A multi-link protection method and system for high-precision positioning data

Abstract

The present invention provides a multi-link protection method and system for high-precision positioning data, belonging to the technical field of measurement and positioning. The multi-link protection method for high-precision positioning data includes: a core platform receives reference observation data based on a satellite navigation system sent by a reference station, and receives mobile observation data based on the satellite navigation system sent by an edge transceiver platform; the core platform performs RTK calculation according to the reference observation data and the mobile observation data to obtain differential correction data, and sends the differential correction data to the edge transceiver platform; the edge transceiver platform sends the differential correction data to a mobile station and a link protection unit through a base station; the mobile station performs position calculation according to the mobile observation data and the received differential correction data to obtain high-precision positioning data of the mobile station. In the present invention, the mobile station can communicate with the edge transceiver platform through the link protection unit and the base station, realizing multi-link transmission and ensuring real-time data transmission.

Description

Technical Field

[0001] The present invention relates to the technical field of measurement and positioning, and particularly to a multi-link protection method and system for high-precision positioning data. Background Art

[0002] Existing high-precision positioning methods in ports generally rely on the Beidou / GPS satellite navigation system, utilize (Real-time kinematic, RTK) technology, use the carrier phase observations of satellites, and utilize the spatial correlation of observation errors between the reference station and the mobile station. Most of the errors in the mobile station's observation data are removed through differencing, thereby achieving high-precision positioning of the mobile station in the port.

[0003] However, the current high-precision positioning methods in ports have the following defects:

[0004] 1) When based on the large network service of the reference station, the data processing load of the core platform is large, the cost is high, and the differential correction data is easily interfered by various factors during long-distance transmission. For example, the mobile station is blocked by port facilities and equipment, resulting in poor data reception conditions or even the transmission path being cut off, thus leading to low positioning accuracy;

[0005] 2) When based on the service of an independent port single reference station, the reference station may not be able to cover the entire port area and does not have a disaster recovery and backup function;

[0006] 3) When based on the edge solution platform to provide high-precision positioning position solution function services, it places too high requirements on the solution ability and load of the platform server. If the edge solution platform fails, it will affect the high-precision positioning services in the entire port area or terminal. Moreover, the existing technology has insufficient security guarantee capabilities and does not have a disaster recovery and backup function, unable to meet the safety requirements of the port, etc. Summary of the Invention

[0007] In view of this, the present invention provides a multi-link protection method and system for high-precision positioning data, which is used to solve the problems of the data transmission path in the current high-precision positioning method in ports being easily interfered with or even cut off, untimely data transmission, and insufficient positioning accuracy.

[0008] To solve the above technical problems, in a first aspect, the present invention provides a multi-link protection method for high-precision positioning data, including:

[0009] The core platform receives the reference observation data based on the satellite navigation system sent by the reference station, and receives the mobile observation data based on the satellite navigation system sent by the edge transceiver platform. The mobile observation data sent by the edge transceiver platform is sent by the mobile station to the edge transceiver platform through the base station;

[0010] The core platform performs RTK solution based on the reference observation data and the mobile observation data to obtain differential correction data, and sends the differential correction data to the edge transceiver platform;

[0011] The edge transceiver platform sends the differential correction data to the mobile station and the link protection unit through the base station. The link protection unit can communicate with the mobile station through microwave communication, and the link protection unit is also communicatively connected to the edge transceiver platform through a dedicated line link;

[0012] The mobile station performs position solution based on the mobile observation data and the received differential correction data to obtain high-precision positioning data of the mobile station, and sends the high-precision positioning data to the link protection unit, and sends the high-precision positioning data to the management system and the edge transceiver platform through the base station.

[0013] Optionally, the method further includes:

[0014] If the mobile station has not received the differential correction data transmitted by the base station from the edge transceiver platform through the base station for more than a first preset duration since the last time it received the differential correction data, the mobile station sends a first request to the link protection unit through microwave communication;

[0015] After receiving the first request, the link protection unit sends the differential correction data to the mobile station through microwave communication. Among them, the link protection unit obtains the differential correction data through a wireless network connected to the base station, or the link protection unit receives the differential correction data sent by the edge transceiver platform through the dedicated line link.

[0016] Optionally, the method further includes:

[0017] If the mobile station cannot transmit the high-precision positioning data to the base station, the mobile station sends the high-precision positioning data to the link protection unit through microwave communication, and the link protection unit can send the high-precision positioning data to the edge transceiver platform through the dedicated line link.

[0018] Optionally, the method further includes:

[0019] If the management system has not received the high-precision positioning data transmitted by the mobile station through the base station for more than a second preset duration since the last time it received the high-precision positioning data, it sends a second request to the edge transceiver platform through the base station;

[0020] After receiving the second request, the edge transceiver platform sends the high-precision positioning data to the management system through the base station. Among them, the high-precision positioning data sent by the edge transceiver platform is sent to the edge transceiver platform by the link protection unit through a dedicated line link.

[0021] Optionally, the method further includes:

[0022] The edge transceiver platform stores and backs up the received high-precision positioning data and sends it to the core platform.

