A single-point service method for GNSS augmentation service processing and solution system

Abstract

The present invention discloses a single-point service method for a GNSS enhanced service processing and solving system, the method comprising: judging the type of a current service node; if the current service node is a distributed cluster structure service node, when it is detected that the service single point where the running instance copy in the current service node is located needs to be stopped, switching the running instance copy on the service single point to other available service single points in the current service node; if the current service node is a master-slave chain structure service node, when it is detected that any service single point where the running instance copy in the current service node is located needs to be stopped, dynamically stopping the running instance copy, and suspending status monitoring of the running instance copy until the service single point where the running instance copy is located is restarted, supporting flexible and seamless upgrading and updating of each service node in the system, and realizing high-availability management of the GNSS enhanced service processing and solving system.

Description

Technical Field

[0001] The present invention relates to the technical field of global satellite navigation and positioning systems, and in particular to a GNSS enhanced service processing and solving system and a single-point service method and device thereof. Background Art

[0002] The differential enhancement service models and systems of the Global Navigation Satellite System (GNSS) mainly include PPP (Precise Point Positioning, PPP), RTK (Real-Time Kinematic, RTK), Network RTK (N-RTK), PPP-AR and PPP-RTK models. With the growing demand for GNSS high-precision positioning, especially the rapid development of unmanned delivery, autonomous driving and driverless cars, as well as requirements for functional safety and personal privacy, the models of GNSS differential enhancement services have gradually developed from PPP and N-RTK to PPP-RTK, and the scope of differential enhancement services has gradually developed from local or regional scope to global scope.

[0003] The growth of demand for GNSS high-precision positioning has led to the expansion of the processing area and the increase of processing models of the GNSS differential enhancement service platform, which has led to a sharp increase in the introduction of independent software service nodes, resulting in the complex structure and relationship of the independent software service nodes of the entire platform. There is currently no mature and complete technical solution to achieve high performance and high availability in the integrated platform of the complex structure of so many independent service systems. The existing GNSS differential enhancement service platform does not provide customized services for GNSS high-precision positioning services, has low availability and poor performance. Summary of the invention

[0004] The present invention provides a single-point service method for a GNSS enhanced service processing and solving system, so as to realize that the GNSS enhanced service processing and solving system supports flexible and seamless upgrading and updating of a single point in each service node, and realizes high-availability management of the GNSS enhanced service processing and solving system.

[0005] An embodiment of the present invention provides a single-point service method of a GNSS enhanced service processing and solving system, wherein the GNSS enhanced service processing and solving system comprises a plurality of distributed cluster structure service nodes and a plurality of master-slave chain structure service nodes, wherein each of the master-slave chain structure service nodes is distributed between two of the distributed cluster structure service nodes; the distributed cluster structure service nodes comprise a plurality of first service single points arranged in parallel with the same functions; the master-slave chain structure service nodes comprise two identical links arranged in parallel, wherein the two links respectively comprise a plurality of second service single points arranged in series;

[0006] The single-point service method is applied to each service node of the GNSS enhanced service processing and solving system, and each of the service nodes includes at least one running instance copy;

[0007] The single-point service method comprises:

[0008] Determine the current service node type;

[0009] If the current service node is a distributed cluster structure service node, when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped, the first running instance copy on the first service single point is switched to another available first service single point in the current service node;

[0010] If the current service node is a master-slave chain structure service node, when it is detected that any second service single point where the second running instance copy in the current service node is located needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second service single point where the second running instance copy is located is restarted.

[0011] As a preferred solution, the present invention provides a single-point service method of a GNSS enhanced service processing and solving system, which is applied to each service node of the GNSS enhanced service processing and solving system.

[0012] For single points in the cluster structure, when one of the single points is updated and upgraded, the current single point can be updated and upgraded by switching the first running instance copy on the current single point to other available single points in the current cluster. This method can be used to update and upgrade all single points in the current cluster one by one.

[0013] For the master-slave chain structure, the overall link upgrade is adopted. When any single point on any link in the master chain and the slave chain needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second running instance copy is updated. The current service node continues to run through another link. The upgrade of a single link does not affect the operation of the current service node. The master-slave chain is updated and upgraded one by one through this method.

[0014] Therefore, for single-point upgrades on the cluster structure and master-slave chain structure link upgrades in the GNSS enhancement service processing and solution system, uninterrupted and seamless single-point upgrades can be achieved at a single point in the cluster structure service node or the master-slave chain structure service node without affecting the operation of the service node, supporting flexible upgrades and updates of single service nodes, and realizing high-availability management of the GNSS enhancement service processing and solution system.

[0015] As a preferred solution, the first running instance copy on the first service single point is switched to another available first service single point in the current service node, specifically:

[0016] When there is more than one running instance copy on the first service single point that needs to be stopped, all running instance copies on the first service single point are evenly distributed to other available first service single points in the current service node; the situations in which the first service single point needs to be stopped include: upgrading, updating, and abnormal startup.

[0017] As a preferred solution, for a single point in the cluster structure, when there is more than one running instance copy on the single point that needs to be stopped, when one of the single points needs to be upgraded, updated or abnormally pulled up, all the running instance copies on the single point will be seamlessly and evenly switched to other available single points in the current cluster to achieve the update and upgrade of the current single point. This method can be used to update and upgrade all single points in the current cluster one by one, thereby achieving high-availability management of the GNSS enhancement service processing and solution system.

