Rtk high-precision positioning terminal, method and device with multi-mode communication link

Abstract

The application discloses an RTK high-precision positioning terminal, method and device with a multi-mode communication link. The positioning terminal comprises a GNSS receiving module, a wireless public network communication module, a satellite communication module, an optical fiber communication module, a routing selection module, a master control module, an RTK calculation module and a UAV interaction module. The positioning method comprises powering on the multi-mode RTK communication positioning terminal and completing initialization and starting; a communication link with a ground-based augmentation system is established, and relevant information of the terminal is uploaded to the ground-based augmentation system; GNSS signal receiving is completed to obtain initial position information of the terminal, and the position information is uploaded to the ground-based augmentation system through adaptive selection of a communication link; RTK error information issued by the ground-based augmentation system is adaptively received, and accurate positioning information is calculated. The application can provide a stable and reliable multi-mode communication link for an RTK positioning terminal, effectively guarantee the rapid positioning of the high-precision positioning terminal, and solve the high-precision positioning demand in a complex power electromagnetic compatibility environment.

Description

Technical Field

[0001] This application relates to the field of RTK high-precision positioning technology, and in particular to an RTK high-precision positioning terminal, method and apparatus with a multi-mode communication link. Background Technology

[0002] With the advancement of digital grid construction, the inspection of wired power data networks has gradually evolved from "primarily human inspection" to "primarily drone inspection, supplemented by human inspection," basically achieving intelligent inspection of wired power data networks and realizing comprehensive coverage of wired power data networks by unmanned aerial vehicle (UAV) automatic inspection. Current UAV intelligent inspection mainly relies on ground-based augmentation systems to provide RTK high-precision positioning services. The positioning terminal receives error term signals from nearby reference stations, calculates accurate carrier positioning results, and thus calculates the precise location information of the terminal and the UAV.

[0003] Intelligent inspection by drones requires high-precision positioning services from ground-based augmentation systems. The interconnection between these systems and positioning terminals primarily relies on mobile networks operated by carriers. However, when there is no mobile network coverage in the field, the positioning terminals cannot achieve centimeter-level precision positioning, thus hindering power grid companies from implementing intelligent drone inspections using wired power data networks. Furthermore, wired power data networks are typically located in remote areas, often traversing mountainous regions with poor mobile network coverage, significantly limiting the effectiveness of existing positioning terminals in these areas and preventing the implementation of intelligent drone inspection services. Therefore, it is urgent to overcome the communication bottleneck between positioning terminals and ground-based augmentation systems to address the pain points of intelligent inspection in power grid transmission scenarios. Summary of the Invention

[0004] The purpose of this application is to provide an RTK high-precision positioning terminal, method, and apparatus with a multi-mode communication link, which solves the problem that the current positioning terminal and ground-based augmentation system cannot communicate in remote areas where power wired data networks are located.

[0005] To achieve the above objectives, this application provides an RTK high-precision positioning terminal with a multi-mode communication link, comprising:

[0006] The GNSS receiver module is used to receive signals from multiple GNSS satellites, calculate the pseudorange between each satellite and the terminal, and calculate the latitude, longitude, and elevation information of the positioning terminal.

[0007] The routing module is used to calculate the optimal communication link based on link status, communication bandwidth, communication latency and packet loss rate information;

[0008] The communication module is used to transmit data based on the optimal communication link selected by the routing module.

[0009] The RTK calculation module is used to summarize the information from the GNSS receiving module and the communication module, and calculate high-precision positioning information by combining the positioning error term of the ground-based augmentation system with its own positioning information.

[0010] The drone interaction module is used to transmit the high-precision positioning information to the drone so that the drone can perform high-precision inspection.

[0011] The main control module is used to realize information interaction with all modules, and to complete data processing, command sending and receiving, and status acquisition.

[0012] Furthermore, preferably, the communication module includes:

[0013] The wireless public network communication module is used to access the operator's mobile public network through a wireless channel, send terminal location information and receive positioning error terms broadcast by the ground-based augmentation system;

[0014] The satellite communication module is used to communicate with communication satellites and obtain high-precision positioning information;

[0015] The fiber optic communication module is used to access the power wired data network through a fiber optic interface, so as to interact with the ground-based augmentation system through the internal power network and obtain high-precision positioning information.