[0023] In a second aspect, the present invention further provides a multi-link protection system for high-precision positioning data, including a core platform, an edge transceiver platform, a mobile station, a reference station, a management system, and a link protection unit, where:

[0024] The core platform is used to receive the reference observation data based on the satellite navigation system sent by the reference station, and receive the mobile observation data based on the satellite navigation system sent by the edge transceiver platform. The mobile observation data sent by the edge transceiver platform is sent to the edge transceiver platform by the mobile station through the base station;

[0025] The core platform performs RTK calculation based on the reference observation data and the mobile observation data to obtain differential correction data, and sends the differential correction data to the edge transceiver platform;

[0026] The edge transceiver platform sends the differential correction data to the mobile station and the link protection unit through the base station. The link protection unit can communicate with the mobile station through microwave communication, and the link protection unit is also communicatively connected to the edge transceiver platform through a dedicated line link;

[0027] The mobile station performs position calculation based on the mobile observation data and the received differential correction data to obtain the high-precision positioning data of the mobile station, and sends the high-precision positioning data to the link protection unit, and sends the high-precision positioning data to the management system and the edge transceiver platform through the base station.

[0028] Optionally, the mobile station is further configured to send a first request to the link protection unit through microwave communication when the mobile station has not received the differential correction data transmitted by the base station for more than a first preset duration since the last time it received the differential correction data transmitted by the edge transceiver platform through the base station;

[0029] The link protection unit is further configured to, after receiving the first request, send differential correction data to the mobile station through microwave communication. The link protection unit obtains differential correction data through a wireless network connected to the base station, or the link protection unit receives differential correction data sent by the edge transceiver platform through the dedicated link.

[0030] Optionally, the mobile station is further configured to, when the mobile station is unable to transmit the high-precision positioning data to the base station, send the high-precision positioning data to the link protection unit through microwave communication, and the link protection unit can send the high-precision positioning data to the edge transceiver platform through the dedicated link.

[0031] Optionally, the management system is further configured to, when the management system has not received high-precision positioning data transmitted by the base station for more than a second preset duration since the last time it received high-precision positioning data transmitted by the mobile station through the base station, send a second request to the edge transceiver platform through the base station;

[0032] The edge transceiver platform is further configured to, after receiving the second request, send high-precision positioning data to the management system through the base station, where the high-precision positioning data sent by the edge transceiver platform is the high-precision positioning data sent by the link protection unit to the edge transceiver platform through the dedicated link.

[0033] Optionally, the edge transceiver platform is further configured to store and back up the received high-precision positioning data and send it to the core platform.

[0034] In a third aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in any of the above high-precision positioning data multi-link protection methods are implemented.

[0035] The beneficial effects of the above technical solutions of the present invention are as follows:

[0036] In the embodiments of the present invention, by adding a link protection unit between the edge transceiver platform and the mobile station, when the mobile station is unable to communicate with the base station due to environmental factors, communication with the edge transceiver platform can be achieved through the link protection unit, realizing multi-link transmission and ensuring real-time data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic flowchart of a high-precision positioning data multi-link protection method provided in Embodiment 1 of the present invention;

[0038] Figure 2 It is a schematic structural diagram of a high-precision positioning data multi-link protection system provided in Embodiment 2 of the present invention;

[0039] Figure 3 This is a schematic structural diagram of the multi-link protection system for high-precision positioning data applied to ports provided in the second embodiment of the present invention. Specific implementation manners

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention fall within the scope of protection of the present invention.

[0041] Please refer to Figure 1 , Figure 1 This is a schematic flowchart of a method for multi-link protection of high-precision positioning data provided in the first embodiment of the present invention. The method includes the following steps:

[0042] Step 11: The core platform receives the reference observation data based on the satellite navigation system sent by the reference station, and receives the mobile observation data based on the satellite navigation system sent by the edge transceiver platform. The mobile observation data sent by the edge transceiver platform is sent by the mobile station to the edge transceiver platform through the base station.

[0043] Among them, the so-called reference station, that is, the CORS reference station, or also known as the Continuously Operating Reference Stations (CORS). The reference station includes a high-precision geodetic receiver, a choke ring antenna, an uninterruptible power supply (UPS), etc., and is used for the acquisition, tracking, collection, and transmission of navigation satellite signals, as well as the integrity monitoring of equipment data. The reference station can obtain the reference observation data based on the satellite navigation system. The so-called mobile station, that is, a movable object. In the embodiments of the present invention, high-precision positioning is performed on this movable object. The mobile station can obtain navigation satellite signals in real time and obtain the mobile observation data based on the satellite navigation system.

[0044] In the embodiments of the present invention, optionally, the satellite navigation system may be a passive navigation satellite system, a GPS navigation satellite system, a GLONASS navigation satellite system, a Galileo navigation satellite system, etc.

[0045] In the embodiments of the present invention, optionally, the mobile station may be a port container truck, a transportation vehicle within an (industrial) park, etc. That is, the applicable scenarios of the embodiments of the present invention may be scenarios such as ports and industrial parks that require high-precision positioning; in addition, in addition to scenarios with high-precision positioning requirements, due to interference, blockage, and attenuation of signals / data during transmission, resulting in poor or unacceptable signal quality of the original path transmission, it is also applicable to the embodiments of the present invention.

