Method, device, computer storage medium and terminal for implementing base station handover test

Abstract

The application discloses a method, device, computer storage medium and terminal for implementing base station switching test. According to the embodiment of the application, a carrier is simulated to run according to running track information, base station data based on track points is obtained from a server, receiver positioning results of receivers using different base stations are obtained by calculation, and real-time judgment is made on whether the receiver positioning is correct based on the receiver positioning results of the receivers using different base stations and reference coordinates of the receivers. The method can be applied to different carriers and different test environments, can expand the coverage of base station switching test, and can reduce the test cost of base station switching test.

Description

Technical Field

[0001] This application relates to, but is not limited to, satellite positioning technology, including a method, apparatus, computer storage medium, and terminal for conducting base station handover tests. Background Technology

[0002] Currently, there are five widely used global satellite navigation and positioning systems (GNSS): the US Global Positioning System (GPS), Russia's GLONASS, China's BeiDou Navigation Satellite System (BDS), the European Union's Galileo Navigation Satellite System, and Japan's Quasi-Zenith Satellite System (QZSS). GNSS systems offer high accuracy and global coverage, and are widely used in navigation, surveying and mapping, precision agriculture, intelligent robotics, autonomous driving, and unmanned aerial vehicles (UAVs). The main factors affecting satellite positioning accuracy are satellite orbit errors, clock errors, and atmospheric propagation errors. Satellite orbit errors and clock errors, calculated in real-time using broadcast ephemeris data, are generally on the order of meters; for example, GPS broadcast ephemeris accuracy is 1-2 meters, while GLONASS broadcast ephemeris accuracy is several meters. Atmospheric propagation errors mainly include ionospheric and tropospheric errors. At noon, ionospheric errors can reach tens of meters for low-elevation satellites; dual-frequency receivers can eliminate these errors using dual-frequency observations. Tropospheric delays can reach 10 meters for low-elevation satellites; tropospheric models can eliminate 90% of these errors. Even without corrections, high-performance dual-frequency receivers can achieve meter-level positioning accuracy.

[0003] For applications requiring centimeter-level positioning accuracy, such as surveying and mapping, precision agriculture, intelligent robots, autonomous driving, and drones, Real-time Differential Positioning (RTK) is primarily used for error processing. RTK is the most widely used high-precision satellite positioning technology. It utilizes the error correlation between observations from adjacent receivers to establish base stations at known locations. By using single-difference between the base station and the mobile station, satellite clock errors are completely eliminated, and satellite orbit errors, ionospheric errors, and tropospheric errors are also significantly reduced. If the distance between two stations is less than 10 kilometers, the residual after single-difference is only at the centimeter level, allowing RTK to provide centimeter-level relative positioning accuracy. RTK uses the error correlation between the base station and the mobile station to eliminate positioning errors. The correlation of these errors weakens as the distance between the base station and the mobile station increases; the closer the base station and the mobile station are, the stronger the error correlation, and the farther the distance, the weaker the correlation. When the distance between the base station and the mobile station exceeds a certain distance, such as 30 kilometers, the atmospheric residual reaches the decimeter level, making it difficult to fix the double-difference ambiguity, thus making centimeter-level positioning impossible. To meet the needs of large-scale, high-precision applications such as precision agriculture, autonomous driving, and drones, multiple physical base stations are typically required to form a base station network. Alternatively, virtual reference station (VRPS) technology can be used. This technology utilizes observation data from multiple physical base stations to divide the coverage area of ​​the physical base stations into more grids. Virtual base station data is generated at the center point of each grid, providing the mobile station with the virtual base station data for its assigned grid. Network RTK can generate more virtual base station data than physical base stations, further shortening the distance between base stations and mobile stations, and is currently the most common approach in multi-base station systems. In a multi-base station system, the server sends data from the nearest base station to the mobile station based on its location, allowing the mobile station to establish a shorter baseline.

