GNSS Reference Station Satellite Receiver Data Return Method and System

Abstract

This application relates to the field of satellite navigation and positioning technology, and discloses a method and system for data backhaul of GNSS reference station satellite receivers. The method includes: monitoring the data delay of multiple receivers at multiple reference stations and obtaining the minimum data delay for each receiver when no network congestion occurs; obtaining and configuring a first scheduling delay for each receiver based on a preset maximum delay tolerance time, a maximum delay rate, the minimum data delay of each receiver, and the number of receivers, such that the data backhaul time after configuring the first scheduling delay is different for each receiver; periodically lowering the maximum delay rate to obtain the current delay rate until network congestion is triggered, and using the current delay rate before the most recent lowering as the steady-state delay rate to obtain the steady-state scheduling delay. This application can further improve the data backhaul effect of GNSS reference station satellite receivers.

Description

Technical Field

[0001] This application relates to the field of satellite navigation and positioning technology, and in particular to data transmission technology. Background Technology

[0002] Satellite navigation and positioning technology has now largely replaced ground-based radio navigation, traditional geodetic and astronomical navigation and positioning technologies, and has driven new developments in the fields of geodetic surveying and navigation and positioning.

[0003] Today, the Global Navigation Satellite System (GNSS) is not only a national security and economic infrastructure, but also an important symbol of a modern major power's status and comprehensive national strength.

[0004] However, the current large-scale receiver data backhaul performance is not ideal.

[0005] Specifically, large-scale, high-precision location services for a massive user base, especially those based on the BeiDou navigation satellite ground augmentation system, rely heavily on the crucial preliminary work of receiving and transmitting signals from various GNSS systems to a data center. Currently, data transmission to the data center primarily involves real-time data being transmitted via dedicated wired lines from operators using the TCP protocol. The data center's receiving software acts as the client, while the GNSS reference station satellite receiver (hereinafter referred to as the receiver) acts as the server. The data center actively initiates data acquisition requests to the satellite receiver. The data center's receiving software continuously requests real-time data from the receiver, and all receivers are configured to output real-time data at a unified frequency, typically 1Hz.

[0006] It should be noted that because all receivers use synchronized clocks, all receivers will transmit data back at the same time.

[0007] In large-scale receiver data backhaul networks, when all receivers transmit data at the same time, the instantaneous network traffic is several times the estimated bandwidth requirement. Although the operator's transmission equipment usually has a buffering function and can handle a certain scale of network burst traffic, the instantaneous traffic of several times will still cause a large number of data packets to be lost, thus affecting the receiver data backhaul effect. Summary of the Invention

[0008] The purpose of this application is to provide a method and system for data backhaul of GNSS reference station satellite receivers, which can further improve the effect of data backhaul of GNSS reference station satellite receivers.

[0009] This application discloses a method for data backhaul from a GNSS reference station satellite receiver, including:

[0010] Monitor the data latency of multiple receivers at multiple base stations and obtain the minimum data latency of each receiver when there is no network congestion;

[0011] Based on the preset maximum delay tolerance time, maximum delay rate, minimum data delay of each receiver, and the number of receivers, the first scheduling delay corresponding to each receiver is obtained and configured, so that the data return time of each receiver after configuring the first scheduling delay is different.

[0012] as well as,

[0013] The maximum latency rate is periodically reduced to obtain the current latency rate. Based on the preset maximum latency tolerance time, the current latency rate, the minimum data latency of each receiver, and the number of receivers, the corresponding second scheduling latency for each receiver is obtained and configured until network congestion is triggered. The current latency rate before the most recent reduction is used as the steady-state latency rate to obtain the steady-state scheduling latency.

[0014] In a preferred embodiment, the formula for calculating the first scheduling delay for each receiver is as follows:

[0015] SCU=(MTT*MDR–t) / (n-1)

[0016] Tr = SCU * (r – 1)

[0017] Where SCU is the control time unit; MTT is the maximum delay tolerance time; MDR is the maximum delay rate; t is the minimum data delay; n is the number of receivers; and Tr is the scheduling delay of the r-th receiver.

[0018] In a preferred embodiment, the maximum latency rate is preset to an initial value of 100%.