[0046] In the embodiments of the present invention, optionally, the base station may be a communication base station such as a 4G base station or a 5G base station.

[0047] In the embodiments of the present invention, optionally, since the position of the reference station is usually fixed, a stable communication connection can be established between the reference station and the core platform, such as by means of wired communication. Thus, the reference station can transmit the reference observation data to the core platform in real time.

[0048] In the embodiments of the present invention, since the position of the mobile station usually changes, in order to ensure the stability of the communication between the core platform and the mobile station, the mobile station can first establish a communication connection with the corresponding edge transceiver platform through a nearby base station. The edge transceiver platform can correspond to a jurisdiction area, that is, the mobile station can establish a communication connection with the edge transceiver platform through any base station located within the jurisdiction area, and the edge transceiver platform is connected to the core platform, thereby improving the data transmission efficiency between the mobile station and the core platform, reducing the delay, and at the same time reducing various interference problems caused by long-distance transmission during the transmission process.

[0049] Taking the application of the embodiments of the present invention to the high-precision positioning of port container trucks as an example, in a complete port architecture, a port usually consists of several port areas, and each port area has multiple wharves and berths. These port areas, wharves, and berths may not even be in the same city. Multiple edge transceiver platforms can be set up, and each edge transceiver platform is responsible for managing a certain area (such as a port area), and the reference stations are distributed within each area. Of course, the number of core platforms connected to the edge transceiver platform can also be set according to requirements. If a single core platform cannot handle the data processing of the entire port, multiple core platforms can be set up to process data in different areas.

[0050] In the embodiments of the present invention, optionally, a communication connection can be established between the core platform and the edge transceiver platform by means of wired connection or the like.

[0051] In the embodiments of the present invention, optionally, the edge transceiver platform is implemented by a computer and software to perform functions such as data transceiver management, differential information encoding, forming a differential information queue, storing and backing up differential correction data and high-precision positioning data.

[0052] Step 12: The core platform performs RTK calculation based on the reference observation data and the mobile observation data to obtain differential correction data, and sends the differential correction data to the edge transceiver platform;

[0053] In an embodiment of the present invention, optionally, the core platform is mainly used to implement RTK calculation of reference station observation data, platform gateway and protocol adaptation, system management and maintenance, service generation and user management, etc. Therefore, the core platform can perform RTK calculation based on the received reference observation data and the mobile observation data to obtain differential correction data. By processing the reference observation data and the mobile observation data through the core platform, the requirement for the computing power of the edge transceiver platform can be reduced. After obtaining the differential correction data, the core platform then sends the differential correction data to the edge transceiver platform, and the edge transceiver platform sends it to the mobile station.

[0054] Step 13: The edge transceiver platform sends the differential correction data to the mobile station and the link protection unit through the base station. The link protection unit can communicate with the mobile station through microwave communication, and the link protection unit is also communicatively connected to the edge transceiver platform through a dedicated line link.

[0055] In this step, after receiving the differential correction data distributed by the core platform, the edge transceiver platform sends it to the mobile station and the link protection unit through the base station. Among them, the link protection unit can communicate with the mobile station through microwave communication, that is, in the case where the connection between the mobile station and the base station is interrupted, the link protection unit can still establish communication with the mobile station through microwave communication. And the link protection unit is also communicatively connected to the edge transceiver platform through a dedicated line link, so the edge transceiver platform can send the differential correction data to the link protection unit through the base station or through the dedicated line link. Thus, even if the mobile station is blocked by facilities such as quay cranes, yard cranes, containers, signal towers, etc. and cannot establish a connection with the base station during movement, the mobile station can still obtain differential correction data from the link protection unit through microwave communication to achieve high-precision positioning of itself. That is, in addition to the link of edge transceiver platform - base station - mobile station for the transmission path of the differential correction data, there can also be a link of edge transceiver platform - link protection unit - mobile station, thereby ensuring real-time data transmission and ensuring high-precision positioning.

[0056] In an embodiment of the present invention, optionally, when the base station and the mobile station can communicate normally, the mobile station does not need to communicate with the link protection unit through microwave communication, and the mobile station communicates with the edge transceiver platform through the base station at this time.

[0057] In an embodiment of the present invention, optionally, the link protection unit can obtain the base station communication permission and differential correction data in real time through a CPE (Customer Premise Equipment).

[0058] Step 14: The mobile station performs position calculation based on the mobile observation data and the received differential correction data to obtain high-precision positioning data of the mobile station, and sends the high-precision positioning data to the link protection unit, and sends the high-precision positioning data to the management system and the edge transceiver platform through the base station.