[0004] Several domestic companies have established base station networks nationwide. Servers select appropriate base station data for mobile stations based on the coordinates uploaded by the mobile stations. Some of these base station networks use a physical base station mode to provide mobile stations with the nearest physical base station data, with the physical station service area typically circular. Others use a network RTK mode, providing mobile stations with virtual base station data for their respective polygonal grids (mostly quadrilaterals). Regardless of the mode, for large-scale dynamic applications such as drones, autonomous driving, and precision agriculture, base station handover is unavoidable during travel or flight. During base station handover, both base station coordinates and observations change, as does the RTK double-difference ambiguity between the base station and the mobile station. Ambiguity needs to be re-fixed to obtain centimeter-level high-precision service, which takes time. Technicians in related fields have proposed methods to accelerate ambiguity fixing during base station handover. During base station handover, base station coordinates, unique base station identifiers (IDs, used to distinguish each base station, with each ID different from surrounding base stations), and the ambiguity of base station observations all change. Therefore, base station handover is a complex and critical aspect of multi-base station systems or network RTK systems, attracting significant attention. For example, during base station handover, it's crucial to check if the message order for sending base station coordinates and observations is correct, whether the system-broadcast observations and base station coordinates correspond, whether the new base station's observations and coordinates are normal, whether the base station ID changes, whether the base station coordinate framework is consistent before and after handover, and whether the mobile station's coordinates jump after handover. Multi-base station systems or network RTK system service providers often invest significant resources in testing and verifying the normality of the base station handover process. Taking network RTK services as an example, network RTK typically utilizes physical base station data to divide the coverage area into more grids, usually quadrilaterals, such as 5 km * 5 km or 10 km * 10 km grids. A virtual base station data is generated based on the center coordinates of each grid. The server sends the corresponding virtual base station data to the mobile station based on the grid it is located in. If the operating area of ​​a drone or agricultural machinery happens to be at the boundary of multiple grids, multiple grid handovers will occur during a single operation. Figure 1 This is a schematic diagram of grid switching in related technologies, such as... Figure 1As shown, G1, G2, G3, and G4 represent virtual base station grids, and R represents a drone. During a single operation, drone R traverses multiple virtual base station grids, including G4, G3, G1, and G2. The base station data sent by the server to R also switches between these grids multiple times. The entire operation requires five base station switches: G4->G3, G3->G1, G1->G4, G4->G2, and G2->G1. Each base station switch necessitates a re-initialization of the RTK. During this re-initialization, the RTCM information sent by the server, including the base station ID, base station coordinates, and base station observations, must correspond perfectly. These three elements are sent via different RTCM messages, and the order, frequency, or correspondence of these messages will affect the RTK initialization time and reliability of the rover. Furthermore, the consistency of the base station coordinates before and after the switch also affects the consistency of the rover's calculated position. Therefore, base station switching is the period when the rover is most prone to positioning anomalies, and also the period when drones and intelligent agricultural machinery are most likely to deviate from their planned routes.

[0005] Base station handover testing is a key aspect of network RTK or multi-base station RTK service testing. Currently, related technologies primarily employ vehicle-mounted receiver dynamic testing to verify the base station handover functionality of network RTK (or multi-base station RTK) service systems. During extensive vehicle travel, the receiver passes through the service areas of multiple virtual or physical base stations, collecting base station handover data. However, this method has several limitations. First, with vehicles traveling on roads and grids divided at specific distances, it's difficult to test the phenomenon of drones frequently switching base stations at grid boundaries. Even with extensive vehicle travel testing, the number of base station handovers is limited, resulting in limited test coverage. Second, obtaining the correct receiver coordinates before and after base station handovers is difficult in dynamic testing. Therefore, it's hard to determine whether the receiver's positioning is normal before and after a handover, and whether there has been a change in positioning during a handover. Finally, each dynamic test requires traveling a considerable distance to collect data from multiple base station handovers, leading to high testing costs. Furthermore, vehicle-mounted dynamic testing struggles to simulate real-world application scenarios, such as the different dynamics and activity ranges of pedestrians and drones.

[0006] In summary, how to achieve a widely applicable base station handover test remains an unresolved issue. Summary of the Invention

[0007] The following is an overview of the subject matter described in detail in this application. This overview is not intended to limit the scope of the claims.

[0008] This disclosure provides a method, apparatus, computer storage medium, and terminal for conducting base station handover tests, which can achieve highly applicable base station handover tests.

