RTK service method, device and electronic equipment

Abstract

The application provides an RTK service method, and relates to the technical field of communication.The method comprises the following steps: obtaining the position relationship between a target user and a pre-constructed networking; wherein the networking comprises at least one triangular network, each triangular network comprises three reference stations which are connected in communication, and the position relationship is used for indicating whether the target user is located in the range covered by the networking; when the position relationship is that the target user is located in the range covered by the networking, determining that the target reference station for broadcasting the differential service for the target user is the reference station of the first triangular network, and the first triangular network covers the position where the target user is located; or when the position relationship is that the target user is located out of the range covered by the networking, determining that the target reference station for broadcasting for the target user is the first reference station, and the first reference station is the reference station which is closest to the target user in the networking.The scheme of the application adopts different reference stations to broadcast the differential service according to different conditions, so that the effect of increasing the RTK service coverage range is achieved.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to an RTK service method, apparatus, and electronic device. Background Technology

[0002] In existing technologies, phase differential positioning, a research hotspot for real-time Global Positioning System (GPS) positioning applications, is a type of differential GPS technology, which can be basically divided into two types: wide-area differential GPS and local differential GPS. Single-base station CORS (Continuously Operating Reference System) and network CORS are two widely used forms of local and wide-area differential technologies, respectively. RTK (Real-time kinematic) is one of the main application methods of both systems in production and daily life. CORS established using multi-base station network RTK technology has become one of the development hotspots for urban GNSS (Global Navigation Satellite System) applications.

[0003] The existing technology has the following problems: 1) It either uses a single base station or a network of multiple base stations, and there is no combination of the two methods; 2) For the network of multiple base stations, if one of the triangular networks fails, the area it covers will not have any service, and there is also no service coverage for the network boundary area and the area around the single base station that is not part of the network. Summary of the Invention

[0004] The purpose of this invention is to provide an RTK service method, apparatus, and electronic device to solve the problem of the singleness of target user broadcast differential services in the prior art.

[0005] To achieve the above objectives, embodiments of the present invention provide an RTK service method, comprising:

[0006] Obtain the location relationship between the target user and a pre-built network; wherein the network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the network;

[0007] When the location relationship indicates that the target user is within the coverage area of ​​the network, the target reference station for broadcasting differential services to the target user is determined as the reference station constituting the first triangular network, which covers the location of the target user; or, when the location relationship indicates that the target user is outside the coverage area of ​​the network, the target reference station for broadcasting services to the target user is determined as the first reference station, which is the reference station in the network that is closest to the target user.

[0008] Optionally, when the location relationship indicates that the target user is within the coverage area of ​​the network, after determining that the target reference station for broadcasting differential services to the target user is the reference station constituting the first triangular network, the method further includes:

[0009] If the target base station meets the no-service condition, the target base station broadcast to the target user will be changed to the second base station, which is the base station in the network that is closest to the target user.

[0010] Optionally, the no-service condition includes at least the following: the target user's area within the coverage of the first triangular network is in a no-service state for a continuous preset time; or, the number of satellites serving the first triangular network does not meet a preset number.

[0011] Optionally, when the location relationship indicates that the target user is located outside the coverage area of ​​the network, determining the target base station broadcast to the target user as the first base station includes:

[0012] Obtain the first coverage area of ​​the first base station;

[0013] If the distance between the target user and the first base station is less than or equal to the first coverage area, the target base station broadcast to the target user is determined to be the first base station.

[0014] Optionally, after obtaining the first coverage area of ​​the first base station, the method further includes:

[0015] If the distance between the target user and the first base station is greater than the first coverage area, then the second coverage area of ​​the third base station outside the network is obtained, wherein the third base station is the base station outside the network that is closest to the target user;

[0016] If the distance between the target user and the third base station is less than or equal to the second coverage area, the target base station broadcast to the target user is determined to be the third base station.