[0059] In an embodiment of the present invention, after receiving the differential correction data, the mobile station can perform position calculation in combination with its own mobile observation data to obtain high-precision positioning data, so as to achieve high-precision positioning of the mobile station. After that, the mobile station can send the high-precision positioning data to the management system and the edge transceiver platform through the base station, and the mobile station can also send the high-precision positioning data to the link protection unit through microwave communication. Thus, even if the mobile station is blocked by facilities such as quay cranes, yard cranes, containers, signal towers, etc. and cannot establish a connection with the base station during the moving state, the mobile station can still send high-precision positioning data to the link protection unit through microwave communication, so that the link protection unit returns the high-precision positioning data to the edge transceiver platform. That is to say, in addition to the link of mobile station - base station - edge transceiver platform, the transmission path of high-precision positioning data can also ensure data transmission through the link of mobile station - link protection unit - edge transceiver platform, ensuring that the edge transceiver platform, the core platform, the management system, etc. can obtain the position information of the mobile station in real time, so as to achieve precise management of the mobile station.

[0060] It should be noted that if the mobile station cannot send the high-precision positioning data to the management system through the base station, the edge transceiver platform can also send it to the management system after receiving the high-precision positioning data.

[0061] In an embodiment of the present invention, the so-called management system can be used to manage each mobile station; taking the application of the embodiment of the present invention in a port scenario as an example, the management system can be a TOS system (Terminal Operation System), that is, a terminal operation system. This system integrates intelligent gate technologies such as container number identification, RFID, and container damage identification, which can effectively help terminal operation management personnel perform operation management and cooperation with customers, improve terminal operation capabilities and efficiency, and reduce operation costs. That is to say, the management system obtains the high-precision positioning of all mobile stations in the jurisdiction to precisely manage each mobile station, so as to achieve the purpose of improving operation efficiency and reducing operation costs.

[0062] Therefore, in the high-precision positioning data multi-link protection method provided by the embodiments of the present invention, by adding a link protection unit between the edge transceiver platform and the mobile station, when the mobile station cannot communicate with the base station due to environmental factors, it can communicate with the edge transceiver platform through the link protection unit, realizing multi-link transmission and ensuring real-time data transmission.

[0063] The following is an example to illustrate the above high-precision positioning data multi-link protection method.

[0064] In one optional specific implementation manner, the method further includes:

[0065] If the mobile station has not received the differential correction data transmitted by the base station from the moment when it last received the differential correction data transmitted by the edge transceiver platform through the base station and the time exceeds a first preset duration, the mobile station sends a first request to the link protection unit via microwave communication;

[0066] After receiving the first request, the link protection unit sends the differential correction data to the mobile station via microwave communication, where the link protection unit obtains the differential correction data through a wireless network connected to the base station, or the link protection unit receives the differential correction data sent by the edge transceiver platform through the dedicated line link.

[0067] In the embodiments of the present invention, in the above step 13, if the mobile station cannot receive the differential correction data transmitted by the edge transceiver platform through the base station, or rather, the edge transceiver platform cannot transmit the differential correction data to the mobile station through the base station, the differential correction data can be transmitted to the mobile station through the link protection unit to ensure that the mobile station can achieve real-time positioning.

[0068] Among them, the reason why the mobile station cannot receive the differential correction data transmitted by the edge transceiver platform through the base station can be that the mobile station is blocked by heavy machinery (such as quay cranes, yard cranes, etc.) and containers, etc. Since the mobile station is usually in an operating state, the mobile station only loses the communication connection with the base station temporarily. Therefore, a first preset duration can be set. If the mobile station has not received the differential correction data transmitted by the base station from the moment when it last received the differential correction data transmitted by the edge transceiver platform through the base station and the time exceeds the first preset duration, the mobile station sends a first request to the link protection unit via microwave communication. This first request is used to request the differential correction data, and then the link protection unit, after receiving this first request, will respond to the first request and transmit the differential correction data to the mobile station via microwave communication. The differential correction data sent by the link protection unit can be obtained from the edge transceiver platform through the dedicated line link, or obtained from the base station through the wireless network connected to the base station.

[0069] In an embodiment of the present invention, optionally, the first preset duration Δt satisfies the following conditions:

[0070] τ < Δt ≤ μ·τ;

[0071] where τ represents the time interval for the edge transceiver platform to send differential correction data, and μ is a multiple factor.

[0072] In the common local pseudorange differential positioning process, the spatial correlation and time correlation of the SA signal s(t) will affect the accuracy of DBDS / DGPS / RTK technologies. The positioning errors caused by local differential within a certain range and spatial correlation can be ignored, while the time correlation causes the user pseudorange residual to increase significantly as the update period of the differential correction number extends. Therefore, an upper limit value μ·τ needs to be set to ensure that the setting of Δt will not affect the accuracy obtained by solving pseudorange differential positioning or carrier phase differential positioning.

[0073] Thus, exemplarily, the first preset duration Δt can be set to a value that satisfies the above formula conditions and can ensure the service fluency in high-precision positioning services in the port area without affecting the position solution accuracy according to different port areas and terminal business requirements.

[0074] In an embodiment of the present invention, optionally, a fault judgment program can also be provided inside the link protection unit. For example, when a wired interface reports an error or real-time differential correction data is not received within a certain duration Δt', the link protection unit enables the CPE interface function to obtain differential correction data from the base station through the wireless network, ensuring the protection effect of the link protection unit on the high-precision positioning service process in the port. Among them, the relevant parameter Δt' of the fault determination mechanism in the link protection unit can also be set in cooperation according to the setting method of the above first preset duration Δt.