[0016] Furthermore, preferably, the wireless channel includes a 4G or 5G channel; the communication satellite includes maritime, Tiantong, and low-Earth orbit communication satellites; and the power wired data network includes OPGW and IOPPC.

[0017] This application also provides an RTK high-precision positioning method with a multi-mode communication link, which uses the RTK high-precision positioning terminal with a multi-mode communication link as described in any of the above claims, including:

[0018] Power on the multi-mode RTK communication positioning terminal and complete the initialization startup;

[0019] Establish a communication link with the ground-based augmentation system and upload its own relevant information to the ground-based augmentation system;

[0020] Complete GNSS signal reception, obtain preliminary location information, and upload the location information to the ground-based augmentation system through adaptive selection of communication links;

[0021] It adaptively receives RTK error information from the ground-based augmentation system and calculates precise positioning information.

[0022] Furthermore, preferably, establishing a communication link with the ground-based augmentation system includes:

[0023] The communication module establishes various communication links, including:

[0024] The wireless public network communication module is used to access the wireless base station, complete the registration and activation on the operator's mobile network, and return the result to the main control module after the wireless public network communication link is established.

[0025] The satellite communication module is used to access the satellite system, and after completing the link registration, the result is returned to the main control module.

[0026] The system utilizes an optical fiber communication module to access the power wired data network, and returns the result to the main control module after the link access is completed; wherein, the power wired data network includes OPGW and IOPPC.

[0027] Furthermore, preferably, the step of uploading location information to the ground-based augmentation system through adaptive selection of communication links includes:

[0028] The GNSS receiver module completes the reception of GNSS signals to form its initial positioning.

[0029] The routing module adaptively selects communication links based on the communication link status, communication bandwidth, communication latency and packet loss rate information fed back by each communication module, and feeds the results back to the main control module.

[0030] The system uploads its own location information to the ground-based augmentation system via the communication link.

[0031] Furthermore, preferably, the adaptive reception of RTK error information sent by the ground-based augmentation system includes:

[0032] By receiving RTK error information from the ground-based augmentation system through the communication link selected by the route, accurate self-positioning information is calculated.

[0033] The communication module is used to collect various parameter information during communication, including LSUD, LSQ, BWR, Delay, and LossR information.

[0034] This application also provides an RTK high-precision positioning device with a multi-mode communication link, including:

[0035] The initialization unit is used to power on the multi-mode RTK communication positioning terminal and complete the initialization startup.

[0036] The communication link establishment unit is used to establish a communication link with the ground-based augmentation system and upload its own relevant information to the ground-based augmentation system.

[0037] The GNSS signal receiving unit is used to receive GNSS signals, obtain its own preliminary position information, and upload the position information to the ground-based augmentation system by adaptively selecting a communication link.

[0038] The high-precision positioning unit is used to adaptively receive RTK error information sent by the ground-based augmentation system and calculate accurate positioning information.

[0039] This application also provides a computer device, including:

[0040] One or more processors;

[0041] A memory, coupled to the processor, for storing one or more programs;

[0042] When the one or more programs are executed by the one or more processors, the one or more processors implement the RTK high-precision positioning method with multi-mode communication links as described in any of the preceding claims.

[0043] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the RTK high-precision positioning method with multi-mode communication link as described in any of the preceding claims.

[0044] Compared to existing technologies, the advantages of this application are as follows:

[0045] This application addresses the problem that power transmission lines are often located in remote areas, many of which cross mountainous regions where mobile network coverage is difficult, severely limiting the application of existing positioning terminals and drone-based intelligent inspection services in these areas. By providing a stable and reliable multi-mode communication link for RTK positioning terminals, this application solves the pain points of intelligent inspection in power grid companies' power transmission scenarios, effectively ensuring rapid positioning of high-precision positioning terminals and meeting the high-precision positioning requirements in complex electromagnetic compatibility environments of the power industry. Attached Figure Description

[0046] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of an RTK high-precision positioning terminal with a multi-mode communication link provided in a certain embodiment of this application;

[0048] Figure 2 This is a schematic diagram of the structure of an RTK high-precision positioning terminal with a multi-mode communication link provided in another embodiment of this application;

[0049] Figure 3 This is a flowchart illustrating a high-precision RTK positioning method with a multi-mode communication link provided in a certain embodiment of this application.

