CRC) code. Simply put, each data packet frame includes a header, data content, and a checksum, where the checksum is generated by performing CRC redundancy checks on the header and data content.

[0054] Preferably, when the integrity verification of the RTK data packet fails, the mobile station returns the link information of the communication link that failed to transmit to the base station. After receiving the link information, the base station determines whether the link information that failed to transmit is radio communication link information. If so, it re-determines the link information of at least two communication links before the next transmission of RTK data.

[0055] In some embodiments, the base station forwards RTK data to a server, thereby enabling wider data distribution. Specifically, the base station transmits RTK data to a server located in the cloud or a self-built server via a cellular mobile communication network. The server can then distribute the data over the Internet, thus achieving a greater data distribution range.

[0056] Please see Figure 3 , Figure 3 The diagram shown is a flowchart of another optional RTK data transmission method provided in Embodiment 1 of the present invention. This method is applied to a base station and is suitable for data transmission between the base station and the mobile station simultaneously using both cellular mobile communication links and radio communication links. The method includes:

[0057] Step S301: Obtain the switchable frequency information of the at least one radio communication link.

[0058] Generally, the base station and rover use the same radio stations that support the same frequency bands and switchable frequency points. For differential radio selection, ultra-high frequency (UHF) signals (300–3000 MHz) with strong penetration are typically chosen. In practical engineering applications, using ordinary data transmission radios is susceptible to interference, has poor penetration, and suffers from severe packet loss during transmission, leading to easy loss of RTK data packets and poor positioning performance. Currently, most differential radios operate in the 410–470 MHz frequency band and offer hundreds of switchable channels.

[0059] Step S302: Switch the communication frequency according to the preset frequency switching strategy and transmit test data to determine the optimal communication frequency of the at least one radio communication link.

[0060] The preset frequency switching strategy can be to switch from low-frequency channels to high-frequency channels sequentially, or from high-frequency channels to low-frequency channels sequentially, or to start from an intermediate frequency channel and switch sequentially to low-frequency and high-frequency channels, or to switch according to a list of selected preferred frequency channels.

[0061] When the base station switches to the current communication frequency according to a preset handover strategy, the mobile station also sets its communication frequency to the same frequency. In one embodiment, the base station and the mobile station use the same handover strategy to switch communication frequencies simultaneously, ensuring that they communicate using the same frequency. In another embodiment, the base station sends its current communication frequency to the mobile station, for example, through another communication link—a cellular mobile communication link. After the handover is complete, the base station sends test data to the mobile station through the current communication frequency. The mobile station performs integrity verification on the test data received at each communication frequency and records transmission performance information such as transmission delay, signal strength, and stability for each frequency. After all frequencies have been switched, the optimal communication frequency is calculated based on the aforementioned transmission performance information. In an optional embodiment, the frequencies can be sorted according to their transmission performance information so that if the optimal communication frequency experiences a transmission failure, a quick switch to the next best communication frequency can be initiated.

[0062] Step S303: Use the optimal communication frequency as the link information of the at least one radio communication link currently used for transmission.

[0063] As mentioned earlier, for a radio communication link, its link information includes frequency point information, and the optimal communication frequency point is used as the link information of the radio communication link currently used for transmission.

[0064] Step S304: Obtain RTK data calculated based on the positioning information collected in real time by the positioning module.

[0065] Step S305: The RTK data is transmitted to the mobile station through the at least two communication links.

[0066] Steps S304 to S305 are the same. Figure 2 Steps S202 to S203 in the embodiment will not be repeated here.

[0067] The RTK data transmission method provided in this embodiment of the invention employs at least one cellular mobile communication link and at least one radio communication link to simultaneously transmit RTK data from the base station, reducing the risk of data loss and improving the stability of RTK data transmission, thereby ensuring positioning accuracy. Furthermore, this embodiment also tests the transmission performance of each frequency point of the radio communication link and selects the optimal communication frequency point suitable for the current environment to maximize the stability of the communication link.