[0075] In some embodiments of the present invention, the method further includes:

[0076] If the mobile station cannot transmit the high-precision positioning data to the base station, the mobile station sends the high-precision positioning data to the link protection unit through microwave communication, and the link protection unit can send the high-precision positioning data to the edge transceiver platform through the dedicated line link.

[0077] In an embodiment of the present invention, in step 14 above, if the mobile station is unable to transmit the generated high-precision positioning data to the base station, and then the base station sends it to the edge transceiver platform and the management system, the mobile station can send the high-precision positioning data to the link protection unit by means of microwave communication. Since the link protection unit is connected to the edge transceiver platform by a dedicated line, the link protection unit can send the received high-precision positioning data to the edge transceiver platform, and the edge transceiver platform can also send the high-precision positioning data to the management system to ensure the tracking and management of the mobile station by the management system.

[0078] Among them, the reason why the mobile station is unable to send the high-precision positioning data to the base station may be that the mobile station is blocked by heavy machinery (such as quay cranes, yard cranes, etc.) and containers.

[0079] In some other embodiments of the present application, the method further includes:

[0080] If the management system has not received the high-precision positioning data transmitted by the base station from the mobile station for more than a second preset duration since the last time it received the high-precision positioning data transmitted by the mobile station through the base station, a second request is sent to the edge transceiver platform through the base station;

[0081] After receiving the second request, the edge transceiver platform sends the high-precision positioning data to the management system through the base station, where the high-precision positioning data sent by the edge transceiver platform is sent by the link protection unit to the edge transceiver platform through a dedicated line.

[0082] In an embodiment of the present invention, in step 14 above, if the mobile station is unable to transmit the high-precision positioning data to the management system through the base station, or in other words, the management system is unable to receive the high-precision positioning data transmitted by the mobile station through the base station, the high-precision positioning data can be transmitted to the management system through the edge transceiver platform to ensure that the management system can perform positioning management on the mobile station.

[0083] Among them, since the mobile station is usually in an operating state, the mobile station only loses communication connection with the base station transiently. Therefore, a second preset duration can be set. If the management system has not received the high-precision positioning data transmitted by the base station from the mobile station for more than a second preset duration since the last time it received the high-precision positioning data transmitted by the mobile station through the base station, the management system can send a second request to the edge transceiver platform through the base station. This second request is used to request the high-precision positioning data. After receiving this second request, the edge transceiver platform will respond to the second request and transmit the high-precision positioning data to the management system through the base station, and the high-precision positioning data sent by the edge transceiver platform can be obtained from the link protection unit through a dedicated line.

[0084] In an embodiment of the present invention, optionally, the second preset duration can also be set in accordance with the setting method of the above-mentioned first preset duration Δt.

[0085] In some embodiments of the present invention, the method further includes:

[0086] The edge transceiver platform stores and backs up the received high-precision positioning data and sends it to the core platform.

[0087] Among them, after the edge transceiver platform receives the high-precision positioning data of the mobile station within the corresponding jurisdiction, it will store and back up it and send it to the core platform for management, which is convenient for unified query and decision-making, and can also ensure the security of high-precision positioning data in port areas and the like.

[0088] In an embodiment of the present invention, optionally, the link protection unit is deployed at some key nodes in the port environment, such as near the tracks of mobile heavy machinery (such as quay cranes, yard cranes, etc.) or near the container yard where containers are stacked densely. The link protection unit is connected to the edge transceiver platform through a dedicated line link to obtain the differential correction data information queue generated by the edge transceiver platform in real time, or send high-precision positioning data to the edge transceiver platform.

[0089] In an embodiment of the present invention, by adopting the scheme of deploying the link protection unit, when the mobile station encounters the occlusion of heavy machinery or dense containers, it can switch the mobile communication data link to the microwave communication data link, thereby achieving the technical effect of seamless switching of the high-precision positioning data transmission link; by adopting the scheme of setting the first preset duration in the mobile station, the technical effect of achieving both no impact on the position solution accuracy and ensuring the service fluency in the high-precision positioning service in the port area is achieved; at the same time, the relevant duration in the fault determination mechanism in the link protection unit and the second preset duration of the management system are also set in a supporting manner to achieve such a technical effect; by adopting the scheme of setting a wired link fault detection mechanism and an external CPE in the link protection unit, when a low-probability event of a wired link fault of the link protection unit occurs, it does not affect the protection of the high-precision positioning data transmission link caused by a high-probability event that the port mobile station encounters the occlusion of heavy machinery or dense containers, thereby achieving the technical effect of multi-link protection; by adopting the scheme of equipping a single port group with one or more port area core platforms for RTK solution, the technical effect of sending differential correction data nearby is achieved, reducing the degree or probability of interference and faults encountered by the differential correction data during long-distance transmission; by adopting the scheme of equipping a single port group with one or more port area core platforms for RTK solution, the technical effect of enabling the port group to uniformly store and manage the high-precision positions of all port areas and terminal mobile stations under its jurisdiction, which is convenient for handling issues such as problem analysis, benefit statistics, and decision-making involved in the digital transformation process, is achieved.