[0017] Optionally, after obtaining the second coverage range of the third reference station outside the network, the method further includes:

[0018] If the distance between the target user and the third base station is greater than the second coverage area, then the target user is determined to be in a no-service state.

[0019] Optionally, obtain the location relationship between the target user and the pre-built network, including:

[0020] Obtain the vector equation and three point vector coordinates of each target edge in the triangular network of the network;

[0021] If the vector equation of each target edge of the first triangular network and the product of the point vector coordinates of the non-target edge are both greater than zero, then the positional relationship is determined to be that the target user is located within the coverage area of ​​the triangular network in the network.

[0022] Optionally, obtaining the location relationship between the target user and the pre-built network also includes:

[0023] Obtain the coordinates of the center point of the triangular network in the network and the location coordinates of the target user;

[0024] If the distance between the center point coordinates of the first triangular network and the location coordinates of the target user is within a preset range, then the location relationship is determined to mean that the target user is located within the coverage area of ​​the network.

[0025] To achieve the above objectives, embodiments of the present invention also provide an RTK service apparatus, comprising:

[0026] An acquisition module is used to acquire the location relationship between a target user and a pre-built network; wherein, the network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the network;

[0027] The determining module is configured to, when the location relationship indicates that the target user is within the coverage area of ​​the network, determine the target reference station for broadcasting differential services to the target user as a reference station constituting a first triangular network, the first triangular network covering the location of the target user; or, when the location relationship indicates that the target user is outside the coverage area of ​​the network, determine the target reference station for broadcasting services to the target user as a first reference station, the first reference station being the reference station in the network that is closest to the target user.

[0028] To achieve the above objectives, embodiments of the present invention also provide an electronic device, including: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the RTK service method as described in any of the preceding claims.

[0029] To achieve the above objectives, embodiments of the present invention also provide a readable storage medium storing a program that, when executed by a processor, implements the steps of the RTK service method as described in any of the preceding claims.

[0030] The beneficial effects of the above-described technical solution of the present invention are as follows:

[0031] The above technical solution obtains the location relationship between the target user and a pre-constructed network; wherein the network includes at least one triangular network, and each triangular network includes three base stations establishing communication connections, the location relationship is used to indicate whether the target user is within the coverage area of ​​the network; further, by determining whether the target user is within the coverage area of ​​the network based on the location relationship, two solutions are provided. The solution of this invention employs a differential service broadcasting scheme using different base stations according to different conditions, achieving the technical effect of increasing the coverage area of ​​RTK services. Attached Figure Description

[0032] Figure 1 This is a flowchart of the RTK service method according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of a triangular mesh according to an embodiment of the present invention;

[0034] Figure 3 This is a block diagram of an RTK service device according to an embodiment of the present invention;

[0035] Figure 4 This is a block diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0036] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0037] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0038] In various embodiments of the present invention, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0039] In addition, the terms "system" and "network" are often used interchangeably in this article.

[0040] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0041] like Figure 1 As shown, an RTK service method according to an embodiment of the present invention is characterized by comprising:

[0042] Step 100: Obtain the location relationship between the target user and the pre-built network; wherein the network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the network;

[0043] Step 200: When the location relationship indicates that the target user is within the coverage area of ​​the network, the target base station for broadcasting differential services to the target user is determined as the base station constituting the first triangular network, and the first triangular network covers the location of the target user; or, when the location relationship indicates that the target user is outside the coverage area of ​​the network, the target base station for broadcasting services to the target user is determined as the first base station, and the first base station is the base station in the network that is closest to the target user.

[0044] In this embodiment, based on the location relationship, it is determined whether the target user is within the coverage area of ​​the network. The target base station for broadcasting differential services to the target user is then determined as the base station constituting the first triangular network; that is, a common RTK multi-base station broadcast is used for locations within the network. Alternatively, if it is determined that the target user is outside the coverage area of ​​the network, the target base station for broadcasting services to the target user is determined as the first base station; that is, the system switches to the base station closest to the target user in the network, and a biasing algorithm is used to bias the data and coordinates of the first base station to provide differential services. The solution of this invention employs different base stations to broadcast differential services according to different conditions, achieving the technical effect of increasing the coverage area of ​​RTK services.