[0019] In a preferred embodiment, in the step of periodically lowering the maximum latency rate to obtain the current latency rate, the magnitude of each reduction in the maximum latency rate is one of 10%, 20%, 25%, or 30% of the preset initial value of the maximum latency rate.

[0020] In a preferred embodiment, in the step of periodically lowering the maximum latency rate to obtain the current latency rate, the magnitude of each reduction in the maximum latency rate is 1 / 2, 1 / 3, 1 / 4, or 1 / 5 of the current latency rate.

[0021] In a preferred embodiment, in the step of obtaining the minimum data delay when no network congestion occurs at each receiver, the minimum data delay is the minimum or average value of the minimum data delays of each receiver.

[0022] In a preferred embodiment, the step of obtaining and configuring a first scheduling delay for each receiver such that the data return times of each receiver after configuring the first scheduling delay are different further includes:

[0023] Obtain and configure the corresponding first scheduling delay for each receiver, so that the data return time periods after configuring the first scheduling delay for each receiver do not overlap.

[0024] In a preferred embodiment, the step of using the current latency rate before the most recent downgrade as the steady-state latency rate to obtain the steady-state scheduling delay further includes:

[0025] If the difference between the current latency rate when network congestion is triggered and the current latency rate before the most recent reduction exceeds a preset threshold, the current latency rate when network congestion is triggered will be gradually increased to the current latency rate before the most recent reduction until network congestion is no longer triggered. The increased current latency rate will then be used as the steady-state latency rate to obtain the steady-state scheduling delay.

[0026] This application also discloses a GNSS reference station satellite receiver data return system comprising:

[0027] The receiver data delay monitoring module monitors the data delay of multiple receivers at multiple base stations and obtains the minimum data delay of each receiver when there is no network congestion.

[0028] The core processing and receiver delay scheduling module obtains and configures the first scheduling delay for each receiver based on the preset maximum delay tolerance time, maximum delay rate, minimum data delay of each receiver and the number of receivers, so that the data return time of each receiver after configuring the first scheduling delay is different.

[0029] as well as,

[0030] The loop execution module periodically lowers the maximum latency rate to obtain the current latency rate. Based on the preset maximum latency tolerance time, the current latency rate, the minimum data latency of each receiver, and the number of receivers, it obtains and configures the corresponding second scheduling latency for each receiver until network congestion is triggered. The current latency rate before the most recent reduction is used as the steady-state latency rate to obtain the steady-state scheduling latency.

[0031] This application also discloses a GNSS reference station satellite receiver data return system, comprising:

[0032] Memory, used to store computer-executable instructions; and,

[0033] A processor for implementing the steps of the method as described above when executing the computer-executable instructions.

[0034] This application also discloses a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the method described above.

[0035] In the embodiments of this application, the effect of data backhaul from GNSS reference station satellite receivers can be further improved.

[0036] The specification of this application contains numerous technical features distributed across various technical solutions. Listing all possible combinations of these technical features (i.e., technical solutions) would make the specification excessively lengthy. To avoid this problem, the various technical features disclosed in the above-described invention, the various technical features disclosed in the following embodiments and examples, and the various technical features disclosed in the accompanying drawings can be freely combined to form various new technical solutions (all of which are considered to have been described in this specification), unless such a combination of technical features is technically infeasible. For example, one example discloses feature A+B+C, and another example discloses feature A+B+D+E. Features C and D are equivalent technical means that serve the same function, and technically only one needs to be used; they cannot be used simultaneously. Feature E can technically be combined with feature C. Therefore, the solution A+B+C+D should not be considered as described because it is technically infeasible, while the solution A+B+C+E should be considered as described. Attached Figure Description

[0037] Figure 1 This is a flowchart illustrating the GNSS reference station satellite receiver data return method according to the first embodiment of this application;

[0038] Figure 2 This is a schematic diagram of the data return system structure of a GNSS reference station satellite receiver according to the second embodiment of this application;

[0039] Figure 3 This is a schematic diagram of the original receiver's data transmission.