[0009] This disclosure provides a method for implementing base station handover testing, including:

[0010] Send predetermined trajectory information containing two or more running coordinates to the real-time differential positioning (RTK) server. The trajectory information includes the running trajectory determined with the coordinates of the test static antenna as the reference coordinates.

[0011] Obtain RTK service data from the RTK server showing base station switching during the carrier's operation according to its trajectory information;

[0012] Send the acquired RTK service data to the receiver used for base station handover testing, and obtain the receiver positioning results calculated by the receiver based on the RTK service data using different base stations;

[0013] The results of the base station handover test were determined by obtaining the receiver positioning results and reference coordinates from different base stations.

[0014] The static antenna is a pre-set antenna that remains stationary and is connected to the receiver used for base station handover testing.

[0015] On the other hand, this disclosure also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described method for implementing base station handover testing.

[0016] Furthermore, embodiments of this disclosure also provide a terminal, including: a memory and a processor, wherein the memory stores a computer program; wherein,

[0017] The processor is configured to execute computer programs in memory;

[0018] When the computer program is executed by the processor, it implements the method for base station handover testing as described above.

[0019] Furthermore, this disclosure also provides an apparatus for implementing base station handover testing, comprising: a unit for transmitting operating trajectory, a unit for acquiring service data, a unit for acquiring positioning results, and a unit for determining test results; wherein,

[0020] The unit for sending the running trajectory is configured to send pre-determined running trajectory information containing two or more running coordinates to the RTK server. The running trajectory information includes the running trajectory determined with the coordinates of the test antenna as the reference coordinates.

[0021] The service data acquisition unit is configured to: acquire RTK service data of base station switching during the operation of the carrier according to the running trajectory information from the RTK server;

[0022] The unit for obtaining positioning results is configured to: send the acquired RTK service data to the receiver used for base station handover testing, and obtain the receiver positioning results calculated by the receiver based on the RTK service data using different base stations;

[0023] The test result determination unit is set as follows: the result of the base station handover test is determined by obtaining the positioning results and reference coordinates of the receivers using different base stations;

[0024] The static antenna is a pre-set antenna that remains stationary and is connected to the receiver used for base station handover testing.

[0025] This embodiment of the invention simulates the operation of a carrier based on its trajectory information, obtains base station data based on trajectory points from a server, and obtains receiver positioning results calculated by the receiver using different base stations. Based on the receiver positioning results using different base stations and the receiver's reference coordinates, it makes a real-time judgment on whether the receiver positioning is correct. This method can be applied to different carriers and different test environments, expanding the coverage of base station handover tests while reducing the test cost of base station handover tests.

[0026] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0027] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0028] Figure 1 This is a schematic diagram of grid switching in related technologies;

[0029] Figure 2 This is a flowchart illustrating a method for implementing base station handover testing according to an embodiment of the present disclosure;

[0030] Figure 3 This is a schematic diagram of the running trajectory of Embodiment 1 of this disclosure;

[0031] Figure 4 This is a schematic diagram of another running trajectory according to an embodiment of this disclosure. Detailed Implementation

[0032] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0033] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0034] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0035] Figure 2 This is a flowchart illustrating a method for implementing base station handover testing according to an embodiment of this disclosure, as follows: Figure 2 As shown, it includes:

[0036] Step 201: Send the pre-determined trajectory information containing two or more running coordinates to the real-time differential positioning (RTK) server. The trajectory information includes the running trajectory determined with the coordinates of the test antenna as the reference coordinates.

[0037] Step 202: Obtain RTK service data of base station switching during carrier operation according to the running trajectory information from the RTK server;

[0038] Step 203: Send the acquired RTK service data to the receiver used for base station handover testing, and obtain the receiver positioning results calculated by the receiver based on the RTK service data using different base stations; here, the receiver is the device that needs to be located, and different base stations can be used for positioning.

[0039] Step 204: Determine the results of the base station handover test by using the obtained receiver positioning results and reference coordinates from different base stations;

[0040] Among them, the static antenna is a pre-set antenna that remains stationary and is connected to the receiver used for base station handover testing.