[0045] Optionally, after step 200, the method further includes:

[0046] If the target base station meets the no-service condition, the target base station broadcast to the target user will be changed to the second base station, which is the base station in the network that is closest to the target user.

[0047] In this embodiment, if the target base station meets the no-service condition, then the area of ​​the first triangulation network has no service or poor service quality. If it is within the coverage range supported by the second single base station of the first triangulation network, then switch to the second base station and use a biasing algorithm to bias the data and coordinates of the second base station to provide differential service.

[0048] Optionally, the no-service condition includes at least the following: the target user's area within the coverage of the first triangular network is in a no-service state for a continuous preset time; or, the number of satellites serving the first triangular network does not meet a preset number.

[0049] In this embodiment, the lack of service within the coverage area of ​​the first triangular network for a period of time for the target user refers to: not receiving atmospheric correction information for the network-related baselines for 5 consecutive minutes. If there is a continuous lack of atmospheric correction information, differential service cannot be provided. For short periods, old atmospheric correction information can be used, but if old atmospheric correction information is used continuously for a long time, the differential service will become inaccurate. Therefore, it is necessary to switch to single-base-station service, that is, change the target base station broadcast for the target user to a second base station. Alternatively, if the number of satellites serving the first triangular network is less than 4 (e.g., fewer than 4 GPS satellites, fewer than 6 BeiDou satellites), even if differential service is broadcast, it will affect the fixed location of the terminal user. Therefore, in this scenario, it will also switch to single-base-station differential service, that is, change the target base station broadcast for the target user to a second base station.

[0050] Optionally, in step 200, when the location relationship indicates that the target user is outside the coverage area of ​​the network, determining the target base station broadcast to the target user as the first base station includes:

[0051] Obtain the first coverage area of ​​the first base station;

[0052] If the distance between the target user and the first base station is less than or equal to the first coverage area, the target base station broadcast to the target user is determined to be the first base station.

[0053] In this embodiment, when the target user is located outside the coverage area of ​​the network, it is determined that the distance between the target user and the first base station is less than or equal to the first coverage area. If it is less than or equal to the first coverage area, the first base station is determined to be within the supported coverage area, and the service is broadcast using the first base station plus offset. The technical solution of this invention designs and implements a service method using a single base station plus offset to increase the service coverage area in areas where there is no service in a multi-base station network.

[0054] Optionally, after obtaining the first coverage area of ​​the first base station, the method further includes:

[0055] If the distance between the target user and the first base station is greater than the first coverage area, then the second coverage area of ​​the third base station outside the network is obtained, wherein the third base station is the base station outside the network that is closest to the target user;

[0056] If the distance between the target user and the third base station is less than or equal to the second coverage area, the target base station broadcast to the target user is determined to be the third base station.

[0057] In this embodiment, if the distance between the target user and the first base station is greater than the first coverage range, the second coverage range of a third base station outside the network is obtained, and the coverage range of the third base station is reassessed. If the base station meets the coverage requirements, the service is broadcast with the third base station plus offset. The technical solution of this invention does not involve a single base station participating in the network; instead, it uses a single base station plus offset broadcast method to increase the service coverage of surrounding areas. This solution allows base stations in areas that previously had no service to add offset broadcast services, greatly increasing the service coverage and improving the user's working experience over a wide area.

[0058] Optionally, after obtaining the second coverage range of the third reference station outside the network, the method further includes:

[0059] If the distance between the target user and the third base station is greater than the second coverage area, then the target user is determined to be in a no-service state.

[0060] It should be noted that if the distance between the target user and the first base station is greater than the first coverage area, and no base station outside the network is found that is closest to the target user, then the target user is determined to be in a no-service state.