[0050] Figure 4 yes Figure 3 A flowchart illustrating the sub-steps of step S20;

[0051] Figure 5 yes Figure 3 A flowchart illustrating the sub-steps of step S30;

[0052] Figure 6 yes Figure 3 A flowchart illustrating the sub-steps of step S40;

[0053] Figure 7 This is a schematic diagram of the structure of an RTK high-precision positioning device with a multi-mode communication link provided in a certain embodiment of this application;

[0054] Figure 8 This is a schematic diagram of the structure of a computer device provided in a certain embodiment of this application. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0056] It should be understood that the step numbers used in the text are for ease of description only and are not intended to limit the order in which the steps are performed.

[0057] It should be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0058] The terms “comprising” and “including” indicate the presence of the described feature, whole, step, operation, element and / or component, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0059] The term “and / or” refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes these combinations.

[0060] See Figure 1 , Figure 1 A high-precision RTK positioning terminal with a multi-mode communication link is provided, including modules 01-06. Specifically, the functions of each module are as follows:

[0061] GNSS receiver module 01 is used to receive signals from multiple GNSS satellites, calculate the pseudorange between each satellite and the terminal, and calculate the latitude, longitude and elevation information of the positioning terminal.

[0062] The routing module 02 is used to calculate the optimal communication link based on link status, communication bandwidth, communication latency and packet loss rate information.

[0063] This module can perform communication link routing selection. By comprehensively judging information such as link status, communication bandwidth, communication latency, and packet loss rate, it calculates and selects the optimal communication link under the current conditions, and then notifies the communication module 03 to carry out the data transmission process.

[0064] The communication module 03 is used to transmit data according to the optimal communication link selected by the routing module 02.

[0065] The RTK calculation module 04 is used to summarize the information from the GNSS receiving module 01 and the communication module 03. It calculates high-precision positioning information by combining the positioning error term of the ground-based augmentation system with its own positioning information, thereby realizing the high-precision position required for intelligent inspection of UAVs.

[0066] The UAV interaction module 05 is used to transmit the high-precision positioning information to the UAV so that the UAV can perform high-precision inspection.

[0067] This module is used to transmit the high-precision positioning information of the positioning terminal to the UAV through the interaction module, as one of the input information for the inspection UAV's autonomous intelligent flight inspection, thus meeting the requirements of high-precision inspection positioning.

[0068] The main control module 06 is used to realize information interaction with all modules, and to complete data processing, command sending and receiving, and status acquisition.

[0069] Please see Figure 2 , Figure 2 A schematic diagram of the structure of an RTK high-precision positioning terminal with a multi-mode communication link is provided for another embodiment of this application. For example... Figure 2 As shown, the communication module 03 also includes the following sub-modules:

[0070] The wireless public network communication module 031 is used to access the operator's mobile public network through a wireless channel, send terminal positioning information and receive positioning error terms broadcast by the ground-based augmentation system; wherein, the wireless channel includes a 4G or 5G channel;

[0071] Specifically, the wireless public network communication module 031 is divided into two types of sub-modules: a 4G wireless communication sub-module and a 5G wireless communication sub-module. The wireless public network communication module 031 accesses the operator's mobile public network through wireless channels such as 4G and 5G, and is used to send terminal location information and receive positioning error terms broadcast by the ground-based augmentation system.

[0072] Satellite communication module 032 is used to communicate and interconnect with communication satellites to obtain high-precision positioning information; the communication satellites include maritime, Tiantong, and low-Earth orbit communication satellites;

[0073] Specifically, the satellite communication module 032 is divided into three sub-modules: a maritime satellite communication sub-module, a Tiantong satellite communication sub-module, and a low-Earth orbit (LEO) satellite communication sub-module. The satellite communication module 032 enables communication interconnection with maritime, Tiantong, and LEO communication satellites, and facilitates data exchange with ground-based augmentation systems via these satellites to acquire high-precision positioning information.

