A method and device for testing quality of service of an RTK, and an electronic device

Abstract

The application provides an RTK service quality testing method and device and electronic equipment, and relates to the technical field of testing. The method comprises the following steps: acquiring a position relationship between a target user and a first group network which is constructed in advance; the first group network comprises at least one triangular network, each triangular network comprises three reference stations which are in communication connection, and the distance between the two reference stations which are farthest apart in the triangular network is less than a preset distance; the position relationship is used to indicate whether the target user is located within the range covered by the first group network; and the real-time dynamic positioning (RTK) service quality of the target user is determined according to the position relationship. The scheme of the application can provide high-quality services for areas with poor RTK service quality, and improve user experience.

Description

Technical Field

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

[0002] Currently, CORS (Continuously Operating Reference System) established using multi-base station network RTK (Real-time kinematic) technology has become one of the development hotspots for urban GNSS (Global Navigation Satellite System) applications. In existing applications, extensive research and practical results show that using a network of multi-base station Delaunay triangulation networks to construct reference stations is effective, and positioning accuracy is closely related to the distance between stations. However, the following problem exists: the influence of baseline length and angle is not considered simultaneously. If a baseline is too long, or the angle of the triangle is too large, the service quality within its coverage area will be relatively poor. Summary of the Invention

[0003] The purpose of this invention is to provide an RTK service quality testing method, apparatus, and electronic device, thereby solving the problem of poor service quality within the coverage area of ​​the existing triangular network.

[0004] To achieve the above objectives, embodiments of the present invention provide an RTK service quality testing method, comprising:

[0005] The location relationship between the target user and a pre-constructed first network is obtained; wherein the first network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the distance between the two base stations that are farthest apart in the triangular network is less than a preset distance, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the first network;

[0006] Based on the location relationship, the real-time dynamic positioning (RTK) service quality of the target user is determined.

[0007] Optionally, determining the real-time dynamic positioning (RTK) service quality of the target user based on the location relationship includes:

[0008] Based on the aforementioned positional relationships, the target reference station is determined;

[0009] The RTK service quality is determined based on the target base station.

[0010] Optionally, determining the target reference station based on the said positional relationship includes:

[0011] When the location relationship indicates that the target user is outside the coverage area of ​​the first network, the base station in the first network that is closest to the target user is determined as the target base station; or...

[0012] When the location relationship indicates that the target user is within the coverage area of ​​the first network, the reference station of the triangular network where the target user is located is determined as the target reference station.

[0013] Optionally, the RTK service quality is determined based on the target base station, including:

[0014] Acquire the first satellite observation data received by the target reference station and the preset target reference station information;

[0015] The RTK service quality is determined based on the first satellite observation data, the target reference station information, and the second satellite observation data received by the target user.

[0016] Optionally, the RTK service quality is determined based on the first satellite observation data, the target reference station information, and the second satellite observation data received by the target user, including:

[0017] Differential calculations are performed on the first satellite observation data, the target reference station information, and the second satellite observation data to determine the RTK service quality of the target user.

[0018] Optionally, before obtaining the location relationship between the target user and the pre-built first network, the following steps are also included:

[0019] The triangulation algorithm is used to network the current multiple reference stations to construct a second network; wherein the second network includes at least one triangulation network.

[0020] Calculate the distance or angle between any two reference stations in each triangulation network;

[0021] Determine the target triangulation network based on the distance or the included angle;

[0022] The target triangular network in the second network group is filtered to construct the first network group.

[0023] Optionally, the target triangulation is determined based on the distance and the included angle, including:

[0024] Based on the distance or the included angle, obtain the first distance or the first included angle in each triangulation; wherein, the first distance is the distance between the two farthest reference stations; the first included angle is the included angle between the two farthest reference stations;

[0025] When the first distance is greater than or equal to the preset distance, or the first included angle is greater than or equal to the preset angle, the triangulation network of the two reference stations corresponding to the first distance is determined as the target triangulation network.

[0026] This invention also provides an RTK service quality testing device, comprising:

[0027] The acquisition module is used to acquire the location relationship between the target user and the pre-constructed first network; wherein the first network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the distance between the two base stations that are farthest apart in the triangular network is less than a preset distance, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the first network;

[0028] The determination module is used to determine the real-time dynamic positioning (RTK) service quality of the target user based on the location relationship.

[0029] Optionally, the determining module includes:

[0030] The first determining unit is used to determine the target reference station based on the positional relationship;

[0031] The second determining unit is used to determine the RTK service quality based on the target base station.