[0018] As a preferred solution, if the current service node is a master-slave chain structure service node, it also includes:

[0019] When it is detected that the second running instance copy on any second service single point on the current service node is started, the second running instance copy is dynamically initialized according to the preset environment variable configuration information, registered to the second service single point, and the status of the second running instance copy is monitored at preset time intervals.

[0020] As a preferred solution, for the service nodes on the links of the master-slave chain structure, after the second running instance copy on the service node is started, it is registered to the corresponding single point, and the status of the second running instance copy is monitored at a preset time interval, and the status of the second running instance copy on each link is monitored in real time. When the status of the second running instance copy is abnormal, corresponding processing measures are implemented to ensure the normal operation of the current service node, thereby realizing high-availability management of the GNSS enhanced service processing and solution system.

[0021] As a preferred solution, the status of the second running instance copy is monitored at a preset time interval, specifically:

[0022] When it is detected that the second running instance copy on any second service node on the current service node exits abnormally, the second running instance copy is dynamically pulled up within a preset time and the current service node is stopped;

[0023] When it is detected that the second running instance copy on any second service node on the current service node needs to be upgraded or updated, the second running instance copy is dynamically stopped and the status monitoring of the second running instance copy is suspended until the second service point where the second running instance copy is located is restarted.

[0024] As a preferred solution, for the service nodes on the links of the master-slave chain structure, when any single point on any link of the master chain and the slave chain needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second running instance copy is updated. The current service node continues to run through another link. The upgrade of a single link does not affect the operation of the current service node. The master-slave chain is updated and upgraded one by one in this way. When it is detected that the second running instance copy on any service node on the current link exits abnormally, the second running instance copy is dynamically pulled up within a preset time. It can realize uninterrupted and seamless single-point upgrades at a single point in the service node of the master-slave chain structure without affecting the operation of the current service node, and realize high-availability management of the GNSS enhanced service processing and solution system.

[0025] As a preferred solution, only one single point where a running instance copy is located in each service node can be upgraded and stopped at the same time.

[0026] As a preferred solution, only one single point where a running instance copy is located in each service node can be upgraded and stopped at the same time. When one of the single points in each service node needs to be upgraded and stopped, the node of the running instance copy can be switched so that the running instance copy in the current service node can continue to run, or the running instance copy on the current link can be stopped and continued to run through the running instance copy on another link, so that the service node will not be affected by the single point stop, thereby realizing high-availability management of the GNSS enhanced service processing and solution system.

[0027] Accordingly, an embodiment of the present invention further provides a single-point service device of a GNSS enhanced service processing and solving system, comprising a judgment module, a cluster single-point stop module and a link single-point module;

[0028] The determination module is used to determine the current service node type;

[0029] The cluster single point stop module is used to switch the first running instance copy on the first service single point to other available first service single points in the current service node when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped if the current service node is a distributed cluster structure service node; when there is more than one running instance copy on the first service single point that needs to be updated or abnormally pulled up, all running instance copies on the first service single point are evenly distributed to other available first service single points in the current service node;

[0030] The link single point module includes a link single point stop unit;

[0031] The link single point stopping unit is used to dynamically stop the second running instance copy and suspend status monitoring of the second running instance copy until the second service single point where the second running instance copy is located is restarted if the current service node is a master-slave chain structure service node and detects that any second service single point where the second running instance copy is located in the current service node needs to be stopped.

[0032] As a preferred solution, for single points in the cluster structure, when one of the single points is updated and upgraded, the cluster single point stop module can achieve the update and upgrade of the current single point by switching the first running instance copy on the current single point to other available single points in the current cluster. This method can be used to update and upgrade all single points in the current cluster one by one.

[0033] For the master-slave chain structure, the overall link upgrade is adopted. When the running instance copy at any single point on any link in the master chain and the slave chain needs to be stopped for updating, the link single-point stop unit dynamically stops the second running instance copy and suspends the status monitoring of the second running instance copy until the update of the second running instance copy is completed, thereby realizing the master-slave chain update and upgrade one by one through this method.

[0034] Therefore, for single-point upgrades on the cluster structure and master-slave chain structure link upgrades in the GNSS enhancement service processing and solution system, uninterrupted and seamless single-point upgrades can be achieved at a single point in the cluster structure service node or the master-slave chain structure service node without affecting the operation of the service node, supporting flexible upgrades and updates of single service nodes, and realizing high-availability management of the GNSS enhancement service processing and solution system.

[0035] As a preferred solution, the link single point module further includes: a running instance copy starting unit and a running instance copy stopping unit;

[0036] The running instance copy starting unit is used to dynamically initialize the second running instance copy according to preset environment variable configuration information after detecting that the second running instance copy on any second service single point on the current service node is started, register it to the second service single point, and monitor the status of the second running instance copy at a preset time interval;

[0037] The running instance copy stopping unit is used to dynamically pull up the second running instance copy within a preset time and stop the current service node after detecting that the second running instance copy on any second service node on the current service node exits abnormally;

[0038] When it is detected that the second running instance copy on any second service node on the current service node needs to be upgraded or updated, the current service node is stopped.