[0061] It should also be noted that the reference stations involved in this invention can provide accurate services within a certain range. Beyond this range, it cannot be guaranteed that the end user can still be accurately located. Therefore, after these stations are acquired, single reference station services can only be provided in locations within the service coverage area of ​​these stations.

[0062] Optionally, step 100 includes:

[0063] Obtain the vector equation and three point vector coordinates of each target edge in the triangular network of the network;

[0064] If the vector equation of each target edge of the first triangular network and the product of the point vector coordinates of the non-target edge are both greater than zero, then the positional relationship is determined to be that the target user is located within the coverage area of ​​the triangular network in the network.

[0065] In this embodiment, the networking method adopts the common Delaunay triangulation algorithm, and the network is composed of triangular meshes. Therefore, to determine whether a certain position is within the network, it is necessary to determine whether the position is in a certain triangular mesh of the network. The determination method is as follows:

[0066] like Figure 2 As shown, obtain the vector equation of each target edge and the vector coordinates of three points in the triangular network. Let the equations of the three sides be: BC:fa(x,y)=0; AC:fb(x,y)=0; AB:fc(x,y)=0;

[0067] Taking BC as an example, a point in the triangulation must be on the same side of BC as point A. For point P(x,y) to be in the triangulation, it must first satisfy: fa(x,y)*fa(Ax,Ay)>0; the same applies to other sides. Therefore, we only need to compare whether fa(x,y)*fa(Ax,Ay), fb(x,y)*fb(Bx,By), and fc(x,y)*fc(Cx,Cy) are greater than 0 to determine whether point P is in the triangulation.

[0068] Optionally, obtaining the location relationship between the target user and the pre-built network also includes:

[0069] Obtain the coordinates of the center point of the triangular network in the network and the location coordinates of the target user;

[0070] If the distance between the center point coordinates of the first triangular network and the location coordinates of the target user is within a preset range, then the location relationship is determined to mean that the target user is located within the coverage area of ​​the network.

[0071] In summary, to increase the coverage of boundary areas, unserved areas within the network, and single-base station areas not forming a network, and to meet measurement accuracy requirements, this invention requires the use of a single-base station RTK service for expansion. Simultaneously, bias processing is applied to the single-base station coordinates and the differential data broadcast by the base station to meet data security and confidentiality requirements, thereby increasing service coverage and providing users with a better experience.

[0072] like Figure 3 As shown, an RTK service device according to an embodiment of the present invention includes:

[0073] The acquisition module 10 is used to acquire the location relationship between the target user and the pre-built network; wherein, the network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the network;

[0074] The determining module 20 is configured to, when the location relationship indicates that the target user is within the coverage area of ​​the network, determine the target reference station for broadcasting differential services to the target user as a reference station constituting a first triangular network, the first triangular network covering the location of the target user; or, when the location relationship indicates that the target user is outside the coverage area of ​​the network, determine the target reference station for broadcasting services to the target user as a first reference station, the first reference station being the reference station in the network that is closest to the target user.

[0075] It should be further noted that the target described in this specification is intended for a terminal, including but not limited to smartphones, tablets, etc., and many of the described functional components are referred to as modules in order to more specifically emphasize the independence of their implementation.

[0076] Optionally, the device further includes:

[0077] The first processing module is used to change the target base station broadcast to the target user to a second base station if the target base station meets the no-service condition. The second base station is the base station in the network that is closest to the target user.

[0078] It should be noted that the no-service conditions include at least the following: the target user's area within the coverage of the first triangular network is in a no-service state for a continuous preset time; or, the number of satellites serving the first triangular network does not meet a preset number.

[0079] Optionally, the device further includes:

[0080] The second acquisition module is used to acquire the first coverage area of ​​the first base station;

[0081] The second processing module is used to determine the target base station broadcast to the target user as the first base station if the distance between the target user and the first base station is less than or equal to the first coverage area.