[0032] Optionally, the first determining unit is specifically used for:

[0033] When the location relationship indicates that the target user is outside the coverage area of ​​the first network, the base station in the first network that is closest to the target user is determined as the target base station; or...

[0034] When the location relationship indicates that the target user is within the coverage area of ​​the first network, the reference station of the triangular network where the target user is located is determined as the target reference station.

[0035] Optionally, the second determining unit includes:

[0036] The acquisition subunit is used to acquire the first satellite observation data received by the target reference station and the preset target reference station information;

[0037] The determination subunit is used to determine the RTK service quality based on the first satellite observation data, the target reference station information, and the second satellite observation data received by the target user.

[0038] Optionally, the determining subunit is specifically used for:

[0039] Differential calculations are performed on the first satellite observation data, the target reference station information, and the second satellite observation data to determine the RTK service quality of the target user.

[0040] Optionally, the device further includes:

[0041] The first construction module is used to network the current multiple base stations using a triangulation algorithm to construct a second network; wherein the second network includes at least one triangulation network.

[0042] The calculation module is used to calculate the distance or angle between any two reference stations in each triangulation network;

[0043] The confirmation module is used to confirm the target triangulation based on the distance or the included angle;

[0044] The second construction module is used to filter the target triangular network in the second network group and construct the first network group.

[0045] Optionally, the confirmation module is specifically used for:

[0046] Based on the distance or the included angle, obtain the first distance or the first included angle in each triangulation; wherein, the first distance is the distance between the two farthest reference stations; the first included angle is the included angle between the two farthest reference stations;

[0047] When the first distance is greater than or equal to the preset distance, or the first included angle is greater than or equal to the preset angle, the triangulation network of the two reference stations corresponding to the first distance is confirmed as the target triangulation network.

[0048] This invention also provides an electronic device, including: a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, it implements the steps of the RTK service quality testing method described above.

[0049] This invention also provides a readable storage medium storing a program that, when executed by a processor, implements the steps of the RTK service quality testing method described above.

[0050] The above-described technical solution of the present invention has at least the following beneficial effects:

[0051] In the above scheme, the location relationship between the target user and a pre-constructed first network is obtained. The first network includes at least one triangular network, each triangular network including three base stations with established communication connections. The distance between the two farthest base stations in the triangular network is less than a preset distance. The location relationship is used to indicate whether the target user is within the coverage area of ​​the first network. Based on the location relationship, the real-time dynamic positioning (RTK) service quality of the target user is determined, ensuring RTK positioning accuracy and providing high-quality service to areas with poor RTK service quality, greatly improving service quality and user experience. Attached Figure Description

[0052] Figure 1 This is a schematic diagram illustrating the steps of the RTK service quality testing method according to an embodiment of the present invention;

[0053] Figure 2 This is one of the schematic diagrams illustrating the determination of the target reference station based on positional relationships in an embodiment of the present invention;

[0054] Figure 3 This is a second schematic diagram illustrating the determination of the target reference station based on positional relationships in an embodiment of the present invention.

[0055] Figure 4 This is a schematic diagram of the second network in an embodiment of the present invention;

[0056] Figure 5 This is a schematic diagram illustrating the calculation of the distance between any two reference stations in each triangulation network in an embodiment of the present invention;

[0057] Figure 6 This is a schematic diagram illustrating the calculation of the included angle between any two reference stations in each triangulation network in an embodiment of the present invention.

[0058] Figure 7 This is a schematic diagram of the first network in an embodiment of the present invention;

[0059] Figure 8 This is a flowchart illustrating the RTK service quality testing method according to an embodiment of the present invention.

[0060] Figure 9 This is a schematic diagram of an RTK service quality testing device according to an embodiment of the present invention;

[0061] Figure 10 This is a block diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0062] 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.

[0063] This invention addresses the problems in the prior art by providing an RTK service quality testing method, apparatus, and electronic device.

[0064] like Figure 1 As shown, this embodiment of the invention provides an RTK service quality testing method, including:

[0065] Step 101: Obtain the location relationship between the target user and the pre-constructed first network; wherein, the first network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the distance between the two base stations that are farthest apart in the triangular network is less than a preset distance, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the first network.

[0066] Alternatively, the angle between the two furthest reference stations in each triangular network of the first group is less than a preset angle.

[0067] It should be noted that the distance between two base stations is the baseline length between the two base stations.

[0068] Step 102: Determine the RTK service quality of the target user based on the location relationship.

[0069] It should be noted that the location relationship includes: the target user is located outside the coverage area of ​​the first network group or the target user is located within the coverage area of ​​the first network group.