[0039] As a preferred solution, for the service nodes on the links of the master-slave chain structure, after the second running instance copy on the service node is started, it is registered to the corresponding single point, and the status of the second running instance copy is monitored at preset time intervals, and the status of the second running instance copy on each link is monitored in real time. When the status of the second running instance copy is abnormal, corresponding processing measures are implemented.

[0040] When any single point on any link in the master chain and the slave chain needs to stop, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second running instance copy is updated. The current service node continues to run through another link. The upgrade of a single link does not affect the operation of the current service node. The master-slave chain is updated and upgraded one by one in this way. When it is detected that the second running instance copy on any service node on the current link exits abnormally, the second running instance copy is dynamically pulled up within a preset time. It can realize uninterrupted and seamless single-point upgrades at a single point in the service node of the master-slave chain structure without affecting the operation of the current service node, and realize high-availability management of the GNSS enhanced service processing and solution system.

[0041] Accordingly, an embodiment of the present invention further provides a GNSS augmentation service processing and solving system, comprising: a plurality of distributed cluster structure service nodes and a plurality of master-slave chain structure service nodes, each of the master-slave chain structure service nodes being distributed between two of the distributed cluster structure service nodes; the distributed cluster structure service nodes comprising a plurality of first service single points arranged in parallel with the same functions; the master-slave chain structure service nodes comprising two identical links arranged in parallel, the two links respectively comprising a plurality of second service single points arranged in series;

[0042] The distributed cluster structure service node includes any of the following modules: a first distribution module, a second distribution module and a third distribution module, a base station access gateway module or a distribution gateway module;

[0043] The master-slave chain structure service node includes any of the following modules: a processing and solving module or a differential encoding module;

[0044] The base station access gateway module is connected to the processing and solving module through the first distribution module, the processing and solving module is connected to the differential encoding module through the second distribution module, and the differential encoding module is connected to the distribution gateway module through the third distribution module;

[0045] The single-point service module is applied to each of the service nodes, and each of the service nodes includes at least one running instance copy;

[0046] The single point service module is used for:

[0047] Determine the current service node type;

[0048] If the current service node is a distributed cluster structure service node, when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped, the first running instance copy on the first service single point is switched to another available first service single point in the current service node;

[0049] If the current service node is a master-slave chain structure service node, when it is detected that any second service single point where the second running instance copy in the current service node is located needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second service single point where the second running instance copy is located is restarted.

[0050] As a preferred solution, the GNSS enhanced service processing and solving system provided by the present invention is composed of a number of distributed cluster structure service nodes and a number of master-slave chain structure service nodes. For single-point upgrades on the distributed cluster structure and master-slave chain structure link upgrades, uninterrupted and seamless single-point upgrades can be achieved at a single point in the cluster structure service node or the master-slave chain structure service node without affecting the operation of the service node.

[0051] For single points in the cluster structure, when one of the single points is updated and upgraded, the current single point can be updated and upgraded by switching the first running instance copy on the current single point to other available single points in the current cluster. This method can be used to update and upgrade all single points in the current cluster one by one.

[0052] For the master-slave chain structure, the overall link upgrade is adopted. When any single point on any link in the master chain and the slave chain needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second running instance copy is updated. The current service node continues to run through another link. The upgrade of a single link does not affect the operation of the current service node. The master-slave chain is updated and upgraded one by one through this method.

[0053] The upgrade and update of a single point will not affect the operation of the current service node, supporting the upgrade and update of a flexible single service node and achieving high-availability management of the GNSS enhanced service processing and solution system.

[0054] As a preferred solution, the master-slave chain structure service node includes any of the following modules: a processing and solving module or a differential encoding module, specifically:

[0055] The processing and solving module includes a processing and solving main chain unit and a processing and solving slave chain unit arranged in parallel, which are used to analyze and process the input observation data and the solving model, and output differential metadata;

[0056] The differential encoding module includes a differential encoding master chain unit and a differential encoding slave chain unit arranged in parallel, and is used to compile the input differential metadata into a positioning service product.

[0057] As a preferred solution, the service node of the master-slave chain structure includes any of the following modules: a processing and solution module or a differential coding module. The processing and solution module includes a processing and solution main chain unit and a processing and solution slave chain unit arranged in parallel. The differential coding module includes a differential coding main chain unit and a differential coding slave chain unit arranged in parallel. When any single point on any link in the main chain and the slave chain needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second running instance copy is updated. The current service node continues to run through another link. The upgrade of a single link does not affect the operation of the current service node. The master-slave chain is updated and upgraded one by one in this way to achieve high-availability management of the GNSS enhanced service processing and solution system.

[0058] As a preferred solution, the distributed cluster structure service node includes any of the following modules: a first distribution module, a second distribution module, a third distribution module, a base station access gateway module or a distribution gateway module, specifically:

[0059] The first distribution module, the second distribution module or the third distribution module comprises a message middleware cluster unit and a plurality of switch units arranged in parallel, and is used to write input data into a corresponding switch unit through the message middleware cluster unit, so that the switch unit distributes the input data to the next connected module;

[0060] The base station access gateway module includes a number of base station access gateways arranged in parallel, which are used to receive observation data of the base station;

[0061] The distribution gateway module includes several differential specification distribution gateways arranged in parallel, which are used to distribute the input positioning service products.