[0040] Figure 4 This is a comparison chart of the original receiver's data transmission time and the actual delay;

[0041] Figure 5 This is a schematic diagram of the receiver data transmission after adjustment in an embodiment of this application;

[0042] Figure 6 This is a comparison chart of the receiver data transmission time and actual delay after adjustment in the embodiments of this application;

[0043] Figure 7This is a schematic diagram of the scheduling system cyclically reducing MDR in an embodiment of this application;

[0044] Figure 8 This is a schematic diagram of the network architecture in an embodiment of this application. Detailed Implementation

[0045] In the following description, many technical details are presented to help the reader better understand this application. However, those skilled in the art will understand that the technical solutions claimed in this application can be implemented even without these technical details and various variations and modifications based on the following embodiments.

[0046] Explanation of some concepts:

[0047] GNSS: Global Navigation Satellite System. A global navigation satellite system is a space-based radio navigation and positioning system that can provide users with all-weather 3D coordinates, velocity, and time information at any location on the Earth's surface or in near-Earth space.

[0048] QoS: Quality of Service refers to a network's ability to provide better service for specified network communications by utilizing various underlying technologies. It is a network security mechanism and a technology used to solve problems such as network latency and congestion.

[0049] GTS: Generic Traffic Shaping. The technology used in traffic shaping is called Generic Traffic Shaping. It shapes irregular or non-predictable traffic characteristics to facilitate bandwidth matching between upstream and downstream networks.

[0050] CIR: Committed Information Rate. The committed information rate refers to the rate at which information is transmitted under normal conditions on a specific virtual circuit pre-defined in the network. This rate is the average value at the minimum Tc (committed rate measurement time interval).

[0051] MTT: Maximum tolerance time.

[0052] SCU: System control unit.

[0053] MDR: Maximum delay rate.

[0054] The following is a brief summary of some of the innovative aspects of this application:

[0055] The inventors of this application, through long-term research, discovered that the most commonly used solution for network congestion and packet loss caused by high network traffic is QoS. For the problem of high real-time traffic in GNSS receiver data backhaul scenarios, the Traffic Shaping and Tokenization (GTS) scheme is typically used. GTS is a measure that actively adjusts the traffic output rate. Traffic shaping smooths out irregular upstream traffic peaks and valleys, making the traffic output more stable, thereby solving the congestion problem of downstream devices, but it increases packet latency. GTS technology uses a token bucket algorithm to measure traffic. It requires setting a Committed Information Rate (CIR) and placing tokens into the token bucket according to the set queue commitment rate: if there are enough tokens in the token bucket to send a message, the message is sent directly, and the number of tokens is reduced accordingly during message transmission. If there are not enough tokens in the token bucket, the message is placed in a buffer queue; if the buffer queue is full when a message is placed in it, the message is discarded. When there are packets in the buffer queue, the system retrieves packets from the buffer queue and sends them at regular intervals. Each time a packet is sent, it is compared with the number of tokens in the token bucket, until the number of tokens in the token bucket decreases to the point where no more packets in the buffer queue can be sent, or all packets in the buffer queue have been sent. This QoS-GTS scheme mainly has the following disadvantages.

[0056] First, due to the limited buffer size of the operator's transmission equipment, there is a problem of excessively short queue lengths, leading to dropped data packets. Furthermore, the centralized architecture, where all traffic scheduling and control are concentrated on a single device, means that if that device malfunctions, all previously scheduled traffic will be affected. Additionally, it cannot distinguish between different GNSS base stations; all GNSS base station data is randomly placed into the buffer queue, causing random and uncontrollable latency.

[0057] The inventors of this application have creatively proposed a data backhaul scheme for GNSS reference station satellite receivers to solve the problems of excessive instantaneous traffic from a large number of GNSS base stations, resulting in data packet loss or uncontrollable latency due to the GTS caching mechanism. Specifically, by deploying a scheduling system on the data center side, hardware performance limitations under traditional QoS methods can be circumvented through hardware expansion. Employing data center scheduling, with specific configurations written in the distributed architecture of the terminals, avoids the risk of single-device failures in centralized systems. The scheduling granularity of the scheduling system is fine-grained down to the individual receiver, ensuring that specific receivers are configured according to personalized requirements.