[0068] Example 2

[0069] According to embodiments of the present invention, an RTK data transmission device is provided, such as... Figure 4 The diagram shown is a schematic representation of an optional RTK data transmission device according to Embodiment 2 of the present invention. The RTK data transmission device 400 includes:

[0070] The link determination module 402 is used to determine the link information of at least two communication links used in the current transmission;

[0071] The data acquisition module 404 is used to acquire RTK data calculated based on the positioning information collected in real time by the positioning module;

[0072] The data transmission module 406 is used to transmit the RTK data to the mobile station through the at least two communication links.

[0073] The above-mentioned device can perform the operation described in Embodiment 1. Figure 2 or Figure 3 The RTK data transmission method described herein has corresponding functional modules and beneficial effects. Technical details not described in detail in this embodiment can be found in Embodiment 1 of this invention. Figure 2 or Figure 3 The provided method for RTK data transfer.

[0074] Example 3

[0075] According to embodiments of the present invention, an electronic device is provided, such as... Figure 5 The diagram shows a schematic of an optional electronic device according to Embodiment 3 of the present invention. This electronic device may include a processor 501, a communication interface 502, a memory 503, and a communication bus 504. The processor 501, communication interface 502, and memory 503 communicate with each other via the communication bus 504. The processor 501 can call logical instructions in the memory 503 to execute a method for RTK data transmission. This method includes: determining the link information of at least two communication links currently used for transmission; acquiring RTK data calculated based on positioning information collected in real time by a positioning module; and transmitting the RTK data to a mobile station through the at least two communication links.

[0076] Furthermore, the logical instructions in the aforementioned memory 503 can be implemented as software functional units and, when sold or used as independent products, can be stored in several computer-readable storage media. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the instructions in Embodiment 1 of the present invention. Figure 2 or Figure 3 All or part of the steps of the method. The aforementioned storage medium includes: USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media capable of storing program code.

[0077] The above-mentioned product can be executed in Example 1 Figure 2 or Figure 3 The RTK data transmission method described herein has corresponding functional modules and beneficial effects. Technical details not described in detail in this embodiment can be found in Embodiment 1 of this invention. Figure 2 or Figure 3 The provided method for RTK data transfer.

[0078] Example 4

[0079] According to embodiments of the present invention, an RTK data transmission system is provided. For example... Figure 6 The diagram shown is a schematic representation of an optional RTK data transmission system according to Embodiment 4 of the present invention. The system includes a base station 601 and a mobile station 602.

[0080] Base station 601 includes a positioning module 6011 and a first data transceiver module 6012. The first data transceiver module 6012 includes at least one cellular mobile communication unit and at least one radio communication unit, used for... Figure 3 The method described in this embodiment determines the link information of at least two communication links currently used for transmission, obtains RTK data calculated based on the positioning information collected in real time by the positioning module 6011, and transmits the RTK data to the mobile station 602 through the at least two communication links.

[0081] Mobile station 602 includes a second data transceiver module 6021, which includes at least one cellular mobile communication unit and at least one radio communication unit. The second data transceiver module 6021 is used to sequentially receive current communication frequencies transmitted by base station 601 through the at least one cellular mobile communication unit, switch the current frequency of the at least one radio communication unit to the current communication frequency, receive test data transmitted by base station 601, determine the optimal communication frequency based on the test data received at each communication frequency, set the current frequency of the at least one radio communication unit to the optimal communication frequency, and receive RTK data through the at least one cellular mobile communication unit and the at least one radio communication unit, respectively.

[0082] Understandably, mobile station 602 also includes a positioning module. Figure 6 (Not shown in the image). In practical applications, if the positioning module has a single data interface, a single communication adapter module can be used to copy and distribute the data from the base station. If the positioning module has multiple data interfaces, RTK data can be sent directly through different data interfaces. Each data interface uses a different communication link for transmission, and correspondingly, the rover station receives the data through the corresponding interface using the corresponding communication link.

[0083] The RTK data transmission system provided in this embodiment of the invention uses at least one cellular mobile communication link and at least one radio communication link to simultaneously transmit RTK data from the base station, reducing the risk of data loss and improving the stability of RTK data transmission, thereby ensuring positioning accuracy. Furthermore, this embodiment also tests the transmission performance of each frequency point of the radio communication link and selects the optimal communication frequency point suitable for the current environment to ensure the stability of the communication link to the greatest extent.