[0082] Optionally, the device further includes:

[0083] The second acquisition module is used to acquire the second coverage range of the third base station outside the network if the distance between the target user and the first base station is greater than the first coverage range. The third base station is the base station outside the network that is closest to the target user.

[0084] The third processing module is used to determine the target base station broadcast to the target user as the third base station if the distance between the target user and the third base station is less than or equal to the second coverage area.

[0085] Optionally, the device further includes:

[0086] The fourth processing module is used to determine that the target user is in a no-service state if the distance between the target user and the third base station is greater than the second coverage area.

[0087] Optionally, the acquisition module 10 includes:

[0088] The first acquisition unit is used to acquire the vector equation and three point vector coordinates of each target edge of the triangular network in the network.

[0089] The first determining unit is configured to determine the positional relationship as follows: if the vector equation of each target edge of the first triangular network and the product of the point vector coordinates of the non-target edge are both greater than zero, then the target user is located within the coverage area of ​​the triangular network in the network.

[0090] Optionally, the acquisition module 10 further includes:

[0091] The second acquisition unit is used to acquire the coordinates of the center point of the triangular network in the network and the location coordinates of the target user;

[0092] The second determining unit is used to determine that the target user is located within the coverage area of ​​the network if the distance between the center point coordinates of the first triangular network and the location coordinates of the target user is within a preset range.

[0093] like Figure 4 As shown, this embodiment of the invention also provides an electronic device, including: a processor 401, a memory 402, and a program stored in the memory 402 and executable on the processor 401. When the program is executed by the processor 401, it implements the steps of the RTK service method described above.

[0094] Optionally, the electronic device also includes a transceiver 403 for receiving and transmitting data under the control of the processor 401.

[0095] Among them, Figure 4In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 401) and memory (memory 402). The bus architecture can also link various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides a user interface 404. The transceiver 403 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. For different electronic devices, the user interface 404 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc. The processor 401 is responsible for managing the bus architecture and general processing, and the memory 402 can store data used by the processor 401 during operation.

[0096] This invention also provides a readable storage medium on which a program is stored. When the program is executed by a processor, it implements the steps of the RTK service method described above.

[0097] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0098] In this embodiment of the invention, the module can be implemented in software so that it can be executed by various types of processors. For example, an identified executable code module may include one or more physical or logical blocks of computer instructions, which may be constructed as objects, procedures, or functions. Nevertheless, the executable code of the identified module does not need to be physically located together, but may include different instructions stored in different bits, which, when logically combined, constitute the module and achieve the module's intended purpose.

[0099] In practice, an executable code module can be a single instruction or many instructions, and can even be distributed across multiple different code segments, different programs, and across multiple memory devices. Similarly, operational data can be identified within the module and can be implemented in any suitable form and organized within any suitable type of data structure. This operational data can be collected as a single dataset or distributed across different locations (including different storage devices), and can exist, at least in part, solely as electronic signals within the system or network.

[0100] When a module can be implemented using software, considering the current level of hardware technology, modules that can be implemented in software can be implemented using hardware circuits by those skilled in the art to achieve the corresponding functions, without considering cost. These hardware circuits include conventional very-large-scale integrated circuits (VLSI) or gate arrays, as well as existing semiconductors such as logic chips and transistors, or other discrete components. Modules can also be implemented using programmable hardware devices, such as field-programmable gate arrays, programmable array logic, and programmable logic devices.

[0101] The exemplary embodiments described above are with reference to the accompanying drawings. Many different forms and embodiments are feasible without departing from the spirit and teachings of the invention. Therefore, the invention should not be construed as limiting the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided to make the invention complete and convey the scope of the invention to those skilled in the art. In these drawings, component dimensions and relative dimensions may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, unless clearly indicated otherwise, the singular forms “a,” “an,” and “the” are intended to include all such forms. It will be further understood that the terms “comprising” and / or “including”, when used in this specification, indicate the presence of the stated features, integers, steps, operations, components, and / or elements, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, and / or groups thereof. Unless otherwise indicated, when stated, a range of values ​​includes the upper and lower limits of the range and any subranges in between.