[0058] Specifically, embodiments of this application creatively provide a delay scheduling system that proactively increases the transmission latency of each GNSS receiver's network interface. Within the maximum acceptable latency range of the data received by the data center's processing system, the latency of all receivers is scheduled, ensuring a uniform distribution of data latency across all receivers within the maximum latency range. This reduces the instantaneous traffic from numerous base stations transmitting over carrier leased lines, thereby improving network quality. Simultaneously, by proactively controlling the transmission latency, the latency of specific receivers becomes controllable.

[0059] In one embodiment of this application, the system includes three modules: a receiver data delay monitoring module, a core processing and receiver delay scheduling module, and a loop execution module. The receiver data delay monitoring module is responsible for monitoring the data delay of all receivers and calculating the data delay when there is no network congestion. The core processing and receiver delay scheduling module is responsible for numbering all receivers, calculating the SCU (Scheduled Unit Cubic Time), allocating a scheduling delay to each receiver, and configuring the delay for each receiver based on the scheduling delay.

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0061] The first embodiment of this application relates to a method for data backhaul from a GNSS reference station satellite receiver, the process of which is as follows: Figure 1 As shown, its scheduling system module is as follows: Figure 2 As shown, the method includes the following steps:

[0062] Step 110: Monitor the data latency of multiple receivers at multiple base stations and obtain the minimum data latency of each receiver when there is no network congestion.

[0063] Furthermore, in a preferred embodiment, the minimum data delay is the minimum or average of the minimum data delays of each receiver.

[0064] Step 120: Based on the preset maximum delay tolerance time, maximum delay rate, minimum data delay of each receiver, and the number of receivers, obtain and configure the corresponding first scheduling delay for each receiver, so that the data return time after configuring the first scheduling delay for each receiver is different.

[0065] Preferably, the formula for calculating the scheduling delay for each receiver is as follows:

[0066] SCU=(MTT*MDR–t) / (n-1).

[0067] Tr = SCU*(r–1).

[0068] in,

[0069] SCU is the control time unit; MTT is the maximum delay tolerance time; MDR is the maximum delay rate; t is the minimum data delay; n is the number of receivers; Tr is the scheduling delay of the r-th receiver.

[0070] Rn: The total number of receivers in the GNSS receiver system is n;

[0071] The last data delivery time of the nth receiver is:

[0072] 0+Tn+t=SCU*(n-1)+t=(MTT*MDR-t) / (n-1)*(n-1)+t=MTT*MDR

[0073] Furthermore, in a preferred example, t is the data return delay of a single receiver when no congestion occurs;

[0074] Furthermore, in a preferred embodiment, the maximum latency rate is preset to an initial value of 100%.

[0075] Furthermore, in a preferred embodiment, the step of obtaining and configuring the corresponding first scheduling delay for each receiver, such that the data return times after configuring the first scheduling delay for each receiver are different, further includes:

[0076] Obtain and configure the corresponding first scheduling delay for each receiver, so that the data return time periods after configuring the first scheduling delay for each receiver do not overlap.

[0077] It should be noted that this application is not limited to this. In other preferred embodiments, the data return time periods after the first scheduling delay configured for each receiver may also partially overlap.

[0078] Step 130: Periodically reduce the maximum latency rate to obtain the current latency rate. Based on the preset maximum latency tolerance time, the current latency rate, the minimum data latency of each receiver, and the number of receivers, obtain and configure the corresponding second scheduling latency for each receiver until network congestion is triggered. Use the current latency rate before the most recent reduction as the steady-state latency rate to obtain the steady-state scheduling latency.

[0079] Furthermore, in a preferred embodiment, in the step of periodically lowering the maximum latency rate to obtain the current latency rate, the magnitude of each reduction in the maximum latency rate is one of 10%, 20%, 25%, or 30% of the preset initial value of the maximum latency rate.

[0080] In other words, it refers to two methods for reducing the maximum latency rate. One method is to reduce it based on a fixed value, with the reduction percentage being one of 10%, 20%, 25%, or 30% of the initial percentage.

[0081] The advantage of doing this is that the decline is gradual.