[0084] Example 5

[0085] According to an embodiment of the present invention, a computer-readable storage medium of the type described in Embodiment 3 is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the steps of the RTK data transmission method described in Embodiment 1.

[0086] The above-mentioned products can execute any of the RTK data transmission methods described in Embodiment 1, and have the corresponding functional modules and beneficial effects of the method. For technical details not described in detail in this embodiment, please refer to the RTK data transmission method provided in Embodiment 1 of this invention.

[0087] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method of RTK data transmission, characterized in that, The method comprises: The base station determines link information of at least two communication links currently used for transmission; RTK data calculated based on real-time positioning information collected by a positioning module is acquired; The RTK data is transmitted to the mobile station through the at least two communication links, so that the mobile station performs integrity check according to the format of the RTK data, and returns the link information of the matched communication link to the base station according to the check result; The at least two communication links comprise at least one cellular mobile communication link and at least one radio communication link; The base station determines link information of at least two communication links currently used for transmission, which comprises: Switchable frequency point information of the at least one radio communication link is acquired; The communication frequency points are switched in sequence according to a preset frequency point switching strategy, and the current communication frequency point is sent to the mobile station through the at least one cellular mobile communication link; Test data is sent to the mobile station through the current communication frequency point, so that the mobile station determines the optimal communication frequency point according to the test data received at each communication frequency point; The optimal communication frequency point is taken as the link information of the at least one radio communication link currently used for transmission.

2. The method of claim 1, wherein, The link information comprises link type and link parameter, the link type comprises cellular mobile path and radio communication, when the link type is cellular mobile communication, the link parameter comprises SIM card information, and when the link type is radio communication, the link parameter comprises frequency point information.

3. The method of claim 1, wherein, The method further comprises: The link information of the failed transmission returned by the mobile station is received; If the link type in the link information of the failed transmission is radio communication, the link information of the at least one radio communication link is re-determined.

4. An RTK data transmission device, applied to a reference station, characterized in that, The device comprises: A link determination module for determining link information of at least two communication links currently used for transmission; A data acquisition module for acquiring RTK data calculated based on real-time positioning information collected by a positioning module; A data sending module for transmitting the RTK data to the mobile station through the at least two communication links, so that the mobile station performs integrity check according to the format of the RTK data, and returns the link information of the matched communication link to the base station according to the check result; The at least two communication links comprise at least one cellular mobile communication link and at least one radio communication link; The link determination module is further configured to: Switchable frequency point information of the at least one radio communication link is acquired; The communication frequency points are switched in sequence according to a preset frequency point switching strategy, and the current communication frequency point is sent to the mobile station through the at least one cellular mobile communication link; Test data is sent to the mobile station through the current communication frequency point, so that the mobile station determines the optimal communication frequency point according to the test data received at each communication frequency point; The optimal communication frequency point is taken as the link information of the at least one radio communication link currently used for transmission.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory to run on the processor, characterized in that, The processor implements the steps of the RTK data transmission method of any one of claims 1-3 when executing the program.

6. A system for transmitting RTK data, characterized in that, The device comprises a base station and a mobile station, wherein The reference station comprises a positioning module and a first data transceiver module, the first data transceiver module comprises at least one cellular mobile communication unit and at least one radio communication unit, and is used for determining link information of at least two communication links currently used for transmission by using the method of claim 1, obtaining RTK data calculated based on positioning information collected by the positioning module in real time; and transmitting the RTK data to the mobile station through the at least two communication links. The mobile station comprises a second data transceiver module, the second data transceiver module comprises at least one cellular mobile communication unit and at least one radio communication unit, and is used for sequentially receiving current communication frequency points sent by the reference station through the at least one cellular mobile communication unit, switching and setting a current frequency point of the at least one radio communication unit as the current communication frequency point, receiving test data sent by the reference station, determining an optimal communication frequency point according to the test data received at each communication frequency point, setting the current frequency point of the at least one radio communication unit as the optimal communication frequency point, and receiving the RTK data through the at least one cellular mobile communication unit and the at least one radio communication unit respectively.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, when the computer program is executed by a processor, the processor executes the method for RTK data transmission according to any one of claims 1-3.

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