[0074] The fiber optic communication module 033 is used to access the power wired data network via a fiber optic interface to interact with the ground-based augmentation system through the internal power network and obtain high-precision positioning information. The power wired data network includes OPGW, IOPPC, etc.

[0075] In areas where conditions permit, access to power wired data networks such as OPGW and IOPPC can be achieved through fiber optic interfaces. Subsequently, data exchange with the ground-based augmentation system can be conducted through the internal power network to obtain high-precision positioning information.

[0076] In one specific embodiment, based on the RTK high-precision positioning terminal with multi-mode communication link provided in the above embodiments, an RTK high-precision positioning method with multi-mode communication link is also provided. For example... Figure 1 As shown, the RTK high-precision positioning method with multi-mode communication link includes steps S10 to S40. The specific steps are as follows:

[0077] Step S10: Power on the multi-mode RTK communication positioning terminal and complete the initialization startup;

[0078] Step S20: Establish a communication link with the ground-based augmentation system and upload relevant information to the ground-based augmentation system;

[0079] Step S30: Complete GNSS signal reception, obtain preliminary location information, and upload the location information to the ground-based augmentation system through adaptive selection of communication link;

[0080] Step S40: Adaptively receive RTK error information sent by the ground-based augmentation system and calculate precise positioning information.

[0081] It should be noted that once the multi-mode RTK communication positioning terminal is started, accurate positioning can be achieved by completing steps S20-S40 on the terminal.

[0082] See Figure 4 In one specific embodiment, step S20, establishing a communication link with the ground-based augmentation system, includes the following sub-steps:

[0083] Step S201: Establish various communication links through communication module 03. Specifically, the terminal establishes various communication links through its assigned communication module 03. The link establishment process is implemented through the aforementioned wireless public network communication module 031, satellite communication module 032, and fiber optic communication module 033, including:

[0084] Step S2011: Use the wireless public network communication module 031 to access the wireless base station, complete the registration and activation on the operator's mobile network, and return the result to the main control module 06 after the wireless public network communication link is established.

[0085] Step S2012: Use satellite communication module 032 to access the satellite system, complete link registration, and return the result to main control module 06;

[0086] Step S2013: Use the fiber optic communication module 033 to access the power wired data network, and return the result to the main control module 06 after the link access is completed; wherein, the power wired data network includes OPGW and IOPPC.

[0087] See Figure 5 In one specific embodiment, step S30, which involves uploading location information to the ground-based augmentation system via adaptive selection of a communication link, includes:

[0088] Step S301: Complete GNSS signal reception through GNSS receiving module 01 to form its initial positioning; it should be noted that in this step, the terminal can receive global satellite navigation signals such as Beidou, GPS, Galileo, and GLONASS according to the GNSS signal conditions, complete the calculation of its own position information, and feed the results back to the main control module 06.

[0089] Step S302: The routing module 02 adaptively selects a communication link based on the communication link status, communication bandwidth, communication latency, and packet loss rate information fed back by each communication module 03, and feeds the result back to the main control module 06; the adaptive routing selection parameters are shown in Table 1:

[0090] Table 1 Routing Adaptive Selection Parameter Table

[0091]

[0092] In one exemplary embodiment, the algorithm for adaptive communication link selection is as follows:

[0093]

[0094] In the formula, f(x) represents the sum of routing parameters for each communication link. LSQ, BWR, DelayR, and LossR are normalized parameter values ​​ranging from 0 to 1. α, β, etc., are coefficients of each parameter, which can be dynamically adjusted according to link selection requirements. Finally, the communication link with the highest parameters is selected using the formula as the communication channel between the terminal and the ground-based augmentation system.

[0095] Step S303: Upload its own location information to the ground-based augmentation system through the communication link.