[0062] As a preferred solution, the distributed cluster structure service node includes any of the following modules: a first distribution module, a second distribution module, a third distribution module, a base station access gateway module or a distribution gateway module. The first distribution module, the second distribution module or the third distribution module includes a message middleware cluster unit and a number of switch units arranged in parallel; the base station access gateway module includes a number of base station access gateways arranged in parallel; the distribution gateway module includes a number of differential specification distribution gateways arranged in parallel. When one of the single points is updated and upgraded, the update and upgrade of the current single point can be achieved by switching the first running instance copy on the current single point to other available single points in the current cluster. This method can be used to update and upgrade all single points in the current cluster one by one, thereby achieving high-availability management of the GNSS enhanced service processing and solution system. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1It is a flowchart of an embodiment of a single-point service method of a GNSS enhancement service processing and solving system provided by the present invention;

[0064] Figure 2 It is a structural schematic diagram of an embodiment of a single-point service device of the GNSS enhancement service processing and solving system provided by the present invention;

[0065] Figure 3 It is a structural schematic diagram of an embodiment of the GNSS enhancement service processing and solving system provided by the present invention.

[0066] Figure 4 It is a structural schematic diagram of another embodiment of the GNSS enhancement service processing and solving system provided by the present invention. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] Embodiment 1

[0069] Please refer to Figure 1 , a single-point service method of a GNSS enhancement service processing and solving system provided in an embodiment of the present invention, the GNSS enhancement service processing and solving system includes a plurality of distributed cluster structure service nodes and a plurality of master-slave chain structure service nodes, each of the master-slave chain structure service nodes is distributed between two of the distributed cluster structure service nodes; the distributed cluster structure service node includes a plurality of first service single points arranged in parallel with the same functions; the master-slave chain structure service node includes two identical links arranged in parallel, and the two links respectively include a plurality of second service single points arranged in series;

[0070] The single-point service method is applied to each service node of the GNSS enhanced service processing and solving system, and each of the service nodes includes at least one running instance copy;

[0071] The single-point service method comprises steps S101-S103:

[0072] Step S101: Determine the current service node type.

[0073] Step S102: If the current service node is a distributed cluster structure service node, when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped, the first running instance copy on the first service single point is switched to other available first service single points in the current service node.

[0074] In this embodiment, the first running instance copy on the first service single point is switched to another available first service single point in the current service node, specifically:

[0075] When there is more than one running instance copy on the first service single point that needs to be stopped, all running instance copies on the first service single point are evenly distributed to other available first service single points in the current service node; the situations in which the first service single point needs to be stopped include: upgrading, updating, and abnormal startup.

[0076] In this embodiment, the distributed cluster structure service node includes any of the following modules: a first distribution module, a second distribution module, a third distribution module, a base station access gateway module or a distribution gateway module;

[0077] Exemplarily, the base station access gateway module includes two LVSs and a plurality of base station access gateways arranged in parallel; the first distribution module includes a RabbitMQ cluster and a plurality of switches, and the RabbitMQ cluster includes a plurality of RabbitMQ cluster nodes.

[0078] In the base station access gateway module, several base stations are connected to the corresponding base station access gateway through two LVSs. When one of the first base station access gateways needs to be stopped, the LVS will evenly distribute the base stations connected to the first base station access gateway to other available base station access gateways. After the first base station access gateway is restarted, the base stations will reconnect to the first base station access gateway after a period of time due to factors such as network links. The stop of a base station access gateway will not affect the transmission of the current base station observation data. Each base station access gateway can be seamlessly upgraded and updated, and the base station data is transmitted smoothly.

[0079] The base station access gateway module is connected to the first distribution module. Each base station access gateway writes the base station observation data into several switches through the RabbitMQ cluster, and the switches distribute the observation data to other modules.

[0080] When one of the first RabbitMQ cluster nodes or the first switch needs to stop, the observation data connected to the first RabbitMQ cluster node or the first switch is distributed to other available RabbitMQ cluster nodes or switches to continue running, ensuring that the operation of the first distribution module is not affected.

[0081] Step S103: If the current service node is a master-slave chain structure service node, when it is detected that any second service single point where the second running instance copy in the current service node is located needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second service single point where the second running instance copy is located is restarted.

[0082] In this embodiment, when it is detected that the second running instance copy on any second service single point on the current service node is started, the second running instance copy is dynamically initialized according to the preset environment variable configuration information, registered to the second service single point, and the status of the second running instance copy is monitored at preset time intervals.

[0083] When it is detected that the second running instance copy on any second service node on the current service node exits abnormally, the second running instance copy is dynamically pulled up within a preset time and the current service node is stopped;

[0084] When it is detected that the second running instance copy on any second service node on the current service node needs to be upgraded or updated, the second running instance copy is dynamically stopped and the status monitoring of the second running instance copy is suspended until the second service point where the second running instance copy is located is restarted.