[0041] This embodiment of the invention simulates the operation of a carrier based on its trajectory information to obtain receiver positioning results calculated by the receiver using different base stations. Based on the receiver positioning results and the receiver's reference coordinates, it makes a real-time judgment on whether the receiver positioning is correct. This method is applicable to different carriers and different test environments, expanding the coverage of base station handover tests while reducing the test cost of base station handover tests.

[0042] In one exemplary instance, the trajectory of the trajectory information in this embodiment of the disclosure spans multiple network RTK grids.

[0043] In one exemplary instance, the static antenna in this disclosure can be a satellite navigation and positioning system (GNSS) antenna, and the operating trajectory is generally designed with the coordinates of the antenna as the center, which can maximize the range of base station handover testing.

[0044] In one exemplary embodiment, the RTK server in this disclosure includes a network RTK server or a multi-base station RTK server.

[0045] In this embodiment of the disclosure, the receiver used for base station handover testing is connected to a static antenna that remains stationary. Therefore, the receiver is static, and in this embodiment of the disclosure, the receiver can be understood as a static receiver. After the static antenna is connected to the receiver, the coordinates of the static antenna are the coordinates of the static receiver.

[0046] In one exemplary embodiment, the coordinates of the static antenna in this disclosure can be determined by referring to existing methods in the related art; for example, by receiving differential data from the RTK service under test through a receiver to perform long-term static RTK positioning, and averaging to obtain a high-precision positioning coordinate; or by collecting long-term static data and processing it through RTK calculation to obtain the coordinates of the static antenna; both of the above methods can obtain coordinates with millimeter-level accuracy, which can be used to evaluate the RTK positioning accuracy during base station handover testing.

[0047] In one exemplary instance, the processing of the method for implementing base station handover testing described above can be performed by software having the above-described functions.

[0048] In one exemplary instance, the trajectory information in this disclosure embodiment can be saved as a coordinate file for transmission; depending on the base station handover test scenario, the coordinate file can be adjusted or regenerated.

[0049] In one exemplary instance, the motion trajectory information in this embodiment of the disclosure forms a running trajectory that spans more than one virtual base station grid.

[0050] Based on the purpose of base station handover design, the embodiments of this disclosure can be configured to allow the movement trajectory information to cross more than one virtual base station grid; depending on the content to be tested, movement trajectory information that enables multiple base station handovers can be configured, and it can be applied to any base station handover test.

[0051] In one exemplary instance, the distance between one or more operating coordinates in this disclosure embodiment and the intersection of the service areas of two or more base stations is less than a preset intersection distance threshold.

[0052] In one exemplary instance, this disclosure embodiment determines the junction of the service areas of two or more base stations in a network RTK or multi-base station RTK based on the grid distribution of the base station handover test. The junction is a line, and crossing it means entering the next base station service area. By designing the running coordinates on the movement trajectory to be located near the junction, the frequency of base station handover can be increased, thereby increasing the coverage of the base station handover test.

[0053] In one exemplary instance, the distance between the running coordinates and the reference coordinates included in the motion trajectory information in this embodiment of the disclosure is less than a preset distance threshold.

[0054] In one exemplary instance, the distance threshold in this disclosure embodiment may be less than or equal to 30 kilometers. This disclosure embodiment ensures that all operating coordinates are no more than 30 kilometers away from the aforementioned reference coordinates (coordinates of the static antenna) to guarantee that RTK service data obtained from any operating coordinate on the operating trajectory is suitable for the receiver used for testing.

[0055] In one exemplary instance, this disclosure embodiment obtains RTK service data of base station handover during carrier operation according to the operating trajectory information from an RTK server, including:

[0056] The approximate position of the carrier during operation is determined based on a pre-determined carrier operating speed and the operating trajectory.

[0057] Obtain base station data corresponding to a determined approximate location from the RTK server.

[0058] In one exemplary instance, the approximate coordinates of this disclosure embodiment can be determined in seconds.

[0059] In this embodiment of the disclosure, the approximate location of the carrier is determined based on the trajectory information and the carrier's operating speed information. Referring to related technologies, in network RTK services, the RTK server determines the base station data corresponding to the approximate location based on the approximate location.