[0070] In this embodiment of the invention, the location relationship between a target user and a pre-constructed first network is obtained. The first network includes at least one triangular network, each triangular network including three base stations with established communication connections. The distance between the two farthest base stations in the triangular network is less than a preset distance. The location relationship is used to indicate whether the target user is within the coverage area of ​​the first network. Based on the location relationship, the real-time dynamic positioning (RTK) service quality of the target user is determined, ensuring RTK positioning accuracy and providing high-quality service to areas with poor RTK service quality, greatly improving service quality and user experience.

[0071] Optionally, step 102 involves determining the RTK service quality of the target user based on location relationships, including:

[0072] Determine the target reference station based on its location;

[0073] Determine the RTK service quality based on the target base station.

[0074] It should be noted that, based on the location relationship, the target base station for providing RTK services to the target user is determined, and the broadcast is carried out using the target base station to ensure the accuracy of RTK positioning.

[0075] Optionally, the target reference station is determined based on its location, including:

[0076] When the target user is located outside the coverage area of ​​the first network group, the base station in the first network group that is closest to the target user is determined as the target base station; or...

[0077] When the target user is located within the coverage area of ​​the first network group, the reference station of the triangular network where the target user is located is determined as the target reference station.

[0078] Here, as Figure 2 As shown, when the target user P is located outside the coverage area of ​​the first network group, the base station A closest to the target user P in the first network group is determined as the target base station. RTK service is provided using a single base station broadcast method, with a coverage area of ​​[missing information]. Figure 2 The shaded area in the image;

[0079] like Figure 3 As shown, when the target user O is located within the coverage area of ​​the first network group, the reference stations A, B, and C of the triangular network where the target user O is located are determined as the target reference stations.

[0080] It should be noted that when the target user is located outside the coverage area of ​​the first network, the RTK service is provided by broadcasting from a single base station, which greatly increases the service quality in the area where the target user is located and improves the user experience.

[0081] Specifically, based on the target base station, the RTK service quality is determined, including:

[0082] Acquire the first satellite observation data received by the target reference station and the preset target reference station information;

[0083] The RTK service quality is determined based on the first satellite observation data, the target reference station information, and the second satellite observation data received by the target user.

[0084] Here, differential data is obtained by solving based on the first satellite observation data and the target reference station information, and differential services are provided. Based on the differential data and the second satellite observation data, the RTK service quality is determined, including but not limited to positioning accuracy.

[0085] Specifically, based on the first satellite observation data, target reference station information, and the second satellite observation data received by the target user, the RTK service quality is determined, including:

[0086] Differential calculations are performed on the first satellite observation data, the target reference station information, and the second satellite observation data to determine the RTK service quality of the target user.

[0087] Optionally, before obtaining the location relationship between the target user and the pre-built first network in step 101, the method further includes:

[0088] The triangulation algorithm is used to network the current multiple reference stations to construct a second network; the second network includes at least one triangulation network.

[0089] Calculate the distance or angle between any two reference stations in each triangulation network;

[0090] Determine the target triangulation network based on distance or included angle;

[0091] Filter the target triangulation network in the second network group to construct the first network group.

[0092] It should be noted that constructing such Figure 4 The second network shown uses the distance formula between two points in space to calculate the distance between any two base stations, and the triangle angle formula to calculate the angle between any two base stations.

[0093] Here, as Figure 5 As shown, the formula for the distance between two points in space is:

[0094] In the spatial rectangular coordinate system Oxyz, the distance between any point Q(x, y, z) and the origin O(0, 0, 0) is...

[0095] The distance between points M(x1, y1, z1) and N(x2, y2, z2) in space.

[0096] like Figure 6 As shown, the formula for triangle angles is:

[0097]

[0098]

[0099]

[0100] Determine based on distance or angle, such as Figure 4 The target triangulation network ACD shown is filtered in the second group of networks to construct a network as follows: Figure 7 The first network shown provides differential services by avoiding the poor solution results caused by the relatively flat triangular network in the second network, which would affect the differential services and ensure the calculation effect of RTK positioning accuracy.

[0101] Optionally, the target triangulation is identified based on the distance and included angle, including:

[0102] Based on the distance or the angle, obtain the first distance or the first angle in each triangulation; where the first distance is the distance between the two farthest reference stations; and the first angle is the angle between the two farthest reference stations.

[0103] When the first distance is greater than or equal to the preset distance, or the first included angle is greater than or equal to the preset angle, the triangulation network of the two reference stations corresponding to the first distance is determined as the target triangulation network.