[0085] In this embodiment, the master-slave chain structure service node includes any of the following modules: a processing and solving module or a differential encoding module;

[0086] Exemplarily, the processing and solving module includes a processing and solving main chain unit and a processing and solving slave chain unit arranged in parallel, which are used to analyze and process the input observation data and the solving model, and output differential metadata;

[0087] The processing and solving module uses N-RTK or PPP-RTK technology to solve the observation data;

[0088] Among them, N-RTK adopts a subnet solution model, groups a preset number of base stations into independent solution subnets, and includes a preset number of VRS grids in the solution subnet. According to the size of the solution subnet, the amount of VRS grid data includes several, dozens, hundreds or thousands. The N-RTK technology is used to solve the base station observation data and the master station model, and the observation domain enhancement service (OSR) differential value of the virtual reference station system (VRS) is output;

[0089] PPP-RTK uses an independent grid solution model, usually an independent grid of 200 to 300 kilometers; it uses base stations distributed in or around the grid to jointly solve and output the orbit and clock error of the satellite in the independent area, as well as the state space domain augmentation service (SSR) differential value of the ionosphere and atmospheric correction in the area.

[0090] Exemplarily, if the processing and solving module uses N-RTK technology to solve the observation data, the processing and solving module deploys two identical N-RTK solving chains, and the N-RTK solving chains include a serially arranged observation data receiving single point, a subnet solving single point, and a differential metadata output single point;

[0091] After the second running instance copy on any single point in the processing and solving module is started, the second running instance copy is dynamically initialized according to the preset environment variable configuration information, registered to the single point, and the status of the second running instance copy is monitored at preset time intervals.

[0092] When it is detected that any single point where the second running instance copy in one of the N-RTK solution chains is located needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second service single point where the second running instance copy is located is restarted. After one of the N-RTK solution chains is stopped, the processing and solution module can continue to solve the observation data through another N-RTK solution chain without affecting the work of the processing and solution module.

[0093] In this embodiment, only one single point where a running instance copy is located in each service node can be upgraded and stopped at the same time.

[0094] Implementing the embodiments of the present invention has the following effects:

[0095] The present invention provides a single-point service method of a GNSS enhanced service processing and solving system, which is applied to each service node of the GNSS enhanced service processing and solving system.

[0096] For single points in the cluster structure, when one of the single points is updated and upgraded, the current single point can be updated and upgraded by switching the first running instance copy on the current single point to other available single points in the current cluster. This method can be used to update and upgrade all single points in the current cluster one by one.

[0097] For the master-slave chain structure, the overall link upgrade is adopted. When any single point on any link in the master chain and the slave chain needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second running instance copy is updated. The current service node continues to run through another link. The upgrade of a single link does not affect the operation of the current service node. The master-slave chain is updated and upgraded one by one through this method.

[0098] Therefore, for single-point upgrades on the cluster structure and master-slave chain structure link upgrades in the GNSS enhancement service processing and solution system, uninterrupted and seamless single-point upgrades can be achieved at a single point in the cluster structure service node or the master-slave chain structure service node without affecting the operation of the service node, supporting flexible upgrades and updates of single service nodes, and realizing high-availability management of the GNSS enhancement service processing and solution system.

[0099] Embodiment 2

[0100] Please refer to Figure 2 , a single-point service device of a GNSS enhanced service processing and solving system provided by an embodiment of the present invention, comprising: a judgment module 201, a cluster single-point stop module 202 and a link single-point module 203;

[0101] The determination module 201 is used to determine the type of the current service node;

[0102] The cluster single point stop module 202 is used to switch the first running instance copy on the first service single point to other available first service single points in the current service node when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped if the current service node is a distributed cluster structure service node; when there is more than one running instance copy on the first service single point that needs to be updated or abnormally pulled up, all running instance copies on the first service single point are evenly distributed to other available first service single points in the current service node;

[0103] The link single point module 203 includes a link single point stop unit;

[0104] The link single point stopping unit is used to dynamically stop the second running instance copy and suspend status monitoring of the second running instance copy until the second service single point where the second running instance copy is located is restarted if the current service node is a master-slave chain structure service node and detects that any second service single point where the second running instance copy is located in the current service node needs to be stopped.

[0105] The link single point module also includes: a running instance copy starting unit and a running instance copy stopping unit;

[0106] The running instance copy starting unit is used to dynamically initialize the second running instance copy according to preset environment variable configuration information after detecting that the second running instance copy on any second service single point on the current service node is started, register it to the second service single point, and monitor the status of the second running instance copy at a preset time interval;

[0107] The running instance copy stopping unit is used to dynamically pull up the second running instance copy within a preset time and stop the current service node after detecting that the second running instance copy on any second service node on the current service node exits abnormally;

[0108] When it is detected that the second running instance copy on any second service node on the current service node needs to be upgraded or updated, the current service node is stopped.

[0109] The single-point service device of the GNSS enhanced service processing and solving system described above can implement the single-point service method of the GNSS enhanced service processing and solving system of the method embodiment described above. The options in the method embodiment described above are also applicable to this embodiment and will not be described in detail here. The rest of the contents of the embodiment of the present application can refer to the contents of the method embodiment described above and will not be described in detail in this embodiment.