[0096] See Figure 6 In one specific embodiment, step S40, the adaptive reception of RTK error information sent by the ground-based augmentation system, includes:

[0097] Step S401: Receive the RTK error information of the ground-based augmentation system through the communication link selected by the route, and calculate the accurate self-positioning information;

[0098] Step S402: Use communication module 03 to collect various parameter information during communication, including LSUD, LSQ, BWR, Delay, and LossR information. Among them, LSUD and LSQ are collected normally, while BWR, Delay, and LossR are received and calculated after each communication.

[0099] In summary, given that power transmission lines are typically located in remote areas, many of which traverse mountainous regions where mobile network coverage is limited, the application of existing positioning terminals and drone-based intelligent inspection services in these areas is severely restricted. This application addresses the pain points of intelligent inspection in power grid companies' transmission scenarios by providing a stable and reliable multi-mode communication link for RTK positioning terminals. This effectively ensures rapid positioning of high-precision positioning terminals and meets the high-precision positioning requirements in complex electromagnetic compatibility environments in the power industry.

[0100] Please see Figure 7 In one embodiment, an RTK high-precision positioning device with a multi-mode communication link is also provided, comprising:

[0101] Initialization unit 10 is used to power on the multi-mode RTK communication positioning terminal and complete the initialization startup.

[0102] The communication link establishment unit 20 is used to establish a communication link with the ground-based augmentation system and upload its own relevant information to the ground-based augmentation system.

[0103] The GNSS signal receiving unit 30 is used to receive GNSS signals, obtain its own preliminary position information, and upload the position information to the ground-based augmentation system by adaptively selecting a communication link.

[0104] The high-precision positioning unit 40 is used to adaptively receive RTK error information sent by the ground-based augmentation system and calculate precise positioning information.

[0105] It is understood that the aforementioned RTK high-precision positioning device with a multi-mode communication link can implement the RTK high-precision positioning method with a multi-mode communication link described in the above method embodiments. The options in the above method embodiments are also applicable to this embodiment, and will not be detailed here. The remaining content of this application's embodiments can be referred to the content of the above method embodiments, and will not be repeated in this embodiment.

[0106] Please see Figure 8 One embodiment of this application provides a computer device, including:

[0107] One or more processors;

[0108] A memory, coupled to the processor, for storing one or more programs;

[0109] When the one or more programs are executed by the one or more processors, the one or more processors implement the RTK high-precision positioning method with multi-mode communication links as described above.

[0110] The processor controls the overall operation of the computer device to complete all or part of the steps of the aforementioned RTK high-precision positioning method with multi-mode communication links. The memory stores various types of data to support the operation of the computer device; this data may include, for example, instructions for any application or method operating on the computer device, as well as application-related data. The memory can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0111] In an exemplary embodiment, the computer device may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the RTK high-precision positioning method with multi-mode communication links as described in any of the foregoing embodiments, and achieve the same technical effects as the methods described above.

[0112] In another exemplary embodiment, a computer-readable storage medium including a computer program is also provided. When executed by a processor, the computer program implements the steps of the RTK high-precision positioning method with a multi-mode communication link as described in any of the foregoing embodiments. For example, the computer-readable storage medium may be the aforementioned memory including the computer program, which can be executed by a processor of a computer device to complete the RTK high-precision positioning method with a multi-mode communication link as described in any of the foregoing embodiments, and achieve the same technical effects as the methods described above.

[0113] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. An RTK high-precision positioning terminal with a multi-mode communication link, characterized in that, include: The GNSS receiver module is used to receive signals from multiple GNSS satellites, calculate the pseudorange between each satellite and the terminal, and calculate the latitude, longitude, and elevation information of the positioning terminal. The routing module is used to calculate the optimal communication link based on link status, communication bandwidth, communication latency and packet loss rate information; The communication module is used to transmit data based on the optimal communication link selected by the routing module. The communication module includes: The wireless public network communication module is used to access the operator's mobile public network through a wireless channel, send terminal location information and receive positioning error terms broadcast by the ground-based augmentation system; The satellite communication module is used to communicate with communication satellites and obtain high-precision positioning information; The fiber optic communication module is used to access the power wired data network through a fiber optic interface, so as to interact with the ground-based augmentation system through the internal power network and obtain high-precision positioning information. The wireless channel includes 4G or 5G channels; the communication satellites include maritime, Tiantong, and low-Earth orbit communication satellites; the power wired data network includes OPGW and IOPPC. The RTK calculation module is used to summarize the information from the GNSS receiving module and the communication module, and calculate high-precision positioning information by combining the positioning error term of the ground-based augmentation system with its own positioning information. The drone interaction module is used to transmit the high-precision positioning information to the drone so that the drone can perform high-precision inspection. The main control module is used to realize information interaction with all modules, and to complete data processing, command sending and receiving, and status acquisition.