[0104] It should be noted that the preset distance and preset angle can be determined based on empirical or experimental values.

[0105] Target triangulation networks in the second network group that have a first distance greater than or equal to a preset distance or a first included angle greater than or equal to a preset angle are filtered out, and the first network group is constructed. Here, after filtering, the area where the target triangulation network is located becomes a service-free area, and external services are provided using the single base station broadcasting method described above, to avoid reducing the service coverage area and thus affecting user positioning.

[0106] It should also be noted that, such as Figure 8 As shown, the flow of the RTK service quality testing method according to an embodiment of the present invention is described as follows:

[0107] Step 801: Triangular network setup, constructing the second network;

[0108] Step 802: Calculate the distance or angle between any two reference stations in each triangulation network;

[0109] Step 803: Determine whether the distance between the two farthest base stations is greater than or equal to a preset distance, or whether the angle between the two farthest base stations is greater than or equal to a preset angle.

[0110] When the judgment result of step 804 or step 803 is yes, filter the target triangular mesh whose filtering distance is greater than or equal to the preset distance or whose included angle is greater than or equal to the preset angle.

[0111] If the judgment result of step 803 is negative or after step 804, construct the first network.

[0112] Step 806: Determine whether the target user is within the coverage area of ​​the first network group;

[0113] When the judgment results of steps 807 and 806 are yes, the reference station of the triangular network where the target user is located is determined as the target reference station, and the differential service result is output.

[0114] If the judgment result of step 808 and step 806 is negative, determine whether the target user is within the coverage area of ​​a single base station;

[0115] If the judgment result of step 809 and step 808 is yes, determine the base station closest to the target user in the first network group as the target base station, and output the differential service result;

[0116] If the judgment result of steps 810 and 808 is negative, it is determined that the target user is in a no-service area, and step 801 is executed again.

[0117] like Figure 9 As shown, this embodiment of the invention also provides an RTK service quality testing device, comprising:

[0118] The acquisition module 901 is used to acquire the positional relationship between the target user and the pre-constructed first network; wherein, the first network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the distance between the two base stations that are farthest apart in the triangular network is less than a preset distance, and the positional relationship is used to indicate whether the target user is within the coverage area of ​​the first network;

[0119] The determination module 902 is used to determine the RTK service quality of the target user based on the location relationship.

[0120] In this embodiment of the invention, the location relationship between a target user and a pre-constructed first network is obtained. The first network includes at least one triangular network, each triangular network including three base stations with established communication connections. The distance between the two farthest base stations in the triangular network is less than a preset distance. The location relationship is used to indicate whether the target user is within the coverage area of ​​the first network. Based on the location relationship, the real-time dynamic positioning (RTK) service quality of the target user is determined, ensuring RTK positioning accuracy and providing high-quality service to areas with poor RTK service quality, greatly improving service quality and user experience.

[0121] Optionally, the determining module 902 includes:

[0122] The first determining unit is used to determine the target reference station based on the positional relationship;

[0123] The second determining unit is used to determine the RTK service quality based on the target base station.

[0124] Optionally, the first determining unit is specifically used for:

[0125] When the target user is located outside the coverage area of ​​the first network group, the base station in the first network group that is closest to the target user is determined as the target base station; or...

[0126] When the target user is located within the coverage area of ​​the first network group, the reference station of the triangular network where the target user is located is determined as the target reference station.

[0127] Optionally, the second determining unit includes:

[0128] The acquisition subunit is used to acquire the first satellite observation data received by the target reference station and the preset target reference station information;

[0129] The determination sub-unit is used to determine the RTK service quality based on the first satellite observation data, the target reference station information, and the second satellite observation data received by the target user.

[0130] Optionally, the sub-unit is specifically used for:

[0131] Differential calculations are performed on the first satellite observation data, the target reference station information, and the second satellite observation data to determine the RTK service quality of the target user.

[0132] Optionally, the device further includes:

[0133] The first construction module is used to network the current multiple base stations using a triangulation algorithm to build a second network; wherein the second network includes at least one triangulation network.

[0134] The calculation module is used to calculate the distance or angle between any two reference stations in each triangulation network;

[0135] The confirmation module is used to confirm the target triangulation based on distance or included angle.

[0136] The second construction module is used to filter the target triangular network in the second network and construct the first network.

[0137] Optionally, the confirmation module 902 is specifically used for:

[0138] Based on the distance or the angle, obtain the first distance or the first angle in each triangulation; where the first distance is the distance between the two farthest reference stations; the first angle is the angle formed by the two farthest reference stations.