[0082] Furthermore, in a preferred embodiment, in the step of periodically lowering the maximum latency rate to obtain the current latency rate, the magnitude of each reduction in the maximum latency rate is 1 / 2, 1 / 3, 1 / 4, or 1 / 5 of the current latency rate.

[0083] In other words, the latency will be reduced by a fixed percentage, which is 1 / 2, 1 / 3, 1 / 4, or 1 / 5 of the current latency. For example, 1 / 2 1 / 4 1 / 8 1 / 16, or 1 / 3 1 / 9 1 / 27 1 / 81, or 1 / 4 1 / 16 1 / 64.

[0084] The advantage of doing this is that the descent is rapid, and the time to reach the optimal state is faster.

[0085] Furthermore, in the above example, the step of using the current latency rate before the most recent downgrade as the steady-state latency rate to obtain the steady-state scheduling delay further includes:

[0086] If the difference between the current latency rate when network congestion is triggered and the current latency rate before the most recent reduction exceeds a preset threshold, the current latency rate when network congestion is triggered will be gradually increased to the current latency rate before the most recent reduction until network congestion is no longer triggered. The increased current latency rate will then be used as the steady-state latency rate to obtain the steady-state scheduling delay.

[0087] Specifically, in the method of adjusting down by a ratio of 1 / 2 to 1 / 3, a threshold is set. For example, in the 1 / 2 method, if the threshold is set to 10%, then if congestion occurs at 1 / 4, then 1 / 2 - 1 / 4 = 0.25, which is higher than the threshold, and the value needs to be gradually increased back to 1 / 2. If congestion occurs at 1 / 16, then 1 / 8 - 1 / 16 = 0.0625, which is less than the threshold, and the previous value, 1 / 8, is taken as the steady state.

[0088] The advantage of doing this is that it can reach the optimal state more quickly and avoid the problem of large gaps.

[0089] It should be noted that, in this embodiment, as Figure 7As shown, the configuration of scheduling delay is a dynamic optimization process. In the initial stage, MDR is set to 100% to fully utilize the settlement system's tolerance for delay. After initial scheduling is completed, the receiver delay monitoring module will calculate the delay status of all receivers after initialization. If the scheduling has eliminated network congestion caused by the sudden event, the system will automatically reduce MDR by a%. The goal is to minimize the overall delay of all receivers while eliminating network congestion caused by the sudden event. After the scheduling delay is configured, the system will repeat the previous process, calculate the receiver delay status, and determine whether MDR can be further reduced by a% based on the results. This process is repeated until the transmission time of all receivers is close to the original transmission time and triggers a sudden network congestion. At this point, MDR will be restored to the configuration result of the most recent scheduling delay, and a steady state will be formed based on this most recent configuration result.

[0090] Table 1 shows the cyclical operation of the above scheduling delay configuration, where the MRD is reduced by 10%, which can be flexibly adjusted as needed.

[0091] Table 1:

[0092]

[0093] Preferably, when a new receiver is added to the system, the above steps are repeated, that is, the scheduling delay is recalculated and configured until a new steady state is formed.

[0094] Furthermore, such as Figure 8 As shown, the network architecture of this embodiment is as follows: a data backhaul network consisting of multiple large-scale receivers, base station routers and at least one data router uses a star-shaped distributed architecture, wherein each GNSS reference station uses a dedicated operator line, and a large number of reference stations are aggregated into a high-bandwidth dedicated operator line before entering the data center.

[0095] In the data backhaul network architecture, the receiver latency scheduling system is located within the data center. The scheduling commands that specifically affect the transmission latency take effect on each receiver. Furthermore, the distributed architecture of the data backhaul network ensures that each receiver does not interfere with the others.

[0096] Technical effects:

[0097] Within the maximum acceptable latency range of the data processing system, the latency of all receivers is scheduled to ensure a uniform distribution of data latency across all receivers within the maximum latency range. This reduces the instantaneous traffic from numerous base stations transmitting on carrier leased lines, improving network quality. Simultaneously, by actively controlling transmission latency, the latency of specific receivers becomes controllable. Furthermore, compared to a centralized approach, the embodiments of this application are distributed. This approach offers the advantage of risk diversification; a problem with one receiver will not affect the operation of other receivers, thus preventing data backhaul issues across all receivers. Moreover, the distributed network architecture allows for more accurate data backhaul and enables fine-tuning.