[0102] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An RTK service method, characterized in that, include: Obtain the location relationship between the target user and a pre-built network; wherein the network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the network; When the target user is located within the coverage area of ​​the network, if the service status of the first triangular network is normal, the target reference stations are the three reference stations of the first triangular network, and differential services are broadcast through the general RTK multi-reference station; the normal service status is used to indicate that the number of satellites serving the first triangular network meets the preset number, and atmospheric correction information is continuously obtained within the coverage area of ​​the first triangular network where the target user is located. When the target user is located within the coverage area of ​​the network, if the target reference station meets the no-service condition, the target reference station broadcast to the target user will be changed to a second reference station. The coordinates and observation data of the second reference station will be biased before broadcasting differential service. The second reference station is the reference station in the network closest to the target user. The no-service condition includes at least: the target user's coverage area within the first triangular network is in a no-service state for a preset time; or, the number of satellites serving the first triangular network does not meet a preset number. When the target user is located outside the coverage area of ​​the network, the first coverage area of ​​the first reference station is obtained; if the distance between the target user and the first reference station is less than or equal to the first coverage area, the target reference station broadcast to the target user is determined to be the first reference station, and differential service is broadcast after biasing the coordinates and observation data of the first reference station; the first reference station is the reference station in the network that is closest to the target user. When the target user is located outside the coverage area of ​​the network, if the distance between the target user and the first base station is greater than the first coverage area, then the second coverage area of ​​the third base station outside the network is obtained, and the third base station is the base station outside the network that is closest to the target user; if the distance between the target user and the third base station is less than or equal to the second coverage area, the target base station broadcast by the target user is determined to be the third base station, and then the coordinates and observation data of the third base station are biased and broadcast as differential service. When the location relationship indicates that the target user is outside the coverage area of ​​the network, after obtaining the second coverage area of ​​the third base station outside the network, if the distance between the target user and the third base station is greater than the second coverage area, then the target user is determined to be in a no-service state.

2. The method according to claim 1, characterized in that, Obtain the location relationship between the target user and the pre-built network topology, including: Obtain the vector equation and three point vector coordinates of each target edge in the triangular network of the network; If the vector equation of each target edge of the first triangular network and the product of the point vector coordinates of the non-target edge are both greater than zero, then the positional relationship is determined to be that the target user is located within the coverage area of ​​the triangular network in the network.

3. The method according to claim 1, characterized in that, Obtaining the location relationship between the target user and the pre-built network also includes: Obtain the coordinates of the center point of the triangular network in the network and the location coordinates of the target user; If the distance between the center point coordinates of the first triangular network and the location coordinates of the target user is within a preset range, then the location relationship is determined to mean that the target user is located within the coverage area of ​​the network.

4. An RTK service device, characterized in that, The apparatus, used in the RTK service method as described in any one of claims 1 to 3, comprises: An acquisition module is used to acquire the location relationship between a target user and a pre-built network; wherein, the network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the network; The determining module is configured to, when the location relationship indicates that the target user is within the coverage area of ​​the network, determine the target reference station for broadcasting differential services to the target user as a reference station constituting a first triangular network, the first triangular network covering the location of the target user; or, when the location relationship indicates that the target user is outside the coverage area of ​​the network, determine the target reference station for broadcasting services to the target user as a first reference station, the first reference station being the reference station in the network that is closest to the target user.

5. An electronic device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the RTK service method as described in any one of claims 1 to 3.

6. A readable storage medium, characterized in that, The readable storage medium stores a program that, when executed by a processor, implements the steps of the RTK service method as described in any one of claims 1 to 3.

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