[0110] Implementing the embodiments of the present invention has the following effects:

[0111] For single points in the cluster structure, when one of the single points is updated and upgraded, the cluster single point stop module can achieve the update and upgrade of the current single point by switching the first running instance copy on the current single point to other available single points in the current cluster. This method can be used to update and upgrade all single points in the current cluster one by one.

[0112] For the master-slave chain structure, the overall link upgrade is adopted. When the running instance copy at any single point on any link in the master chain and the slave chain needs to be stopped for updating, the link single-point stop unit dynamically stops the second running instance copy and suspends the status monitoring of the second running instance copy until the update of the second running instance copy is completed, thereby realizing the master-slave chain update and upgrade one by one through this method.

[0113] Therefore, for single-point upgrades on the cluster structure and master-slave chain structure link upgrades in the GNSS enhancement service processing and solution system, uninterrupted and seamless single-point upgrades can be achieved at a single point in the cluster structure service node or the master-slave chain structure service node without affecting the operation of the service node, supporting flexible upgrades and updates of single service nodes, and realizing high-availability management of the GNSS enhancement service processing and solution system.

[0114] Embodiment 3

[0115] Please refer to Figure 3 , a GNSS enhancement service processing and solving system provided by an embodiment of the present invention comprises: a plurality of distributed cluster structure service nodes and a plurality of master-slave chain structure service nodes, each of the master-slave chain structure service nodes is distributed between two of the distributed cluster structure service nodes; the distributed cluster structure service nodes comprise a plurality of first service single points arranged in parallel with the same functions; the master-slave chain structure service nodes comprise two identical links arranged in parallel, and the two links respectively comprise a plurality of second service single points arranged in series;

[0116] The distributed cluster structure service node includes any of the following modules: a base station access gateway module 301, a first distribution module 3021, a second distribution module 3022, a third distribution module 3023 or a distribution gateway module 305;

[0117] The master-slave chain structure service node includes any of the following modules: a processing and solving module 303 or a differential encoding module 304;

[0118] The base station access gateway module 301 is connected to the processing and solving module 303 through the first distribution module 3021, the processing and solving module 303 is connected to the differential encoding module 304 through the second distribution module 3022, and the differential encoding module 304 is connected to the distribution gateway module 305 through the third distribution module 3023;

[0119] The single point service module 306 is applied to each of the service nodes, and each of the service nodes includes at least one running instance copy;

[0120] The single point service module is used for:

[0121] Determine the current service node type;

[0122] If the current service node is a distributed cluster structure service node, when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped, the first running instance copy on the first service single point is switched to another available first service single point in the current service node;

[0123] If the current service node is a master-slave chain structure service node, when it is detected that any second service single point where the second running instance copy in the current service node is located needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second service single point where the second running instance copy is located is restarted.

[0124] The base station access gateway module 301 includes a plurality of base station access gateways arranged in parallel, and is used to receive observation data of the base station;

[0125] The first distribution module 3021, the second distribution module 3022 or the third distribution module 3023 includes a message middleware cluster unit and a plurality of switch units arranged in parallel, and is used to write input data into a corresponding switch unit through the message middleware cluster unit, so that the switch unit distributes the input data to the next connected module;

[0126] The processing and solving module 303 includes a processing and solving main chain unit and a processing and solving slave chain unit arranged in parallel, which are used to analyze and process the input observation data and the solving model, and output differential metadata;

[0127] The differential encoding module 304 includes a differential encoding master chain unit and a differential encoding slave chain unit arranged in parallel, and is used to compile the input differential metadata into a positioning service product;

[0128] The distribution gateway module 305 includes a plurality of differential specification distribution gateways arranged in parallel, and is used to distribute input positioning service products.

[0129] To better illustrate this embodiment, a specific implementation of a GNSS enhancement service processing and solving system is provided below:

[0130] Please refer to Figure 4 , the base station access gateway module includes three base station access gateways arranged in parallel, which are used to receive observation data of the base station;

[0131] The first distribution module, the second distribution module and the third distribution module respectively include a RabbitMQ cluster and N switches arranged in parallel, and a first RabbitMQ cluster includes N message nodes arranged in parallel.

[0132] The processing and solving module includes an N-RTK solving submodule and a PPP-RTK solving submodule;

[0133] The N-RTK solution submodule includes a parallel arranged N-RTK solution master chain and an N-RTK solution slave chain;

[0134] The PPP-RTK solution submodule includes a PPP-RTK solution master chain and a PPP-RTK solution slave chain arranged in parallel.

[0135] The differential encoding module includes an N-RTK encoding submodule and a PPP-RTK encoding submodule;

[0136] The N-RTK encoding submodule includes the N-RTK encoding master chain and the N-RTK encoding slave chain;

[0137] The PPP-RTK encoding submodule includes the PPP-RTK encoding master chain and the PPP-RTK encoding slave chain.

[0138] The distribution gateway module includes N distribution gateways of different specifications.