[0139] When the first distance is greater than or equal to the preset distance, or the first included angle is greater than or equal to the preset angle, the triangulation network of the two reference stations corresponding to the first distance is confirmed as the target triangulation network.

[0140] It should be noted that the RTK service quality testing device provided in this embodiment of the invention is a device capable of executing the above-described RTK service quality testing method. Therefore, all embodiments of the above-described RTK service quality testing method are applicable to this device and can achieve the same or similar technical effects.

[0141] like Figure 10As shown, this embodiment of the invention also provides an electronic device, including: a processor 1001, a memory 1002, and a program stored on the memory 1002 and executable on the processor 1001. When the program is executed by the processor 1001, it implements the steps of the RTK service quality testing method described above.

[0142] Optionally, the electronic device also includes a transceiver 1003 for receiving and transmitting data under the control of the processor 1001.

[0143] Among them, Figure 10 In 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 1001) and memory (memory 1002). 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 1004. The transceiver 1003 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 1004 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 1001 is responsible for managing the bus architecture and general processing, and the memory 1002 can store data used by the processor 1001 during operation.

[0144] This invention also provides a readable storage medium storing a program that, when executed by a processor, implements the steps of the RTK service quality testing method described above.

[0145] 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.

[0146] 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.

[0147] 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. A method for testing the quality of service in RTK (Real-Time Kinematics) applications, characterized in that, include: The location relationship between the target user and a pre-constructed first network is obtained; wherein the first network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the distance between the two base stations that are farthest apart in the triangular network is less than a preset distance, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the first network; Determining the real-time dynamic positioning (RTK) service quality of the target user based on the location relationship includes: When the location relationship indicates that the target user is outside the coverage area of ​​the first network, the base station closest to the target user in the first network is determined as the target base station, and RTK service is provided using a single base station broadcast method; or, when the location relationship indicates that the target user is within the coverage area of ​​the first network, the base station of the triangular network where the target user is located is determined as the target base station. The RTK service quality is determined based on the target base station.

2. The RTK service quality testing method according to claim 1, characterized in that, Based on the target base station, the RTK service quality is determined, including: Acquire the first satellite observation data received by the target reference station and the preset target reference station information; The RTK service quality is determined based on the first satellite observation data, the target reference station information, and the second satellite observation data received by the target user.

3. The RTK service quality testing method according to claim 2, characterized in that, The RTK service quality is determined based on the first satellite observation data, the target reference station information, and the second satellite observation data received by the target user, including: Differential calculations are performed on the first satellite observation data, the target reference station information, and the second satellite observation data to determine the RTK service quality of the target user.

4. The RTK service quality testing method according to claim 1, characterized in that, Before obtaining the location relationship between the target user and the pre-built first network group, the following steps are also included: The triangulation algorithm is used to network the current multiple reference stations to construct a second network; wherein the second network includes at least one triangulation network. Calculate the distance or angle between any two reference stations in each triangulation network; Determine the target triangulation network based on the distance or the included angle; The target triangular network in the second network group is filtered to construct the first network group.

5. The RTK service quality testing method according to claim 4, characterized in that, Based on the distance and the included angle, the target triangulation is identified, including: Based on the distance or the included angle, obtain the first distance or the first included angle in each triangulation; wherein, the first distance is the distance between the two farthest reference stations; the first included angle is the included angle between the two farthest reference stations; When the first distance is greater than or equal to the preset distance, or the first included angle is greater than or equal to the preset angle, the triangulation network of the two reference stations corresponding to the first distance is confirmed as the target triangulation network.

6. An RTK service quality testing device, characterized in that, include: The acquisition module is used to acquire the location relationship between the target user and the pre-constructed first network; wherein the first network includes at least one triangular network, each triangular network includes three base stations that establish communication connections, and the distance between the two base stations that are farthest apart in the triangular network is less than a preset distance, and the location relationship is used to indicate whether the target user is within the coverage area of ​​the first network; The determination module is used to determine the real-time dynamic positioning (RTK) service quality of the target user based on the location relationship. The determining module includes: The first determining unit is specifically configured to, when the location relationship indicates that the target user is outside the coverage area of ​​the first network, determine the base station in the first network that is closest to the target user as the target base station; or, when the location relationship indicates that the target user is within the coverage area of ​​the first network, determine the base station of the triangular network where the target user is located as the target base station. The second determining unit is used to determine the RTK service quality based on the target base station.

7. 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 quality of service testing method as described in any one of claims 1 to 5.

8. 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 quality of service testing method as described in any one of claims 1 to 5.

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