[0090] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a multi-link protection system for high-precision positioning data provided in the second embodiment of the present invention. The system includes a core platform 21, an edge transceiver platform 22, a mobile station 23, a reference station 24, a management system 25, and a link protection unit 26, where:

[0091] The core platform 21 is used to receive the reference observation data based on the satellite navigation system sent by the reference station 24, and receive the mobile observation data based on the satellite navigation system sent by the edge transceiver platform 22. The mobile observation data sent by the edge transceiver platform 22 is sent by the mobile station 23 to the edge transceiver platform 22 through the base station;

[0092] The core platform 21 performs RTK calculation according to the reference observation data and the mobile observation data to obtain differential correction data, and sends the differential correction data to the edge transceiver platform 22;

[0093] The edge transceiver platform 22 sends the differential correction data to the mobile station 23 and the link protection unit 26 through the base station. The link protection unit 26 can communicate with the mobile station 23 through microwave communication, and the link protection unit 26 is also communicatively connected to the edge transceiver platform 22 through a dedicated line link;

[0094] The mobile station 23 performs position calculation according to the mobile observation data and the received differential correction data to obtain the high-precision positioning data of the mobile station 23, and sends the high-precision positioning data to the link protection unit 26, and sends the high-precision positioning data to the management system 25 and the edge transceiver platform 22 through the base station.

[0095] In the embodiment of the present invention, optionally, the mobile station 23 is further configured to send a first request to the link protection unit 26 through microwave communication when the mobile station 23 has not received the differential correction data transmitted by the base station through the base station for more than a first preset duration since the last time the mobile station 23 received the differential correction data transmitted by the edge transceiver platform 22 through the base station;

[0096] The link protection unit 26 is further configured to send the differential correction data to the mobile station 23 through microwave communication after receiving the first request, where the link protection unit 26 obtains the differential correction data through a wireless network connected to the base station, or the link protection unit 26 receives the differential correction data sent by the edge transceiver platform 22 through the dedicated line link.

[0097] In an embodiment of the present invention, optionally, the mobile station 23 is further configured to, when the mobile station 23 is unable to transmit the high-precision positioning data to the base station, send the high-precision positioning data to the link protection unit 26 via microwave communication, and the link protection unit 26 may send the high-precision positioning data to the edge transceiver platform 22 via the dedicated line link.

[0098] In an embodiment of the present invention, optionally, the management system 25 is further configured to, when the management system 25 has not received the high-precision positioning data transmitted by the base station for more than a second preset duration since the last time it received the high-precision positioning data transmitted by the mobile station 23 via the base station, send a second request to the edge transceiver platform 22 via the base station;

[0099] The edge transceiver platform 22 is further configured to, after receiving the second request, send the high-precision positioning data to the management system 25 via the base station, where the high-precision positioning data sent by the edge transceiver platform 22 is the high-precision positioning data sent by the link protection unit 26 to the edge transceiver platform 22 via the dedicated line link.

[0100] In an embodiment of the present invention, optionally, the edge transceiver platform 22 is further configured to store and back up the received high-precision positioning data and send it to the core platform 21.

[0101] The embodiment of the present invention is a product embodiment corresponding to the first method embodiment above. For details, please refer to the first embodiment above.

[0102] Taking the application in a port as an example, the above high-precision positioning data multi-link protection system will be described below.

[0103] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of the high-precision positioning data multi-link protection system applied to a port provided in the second embodiment of the present invention. As Figure 3As shown in the figure, the multi-link protection system for high-precision positioning data applied to ports in the embodiments of the present invention includes a port core platform, an edge transceiver platform, a CORS reference station, a mobile station, a port TOS system, and a link protection unit. Among them, the CORS reference station includes a geodetic receiver, an observation data transmission module, a diameter suppression antenna, and an uninterruptible power supply. The port core platform includes a position information management module, a data transceiver management module, an RKT settlement module, etc., which can implement functions such as service generation, user management, system maintenance, and protocol adaptation. The edge transceiver platform includes a mobile communication device, a power supply device, a network device, and a backup device. The link protection unit includes a CPE, and the mobile station includes a high-precision positioning terminal, a microwave data transceiver module, a mobile data transceiver module, a real-time tracking module, an external antenna, a position calculation module, a timer, a storage chip, etc. The working principle of the multi-link protection system for high-precision positioning data applied to ports is as follows:

[0104] Step 31: The Beidou / GPS global navigation satellite system distributes satellite navigation system data to the geodetic receiver of the CORS reference station and the real-time tracking module of the high-precision positioning terminal respectively;

[0105] Step 32: The CORS reference station forms original reference observation data by storing and packing the observed Beidou / GPS satellite navigation system data, and sends it to the data transceiver management module of the port core platform;

[0106] Step 33: The high-precision positioning terminal obtains Beidou / GPS satellite navigation system data through the real-time tracking module, and wirelessly sends the satellite navigation data observed by the mobile station to the 5G base station;

[0107] Step 34: The port core platform stores and classifies the reference-side satellite navigation data observed from the CORS reference station;

[0108] Step 35: The 5G base station sends the original mobile station satellite navigation observation data received from the high-precision positioning terminal device to the corresponding edge transceiver platform;

[0109] Step 36: The edge transceiver platform sends the original mobile station satellite navigation observation data observed from the high-precision positioning terminal device to the port core platform through the mobile communication device.