[0060] In one exemplary instance, embodiments of this disclosure determine the results of a base station handover test, including:

[0061] Based on the consistency between the positioning results of receivers using different base stations and the reference coordinates, it is determined whether a jump occurred during base station handover.

[0062] In one exemplary instance, determining whether a jump has occurred during base station handover in this disclosure includes:

[0063] If the absolute value of the difference between the receiver positioning result and the reference coordinates is greater than or equal to a preset difference threshold, it is determined that the positioning is abnormal during base station handover.

[0064] When a location anomaly is detected during base station handover, the time of the location anomaly is recorded, and the unique identifier (ID) of the base station used for receiver positioning is determined.

[0065] In one exemplary instance, determining whether a jump has occurred during base station handover in this disclosure includes:

[0066] If the absolute value of the difference between the receiver positioning result and the reference coordinates is less than a preset difference threshold, it is determined that the positioning is normal during base station handover.

[0067] In this embodiment of the invention, when the absolute value of the difference between the receiver positioning result and the reference coordinates is less than a preset difference threshold, the positioning results of receivers from different base stations are consistent with the reference coordinates, indicating normal base station handover. The consistency between the receiver's positioning coordinates and known coordinates during base station handover is tested, achieving the purpose of testing the base station handover function of the network RTK (or multi-base station RTK) service.

[0068] The difference threshold in this embodiment can be set by those skilled in the art based on experience; for example, the difference threshold can be set to 10 centimeters.

[0069] This disclosure also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described method for conducting base station handover tests.

[0070] This disclosure also provides a terminal, including: a memory and a processor, wherein the memory stores a computer program;

[0071] in,

[0072] The processor is configured to execute computer programs in memory;

[0073] When a computer program is executed by a processor, it implements the method described above for conducting base station handover tests.

[0074] This disclosure also provides an apparatus for implementing base station handover testing, comprising: a unit for transmitting operating trajectory, a unit for acquiring service data, a unit for acquiring positioning results, and a unit for determining test results; wherein,

[0075] The unit for sending the running trajectory is configured to send pre-determined running trajectory information containing two or more running coordinates to the RTK server. The running trajectory information includes the running trajectory determined with the coordinates of the test antenna as the reference coordinates.

[0076] The service data acquisition unit is configured to: acquire RTK service data of base station switching during the operation of the carrier according to the running trajectory information from the RTK server;

[0077] The unit for obtaining positioning results is configured to: send the acquired RTK service data to the receiver used for base station handover testing, and obtain the receiver positioning results calculated by the receiver based on the RTK service data using different base stations;

[0078] The test result determination unit is set as follows: the result of the base station handover test is determined by obtaining the positioning results and reference coordinates of the receivers using different base stations;

[0079] Among them, the static antenna is a pre-set antenna that remains stationary and is connected to the receiver used for base station handover testing.

[0080] This embodiment of the invention simulates the operation of a carrier based on its trajectory information to obtain receiver positioning results calculated by the receiver using different base stations. Based on the receiver positioning results and the receiver's reference coordinates, it makes a real-time judgment on whether the receiver positioning is correct. This method is applicable to different carriers and different test environments, expanding the coverage of base station handover tests while reducing the test cost of base station handover tests.

[0081] In this embodiment of the disclosure, the receiver used for base station handover testing is connected to a static antenna that remains stationary. Therefore, the receiver is static, and in this embodiment of the disclosure, the receiver can be understood as a static receiver. After the static antenna is connected to the receiver, the coordinates of the static antenna are the coordinates of the static receiver.

[0082] In one exemplary embodiment, the RTK server in this disclosure includes a network RTK server or a multi-base station RTK server.

[0083] In one exemplary embodiment, the motion trajectory information in this disclosure forms a running trajectory that spans more than one virtual base station grid.

[0084] In one exemplary instance, the distance between the running coordinates and the reference coordinates included in the motion trajectory information in this embodiment of the disclosure is less than a preset distance threshold.

[0085] In one exemplary instance, the distance threshold in this disclosure may be less than or equal to 30 kilometers.

[0086] In one exemplary instance, the service data acquisition unit of this disclosure embodiment is configured as follows:

[0087] The approximate position of the carrier during operation is determined based on a pre-determined carrier operating speed and the operating trajectory.