[0098] Further, see Figure 3-6 The diagram shows the original receiver data transmission and a comparison of the original receiver data transmission time and actual delay. It also shows the adjusted receiver data transmission and a comparison of the adjusted receiver data transmission time and actual delay in the embodiments of this application. It can be seen that this application can significantly reduce the instantaneous traffic of a large number of base stations when transmitting on operator leased lines and improve network quality.

[0099] Compared to GTS technology, the embodiments of this application can dynamically adjust and configure the scheduling delay in a cyclical manner, maximizing the utilization of the latency tolerance space of the solution system and eliminating dependence on the buffer size of the operator's transmission equipment, while optimizing and minimizing the overall receiver latency. Furthermore, for individual base stations with specific latency requirements, the embodiments of this application can configure the settings for that station individually to ensure controllable latency. Therefore, the embodiments of this application can significantly improve the data backhaul performance.

[0100] The second embodiment of this application relates to a GNSS reference station satellite receiver data return system, the structure of which is as follows: Figure 2 As shown, the GNSS reference station satellite receiver data return system includes:

[0101] The receiver data delay monitoring module is used to monitor the data delay of multiple receivers at multiple base stations and obtain the minimum data delay of each receiver when there is no network congestion.

[0102] The core processing and receiver delay scheduling module is used to obtain and configure the first scheduling delay for each receiver based on the preset maximum delay tolerance time, maximum delay rate, minimum data delay of each receiver and the number of the multiple receivers, so that the data return time of each receiver after configuring the first scheduling delay is different.

[0103] as well as,

[0104] The loop execution module is used to obtain the steady-state scheduling delay by using the current latency rate before the most recent reduction as the steady-state latency rate.

[0105] The first embodiment is a method embodiment corresponding to this embodiment. The technical details in the first embodiment can be applied to this embodiment, and the technical details in this embodiment can also be applied to the first embodiment.

[0106] It should be noted that those skilled in the art should understand that the functions of each module shown in the above-described implementation of the GNSS reference station satellite receiver data backhaul system can be understood with reference to the relevant description of the above-described GNSS reference station satellite receiver data backhaul method. The functions of each module shown in the above-described implementation of the GNSS reference station satellite receiver data backhaul system can be implemented by a program (executable instructions) running on a processor, or by specific logic circuits. If the above-described GNSS reference station satellite receiver data backhaul system is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any particular combination of hardware and software.

[0107] Accordingly, this application also provides a computer storage medium storing computer-executable instructions, which, when executed by a processor, implement the various method implementations of this application.

[0108] Furthermore, this application also provides a GNSS reference station satellite receiver data backhaul system, including a memory for storing computer-executable instructions and a processor; the processor is used to implement the steps in the above-described method embodiments when executing the computer-executable instructions in the memory. The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The aforementioned memory can be read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or solid-state drive, etc. The steps of the methods disclosed in the various embodiments of this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0109] It should be noted that in this patent application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. In this patent application, if it refers to performing an action according to an element, it means performing the action at least according to that element, including two cases: performing the action only according to that element, and performing the action according to that element and other elements. Expressions such as "multiple," "repeatedly," and "various" include two, two times, two kinds, and more than two, more than two times, and more than two kinds.

[0110] All documents mentioned in this application are considered to be incorporated in their entirety into the disclosure of this application so that they can serve as a basis for modifications if necessary. Furthermore, it should be understood that after reading the foregoing disclosure of this application, those skilled in the art can make various alterations or modifications to this application, and these equivalent forms also fall within the scope of protection claimed in this application.