[0110] Step 37: The port core platform combines the reference-side satellite navigation observation data with the original mobile station satellite navigation observation data, performs RTK calculation for different grids to form corresponding differential correction data, and sends this data to the corresponding edge transceiver platform;

[0111] Step 38: The edge transceiver station stores and manages the differential correction data received from the port area core platform, encodes the differential information, forms a differential information queue, and transmits it to the 5G base station in real time via wireless means using its mobile communication device;

[0112] Step 39: The mobile data transceiver module of the high-precision positioning terminal device receives the differential correction data transmitted wirelessly by the 5G base station from the edge transceiver platform, and uses its own position calculation module to perform position calculation in combination with the mobile station satellite navigation data observed by itself to form high-precision positioning data;

[0113] Step 310: The high-precision positioning terminal device transmits the high-precision positioning data formed by its own calculation to the 5G base station wirelessly through the mobile data transceiver module;

[0114] Step 311: The 5G base station transmits the high-precision positioning data calculated by the high-precision positioning terminal device to the port TOS system wirelessly to meet the high-precision positioning service requirements of users in the port area and the terminal;

[0115] Step 312: The 5G base station transmits the high-precision positioning data calculated by the high-precision positioning terminal device to the edge transceiver platform wirelessly, and the edge transceiver platform then transmits the data back to the port area core platform for cloud management in the port area, which is convenient for unified query and decision-making, and can also ensure the security of high-precision positioning data in the port area.

[0116] In some alternative embodiments, in Step 39, if the environment where the high-precision positioning terminal device is located in the port is blocked by heavy machinery (such as quay cranes, yard cranes, etc.) and containers, resulting in the inability to receive the differential correction data transmitted from the 5G base station, when the high-precision positioning terminal does not receive the differential correction data within the elapsed time Δt, a request is sent to the link protection unit through the microwave data transceiver module. After receiving the request, the link protection unit transmits the differential correction data information to the microwave data transceiver module of the high-precision positioning terminal via wireless transmission using microwaves for its high-precision position calculation. Here, Δt is the timer time interval set inside the high-precision positioning terminal, used to determine whether the time interval for receiving the differential correction data exceeds a predetermined value. Whenever the high-precision positioning terminal receives the differential correction data, the timer time is cleared and starts counting again. When the timer time exceeds Δt, the terminal determines that the reception of the differential correction data fails and starts the work of the link protection system in the above manner. Generally, Δt satisfies: τ < Δt ≤ μ·τ to ensure that the setting of Δt does not affect the accuracy obtained by solving pseudo-range differential positioning or carrier-phase differential positioning.

[0117] Furthermore, a fault judgment program is provided inside the link protection unit, which can be reflected in forms such as a wired interface reporting an error or not receiving real-time differential correction data within a fixed time Δt'. When this occurs, the link protection unit enables the CPE interface function and obtains differential correction data wirelessly through the 5G network, ensuring the protection effect of the link protection unit on the high-precision positioning service process of the port. Among them, the relevant parameter Δt' of the fault determination mechanism in the link protection unit can also be set in the same way as the timer time interval of the above-mentioned set Δt.

[0118] In some alternative embodiments, in step 310, when the high-precision positioning data formed by the self-solution of the high-precision positioning terminal device cannot be transmitted wirelessly to the 5G base station through the mobile data transceiver module due to situations such as being blocked by heavy machinery (such as quay cranes, yard cranes, etc.) and containers, the high-precision positioning terminal will directly communicate with the link protection unit through the microwave data transceiver module and transmit the high-precision positioning data to the link protection unit.

[0119] In some alternative embodiments, in step 311, when the port TOS system cannot receive the high-precision positioning data generated by the high-precision positioning terminal through the 5G base station, after a period of time Δt", the high-precision positioning data in the TOS system has not been updated. The TOS system can send a request to the edge transceiver platform through the 5G base station. Due to the existence of the link protection unit, the high-precision positioning data can be stored and backed up briefly in the edge transceiver platform in real time and continuously. Therefore, when receiving the data interruption recovery request from the TOS system, the edge transceiver platform can send the high-precision positioning data to the port TOS system wirelessly through the 5G base station, ensuring that the port business is not interrupted. Among them, Δt" is the data interruption protection time interval of the port TOS platform, and its setting method can also be set in the same way as the timer time interval of the above-mentioned set Δt.

[0120] In summary, in the embodiments of the present invention, by adding a link protection unit between the edge transceiver platform and the mobile station, when the mobile station cannot communicate with the base station due to environmental factors, communication with the edge transceiver platform can be achieved through the link protection unit, realizing multi-link transmission and ensuring real-time data transmission.

[0121] Embodiment 3 of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps in any one of the high-precision positioning data multi-link protection methods in Embodiment 1 above. For details, please refer to the description of the method steps in the corresponding embodiments above.