[0139] In this embodiment, N base stations are connected to three base station access gateways of the base station access gateway module through one HAProxy, and the HAProxy includes two LVSs;

[0140] The base station access gateway writes the observation data of the base station into N switches through the RabbitMQ cluster of the first distribution module, and the switches distribute the observation data to the N-RTK solution main chain, N-RTK solution slave chain, PPP-RTK solution main chain and PPP-RTK solution slave chain in the local solution module respectively;

[0141] The N-RTK solution master chain, N-RTK solution slave chain, PPP-RTK solution master chain and PPP-RTK solution slave chain analyze and process the observation data and solution model, and output differential metadata respectively;

[0142] The N-RTK solution master chain and the N-RTK solution slave chain respectively output the observation domain enhancement service (OSR) differential value of the virtual reference station system (VRS);

[0143] The PPP-RTK solution master chain and the PPP-RTK solution slave chain respectively output the orbit and clock error of the satellite in the independent area, as well as the state space domain augmentation service (SSR) differential value of the ionosphere and atmospheric correction in the area.

[0144] The N-RTK solution master chain, N-RTK solution slave chain, PPP-RTK solution master chain and PPP-RTK solution slave chain write their respective differential metadata into N switches through the RabbitMQ cluster of the second distribution module. The switches distribute the differential metadata to the N-RTK encoding master chain, N-RTK encoding slave chain, PPP-RTK encoding master chain and PPP-RTK encoding slave chain of the differential encoding module respectively.

[0145] The N-RTK coding master chain, N-RTK coding slave chain, PPP-RTK coding master chain and PPP-RTK coding slave chain compile the input differential metadata into positioning service products respectively;

[0146] The N-RTK coding master chain, N-RTK coding slave chain, PPP-RTK coding master chain and PPP-RTK coding slave chain write their respective positioning service products into N switches through the RabbitMQ cluster of the third distribution module. The switches distribute the positioning service products to the N differential specification distribution gateways of the distribution gateway module, so that the differential specification distribution gateways distribute the positioning service products.

[0147] Single point service module ( Figure 4 The module is not shown) is applied to each of the service nodes, and each of the service nodes includes at least one running instance copy;

[0148] The single point service module is used for:

[0149] Determine the current service node type;

[0150] If the current service node is a distributed cluster structure service node, when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped, the first running instance copy on the first service single point is switched to another available first service single point in the current service node;

[0151] If the current service node is a master-slave chain structure service node, when it is detected that any second service single point where the second running instance copy in the current service node is located needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second service single point where the second running instance copy is located is restarted.

[0152] Implementing the embodiments of the present invention has the following effects:

[0153] The GNSS enhanced service processing and solving system provided by the present invention is composed of a plurality of distributed cluster structure service nodes and a plurality of master-slave chain structure service nodes. For single-point upgrades on the distributed cluster structure and master-slave chain structure link upgrades, uninterrupted and seamless single-point upgrades can be achieved at a single point in the cluster structure service node or the master-slave chain structure service node without affecting the operation of the service node.

[0154] For single points in the cluster structure, when one of the single points is updated and upgraded, the current single point can be updated and upgraded by switching the first running instance copy on the current single point to other available single points in the current cluster. This method can be used to update and upgrade all single points in the current cluster one by one.

[0155] For the master-slave chain structure, the overall link upgrade is adopted. When any single point on any link in the master chain and the slave chain needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second running instance copy is updated. The current service node continues to run through another link. The upgrade of a single link does not affect the operation of the current service node. The master-slave chain is updated and upgraded one by one through this method.

[0156] The upgrade and update of a single point will not affect the operation of the current service node, supporting the upgrade and update of a flexible single service node and achieving high-availability management of the GNSS enhanced service processing and solution system.

[0157] Embodiment 4

[0158] Correspondingly, the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the single-point service method of the GNSS enhanced service processing and solution system as described in any one of the above embodiments.

[0159] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the terminal device.

[0160] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0161] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0162] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the terminal device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of the mobile terminal, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0163] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0164] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A single-point service method for a GNSS augmentation service processing and solution system, It is characterized in that The GNSS augmentation service processing and solving system includes a plurality of distributed cluster structure service nodes and a plurality of master-slave chain structure service nodes, each of the master-slave chain structure service nodes is distributed between two of the distributed cluster structure service nodes; the distributed cluster structure service node includes a plurality of first service single points arranged in parallel with the same functions; the master-slave chain structure service node includes two identical links arranged in parallel, and the two links respectively include a plurality of second service single points arranged in series; The single-point service method is applied to each service node of the GNSS enhanced service processing and solving system, and each of the service nodes includes at least one running instance copy; The single-point service method comprises: Determine the current service node type; If the current service node is a distributed cluster structure service node, when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped, the first running instance copy on the first service single point is switched to another available first service single point in the current service node; If the current service node is a master-slave chain structure service node, when it is detected that any second service single point where the second running instance copy in the current service node is located needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second service single point where the second running instance copy is located is restarted.

2. A single-point service method of a GNSS enhancement service processing and solution system as claimed in claim 1, It is characterized in that The switching of the first running instance copy on the first service single point to another available first service single point in the current service node is specifically: When there is more than one running instance copy on the first service single point that needs to be stopped, all running instance copies on the first service single point are evenly distributed to other available first service single points in the current service node; The situations where the first service single point needs to be stopped include: upgrading, updating and abnormal startup.