Claims

1. A GNSS reference station satellite receiver data backhaul method, characterized in that, The method comprises the following steps: monitoring data delays of multiple receivers of multiple reference stations, and obtaining minimum data delays of the receivers when no network congestion occurs; obtaining and configuring first scheduling delays of the receivers according to a preset maximum delay tolerance time, a maximum delay rate, the minimum data delays of the receivers, and a number of the receivers, so that data return times of the receivers after the first scheduling delays are configured are different from each other; and periodically reducing the maximum delay rate to obtain a current delay rate, and obtaining and configuring second scheduling delays of the receivers according to the preset maximum delay tolerance time, the current delay rate, the minimum data delays of the receivers, and the number of the receivers, until network congestion is triggered, and using the current delay rate before the last reduction as a steady-state delay rate to obtain a steady-state scheduling delay; wherein a calculation formula of the first scheduling delay of each receiver is as follows: SCU = ( MTT * MDR – t ) / (n-1) Tr = SCU *( r – 1 ) wherein SCU is a control time unit, MTT is the maximum delay tolerance time, MDR is the maximum delay rate, t is the minimum data delay, n is the number of receivers, and Tr is the scheduling delay of the rth receiver.

2. The method of claim 1, wherein, The maximum delay rate is initially set as 100%.

3. The method of claim 2, wherein, In the step of periodically reducing the maximum delay rate to obtain the current delay rate, the maximum delay rate is reduced by one of 10%, 20%, 25%, and 30% of the initial value of the maximum delay rate each time.

4. The method of claim 2, wherein, In the step of periodically reducing the maximum delay rate to obtain the current delay rate, the maximum delay rate is reduced by 1 / 2, 1 / 3, 1 / 4, or 1 / 5 of the current delay rate each time.

5. The method of claim 1, wherein, In the step of obtaining the minimum data delays of the receivers when no network congestion occurs, the minimum data delays are the minimum value or the average value of the minimum data delays of the receivers.

6. The method of claim 1, wherein, In the step of obtaining and configuring the first scheduling delays of the receivers, so that the data return times of the receivers after the first scheduling delays are configured are different from each other, the step comprises the following steps: obtaining and configuring the first scheduling delays of the receivers, so that data return time periods of the receivers after the first scheduling delays are configured do not overlap.

7. The method of claim 1, wherein, In the step of using the current delay rate before the last reduction as the steady-state delay rate to obtain the steady-state scheduling delay, the step comprises the following steps: if a difference between the current delay rate when the network congestion is triggered and the current delay rate before the last reduction exceeds a preset threshold, gradually increasing the current delay rate from the current delay rate when the network congestion is triggered to the current delay rate before the last reduction until the network congestion is no longer triggered, and using the current delay rate after the increase as the steady-state delay rate to obtain the steady-state scheduling delay.

8. A GNSS reference station satellite receiver data backhaul system, characterized in that, The method comprises the following steps: a receiver data delay monitoring module for monitoring data delays of multiple receivers of multiple reference stations, and obtaining minimum data delays of the receivers when no network congestion occurs; The core processing and receiver delay scheduling module obtains a first scheduling delay corresponding to each receiver according to a preset maximum time delay tolerance, a maximum delay rate, a minimum data delay of each receiver, and a number of the multiple receivers, and configures the first scheduling delay so that data return time instants of each receiver after the first scheduling delay are different. And, The loop execution module periodically down-regulates the maximum delay rate to obtain a current delay rate, obtains a second scheduling delay corresponding to each receiver according to the preset maximum time delay tolerance, the current delay rate, the minimum data delay of each receiver, and the number of the multiple receivers, and configures the second scheduling delay until network congestion is triggered, and uses the current delay rate before the last time of down-regulation as a steady-state delay rate to obtain a steady-state scheduling delay. Wherein, a calculation formula of the first scheduling delay of each receiver is as follows: SCU = ( MTT * MDR – t ) / (n-1) Tr = SCU *( r – 1 ) Wherein, SCU is a regulation time unit, MTT is the maximum time delay tolerance, MDR is the maximum delay rate, t is the minimum data delay, n is the number of receivers, and Tr is the scheduling delay of the rth receiver.

9. A GNSS reference station satellite receiver data backhaul system, characterized in that, Comprise: A memory for storing computer executable instructions; And, A processor for implementing steps in the method of any one of claims 1 to 7 when executing the computer executable instructions.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions, and the computer executable instructions are executed by the processor to implement steps in the method of any one of claims 1 to 7.

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