2. A high-precision RTK positioning method with a multi-mode communication link, using the high-precision RTK positioning terminal with a multi-mode communication link as described in claim 1, characterized in that, include: Power on the multi-mode RTK communication positioning terminal and complete the initialization startup; Establish a communication link with the ground-based augmentation system and upload its own relevant information to the ground-based augmentation system; The establishment of the communication link with the ground-based augmentation system includes: The communication module establishes various communication links, including: The wireless public network communication module is used to access the wireless base station, complete the registration and activation on the operator's mobile network, and return the result to the main control module after the wireless public network communication link is established. The satellite communication module is used to access the satellite system, and after completing the link registration, the result is returned to the main control module. The system utilizes an optical fiber communication module to access the power wired data network, and returns the result to the main control module after the link access is completed; wherein, the power wired data network includes OPGW and IOPPC; Complete GNSS signal reception, obtain preliminary location information, and upload the location information to the ground-based augmentation system through adaptive selection of communication links; The step of uploading location information to the ground-based augmentation system by adaptively selecting a communication link includes: The GNSS receiver module completes the reception of GNSS signals to form its initial positioning. The routing module adaptively selects communication links based on the communication link status, communication bandwidth, communication latency and packet loss rate information fed back by each communication module, and feeds the results back to the main control module. The system uploads its own location information to the ground-based augmentation system via the communication link. It adaptively receives RTK error information from the ground-based augmentation system and calculates precise positioning information.

3. The RTK high-precision positioning method with multi-mode communication link according to claim 2, characterized in that, The adaptive reception of RTK error information from the ground-based augmentation system includes: By receiving RTK error information from the ground-based augmentation system through the communication link selected by the route, accurate self-positioning information is calculated. The communication module is used to collect various parameter information during communication, including LSUD, LSQ, BWR, Delay, and LossR information.

4. A high-precision RTK positioning device with a multi-mode communication link, characterized in that, include: The initialization unit is used to power on the multi-mode RTK communication positioning terminal and complete the initialization startup. The communication link establishment unit is used to establish a communication link with the ground-based augmentation system and upload its own relevant information to the ground-based augmentation system. The establishment of the communication link with the ground-based augmentation system includes: The communication module establishes various communication links, including: The wireless public network communication module is used to access the wireless base station, complete the registration and activation on the operator's mobile network, and return the result to the main control module after the wireless public network communication link is established. The satellite communication module is used to access the satellite system, and after completing the link registration, the result is returned to the main control module. The system utilizes an optical fiber communication module to access the power wired data network, and returns the result to the main control module after the link access is completed; wherein, the power wired data network includes OPGW and IOPPC; The GNSS signal receiving unit is used to receive GNSS signals, obtain its own preliminary position information, and upload the position information to the ground-based augmentation system by adaptively selecting a communication link. The step of uploading location information to the ground-based augmentation system by adaptively selecting a communication link includes: The GNSS receiver module completes the reception of GNSS signals to form its initial positioning. The routing module adaptively selects communication links based on the communication link status, communication bandwidth, communication latency and packet loss rate information fed back by each communication module, and feeds the results back to the main control module. The system uploads its own location information to the ground-based augmentation system via the communication link. The high-precision positioning unit is used to adaptively receive RTK error information sent by the ground-based augmentation system and calculate accurate positioning information.

5. A computer device, characterized in that, include: One or more processors; A memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the RTK high-precision positioning method with multi-mode communication links as described in any one of claims 2-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the RTK high-precision positioning method with multi-mode communication link as described in any one of claims 2-3.

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