3. A single-point service method of a GNSS enhanced service processing and solution system as claimed in claim 1, It is characterized in that If the current service node is a master-slave chain structure service node, it also includes: When it is detected that the second running instance copy on any second service single point on the current service node is started, the second running instance copy is dynamically initialized according to the preset environment variable configuration information, registered to the second service single point, and the status of the second running instance copy is monitored at preset time intervals.

4. A single-point service method of a GNSS enhancement service processing and solution system as claimed in claim 3, It is characterized in that The monitoring the state of the second running instance copy at a preset time interval is specifically: When it is detected that the second running instance copy on any second service node on the current service node exits abnormally, the second running instance copy is dynamically pulled up within a preset time and the current service node is stopped; When it is detected that the second running instance copy on any second service node on the current service node needs to be upgraded or updated, the second running instance copy is dynamically stopped and the status monitoring of the second running instance copy is suspended until the second service point where the second running instance copy is located is restarted.

5. A single-point service method of a GNSS enhanced service processing and solution system as claimed in claim 1, It is characterized in that Also includes: Only one running instance copy in each service node can be upgraded and stopped at the same time.

6. A GNSS enhancement service processing and solving device, It is characterized in that It includes a judgment module, a cluster single-point stop module and a link single-point module; The determination module is used to determine the current service node type; The cluster single point stop module is used for switching the first running instance copy on the first service single point to another available first service single point in the current service node when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped if the current service node is a distributed cluster structure service node; When there is more than one running instance copy on the first service single point that needs to be updated or abnormally pulled up, all running instance copies on the first service single point are evenly distributed to other available first service single points in the current service node; The link single point module includes a link single point stop unit; The link single point stopping unit is used to dynamically stop the second running instance copy and suspend status monitoring of the second running instance copy until the second service single point where the second running instance copy is located is restarted if the current service node is a master-slave chain structure service node and detects that any second service single point where the second running instance copy is located in the current service node needs to be stopped.

7. A GNSS enhanced service processing and solving device as claimed in claim 6, It is characterized in that The link single point module also includes: a running instance copy starting unit and a running instance copy stopping unit; The running instance copy starting unit is used to dynamically initialize the second running instance copy according to preset environment variable configuration information after detecting that the second running instance copy on any second service single point on the current service node is started, register it to the second service single point, and monitor the status of the second running instance copy at a preset time interval; The running instance copy stopping unit is used to dynamically pull up the second running instance copy within a preset time and stop the current service node after detecting that the second running instance copy on any second service node on the current service node exits abnormally; When it is detected that the second running instance copy on any second service node on the current service node needs to be upgraded or updated, the current service node is stopped.

8. A GNSS augmentation service processing and solution system, It is characterized in that include: A plurality of distributed cluster structure service nodes and a plurality of master-slave chain structure service nodes, each of the master-slave chain structure service nodes being distributed between two of the distributed cluster structure service nodes; The distributed cluster structure service node includes a plurality of first service single points arranged in parallel with the same functions; the master-slave chain structure service node includes two identical links arranged in parallel, and the two links respectively include a plurality of second service single points arranged in series; The distributed cluster structure service node includes any of the following modules: a first distribution module, a second distribution module and a third distribution module, a base station access gateway module or a distribution gateway module; The master-slave chain structure service node includes any of the following modules: a processing and solving module or a differential encoding module; The base station access gateway module is connected to the processing and solving module through the first distribution module, the processing and solving module is connected to the differential encoding module through the second distribution module, and the differential encoding module is connected to the distribution gateway module through the third distribution module; The single-point service module is applied to each of the service nodes, and each of the service nodes includes at least one running instance copy; The single point service module is used for: Determine the current service node type; If the current service node is a distributed cluster structure service node, when it is detected that the first service single point where the first running instance copy in the current service node is located needs to be stopped, the first running instance copy on the first service single point is switched to another available first service single point in the current service node; If the current service node is a master-slave chain structure service node, when it is detected that any second service single point where the second running instance copy in the current service node is located needs to be stopped, the second running instance copy is dynamically stopped, and the status monitoring of the second running instance copy is suspended until the second service single point where the second running instance copy is located is restarted.

9. A GNSS augmentation service processing and solving system as claimed in claim 8, It is characterized in that The master-slave chain structure service node includes any of the following modules: a processing and solving module or a differential encoding module, specifically: The processing and solving module includes a processing and solving main chain unit and a processing and solving slave chain unit arranged in parallel, which are used to analyze and process the input observation data and the solving model, and output differential metadata; The differential encoding module includes a differential encoding master chain unit and a differential encoding slave chain unit arranged in parallel, and is used to compile the input differential metadata into a positioning service product.

10. A GNSS enhancement service processing and solving system as claimed in claim 8, It is characterized in that The distributed cluster structure service node includes any of the following modules: a first distribution module, a second distribution module, a third distribution module, a base station access gateway module or a distribution gateway module, specifically: The first distribution module, the second distribution module or the third distribution module comprises a message middleware cluster unit and a plurality of switch units arranged in parallel, and is used to write input data into a corresponding switch unit through the message middleware cluster unit, so that the switch unit distributes the input data to the next connected module; The base station access gateway module includes a number of base station access gateways arranged in parallel, which are used to receive observation data of the base station; The distribution gateway module includes several differential specification distribution gateways arranged in parallel, which are used to distribute the input positioning service products.

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