[0122] The above computer-readable storage medium includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0123] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A multi-link protection method for high-precision positioning data, characterized in that Including: The core platform receives the reference observation data based on the satellite navigation system sent by the reference station, and receives the mobile observation data based on the satellite navigation system sent by the edge transceiver platform. The mobile observation data sent by the edge transceiver platform is sent by the mobile station to the edge transceiver platform through the base station; The core platform performs RTK calculation according to the reference observation data and the mobile observation data to obtain differential correction data, and sends the differential correction data to the edge transceiver platform; The edge transceiver platform sends the differential correction data to the mobile station and the link protection unit through the base station. The link protection unit can communicate with the mobile station through microwave communication and communicate with the edge transceiver platform through a dedicated line link when the connection between the mobile station and the base station is interrupted; The mobile station performs position calculation according to the mobile observation data and the received differential correction data to obtain the high-precision positioning data of the mobile station, and sends the high-precision positioning data to the link protection unit, and sends the high-precision positioning data to the management system and the edge transceiver platform through the base station.

2. The method according to claim 1, characterized in that, The method further includes: If the mobile station has not received the differential correction data transmitted by the base station for more than a first preset duration since the last time it received the differential correction data transmitted by the edge transceiver platform through the base station, the mobile station sends a first request to the link protection unit through microwave communication; After receiving the first request, the link protection unit sends the differential correction data to the mobile station through microwave communication. Among them, the link protection unit obtains the differential correction data through the wireless network connected to the base station, or the link protection unit receives the differential correction data sent by the edge transceiver platform through the dedicated line link.

3. The method according to claim 1, wherein The method further includes: If the mobile station cannot transmit the high-precision positioning data to the base station, the mobile station sends the high-precision positioning data to the link protection unit through microwave communication, and the link protection unit can send the high-precision positioning data to the edge transceiver platform through the dedicated line link.

4. The method according to claim 3, characterized in that, The method further includes: If the management system has not received the high-precision positioning data transmitted by the base station for more than a second preset duration since the last time it received the high-precision positioning data transmitted by the mobile station through the base station, it sends a second request to the edge transceiver platform through the base station; After receiving the second request, the edge transceiver platform sends the high-precision positioning data to the management system through the base station. Among them, the high-precision positioning data sent by the edge transceiver platform is sent by the link protection unit to the edge transceiver platform through the dedicated line link.

5. The method according to claim 1, characterized in that, The method further includes: The edge transceiver platform stores and backs up the received high-precision positioning data and sends it to the core platform.

6. A multi-link protection system for high-precision positioning data, characterized in that, Including a core platform, an edge transceiver platform, a mobile station, a reference station, a management system, and a link protection unit, where: The core platform is used to receive the reference observation data based on the satellite navigation system sent by the reference station, and receive the mobile observation data based on the satellite navigation system sent by the edge transceiver platform. The mobile observation data sent by the edge transceiver platform is sent by the mobile station to the edge transceiver platform through the base station. The core platform performs RTK calculation based on the reference observation data and the mobile observation data to obtain differential correction data, and sends the differential correction data to the edge transceiver platform. The edge transceiver platform sends the differential correction data to the mobile station and the link protection unit through the base station. The link protection unit can communicate with the mobile station through microwave communication when the connection between the mobile station and the base station is interrupted, and is communicatively connected to the edge transceiver platform through a dedicated line link. The mobile station performs position calculation based on the mobile observation data and the received differential correction data to obtain the high-precision positioning data of the mobile station, and sends the high-precision positioning data to the link protection unit, and sends the high-precision positioning data to the management system and the edge transceiver platform through the base station.

7. The system according to claim 6, characterized in that, The mobile station is also used to send a first request to the link protection unit through microwave communication when the mobile station has not received the differential correction data transmitted by the base station for more than a first preset duration since the last time it received the differential correction data transmitted by the edge transceiver platform through the base station. The link protection unit is also used to send the differential correction data to the mobile station through microwave communication after receiving the first request. Among them, the link protection unit obtains the differential correction data through the wireless network connected to the base station, or the link protection unit receives the differential correction data sent by the edge transceiver platform through the dedicated line link.

8. The system according to claim 6, characterized in that, The mobile station is also used to send the high-precision positioning data to the link protection unit through microwave communication when the mobile station cannot transmit the high-precision positioning data to the base station. The link protection unit can send the high-precision positioning data to the edge transceiver platform through the dedicated line link.

9. The system according to claim 8, wherein The management system is also used to send a second request to the edge transceiver platform through the base station when the management system has not received the high-precision positioning data transmitted by the base station for more than a second preset duration since the last time it received the high-precision positioning data transmitted by the mobile station through the base station. The edge transceiver platform is also used to send the high-precision positioning data to the management system through the base station after receiving the second request. The high-precision positioning data sent by the edge transceiver platform is sent by the link protection unit to the edge transceiver platform through the dedicated line link.

10. The system according to claim 6, characterized in that The edge transceiver platform is also used to store and back up the received high-precision positioning data and send it to the core platform.

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