[0088] Obtain base station data corresponding to a determined approximate location from the RTK server.

[0089] In one exemplary instance, the approximate coordinates of this disclosure embodiment can be determined in seconds.

[0090] In this embodiment of the disclosure, the approximate location of the carrier is determined based on the trajectory information and the carrier's operating speed information. Referring to related technologies, in network RTK services, the RTK server determines the base station data corresponding to the approximate location based on the approximate location.

[0091] In one exemplary instance, the test result determination unit of this disclosure is configured as follows:

[0092] Based on the consistency between the positioning results of receivers using different base stations and the reference coordinates, it is determined whether a jump occurred during base station handover.

[0093] In one exemplary instance, the test result determination unit of this disclosure is configured to determine whether a jump has occurred during base station handover, including:

[0094] If the absolute value of the difference between the receiver positioning result of different base stations and the reference coordinates is greater than or equal to a preset difference threshold, it is determined that the positioning is abnormal during base station handover.

[0095] When a location anomaly is detected during base station handover, the time of the location anomaly is recorded, and the unique identifier (ID) of the base station used for receiver positioning is determined.

[0096] The test aims to verify the consistency between the receiver's positioning coordinates and known coordinates during base station handover, thereby testing the base station handover function of the network RTK (or multi-base station RTK) service.

[0097] The difference threshold in this embodiment can be set by those skilled in the art based on experience; for example, the difference threshold can be set to 10 centimeters.

[0098] The following application examples briefly illustrate the embodiments of this disclosure. These application examples are only used to illustrate the embodiments of this disclosure and are not intended to limit the scope of protection of the embodiments of this disclosure.

[0099] This disclosure proposes a method using a receiver with a known location to obtain RTK service data for base station handover in various scenarios by sending pre-set trajectory information to an RTK server. The RTK service data is then sent to the receiver with the known location, where RTK calculations are performed. The base station positioning result calculated by the receiver is compared with the known location (coordinates of the GNSS antenna) to determine whether coordinate jumps occur during base station handover and the service accuracy corresponding to each base station, thus realizing the testing of base station handover positioning performance. This disclosure can simulate carriers with different dynamics and different trajectories, expanding the coverage of base station handover testing while reducing testing costs. Compared to vehicle-mounted dynamic testing, it has a wider testing coverage. This disclosure can simulate various base station handover scenarios, such as frequent grid switching along grid boundaries and base station handover scenarios crossing boundaries at various speeds. Because the receiver is set at a known coordinate point, real-time judgment of receiver positioning accuracy can be performed. Base station handover testing can be unattended, enabling long-term uninterrupted testing at low cost.

[0100] The following is a brief description of the base station handover test process in the embodiments of this disclosure:

[0101] This embodiment of the disclosure allows a GNSS antenna to be erected in an open location. The GNSS antenna remains stationary during testing, serving as a static antenna. After the static antenna is connected to a receiver (which can be a GNSS receiver) for testing via a cable, the coordinates of the GNSS antenna are determined.

[0102] Using the coordinates of the GNSS antenna as reference coordinates (e.g., as the center coordinates of the trajectory), and following a pre-set motion trajectory, trajectory information containing two or more coordinates is obtained. The trajectory information can be saved as a coordinate file to simulate different high-precision operation scenarios utilizing RTK services (network RTK or multi-base station RTK): such as handheld surveying and mapping receivers, agricultural drones, agricultural machinery for tilling or harvesting, high-precision map collection vehicles, intelligent robots, and unmanned delivery vehicles.

[0103] Figure 3 This is a schematic diagram of the running trajectory of Embodiment 1 of this disclosure, as shown below. Figure 2 As shown, R is the known center coordinate (reference coordinate), G1, G2, G3 and G4 are virtual base station grids, and S is the coordinate point of the starting point of the movement to determine the running trajectory information. When the movement data of the simulated carrier is a drone, assuming that the drone is performing pesticide spraying, the embodiments of this disclosure can realize the scenario simulation of drone spraying pesticides.

[0104] In this embodiment, the running coordinates in the above-mentioned running trajectory information can be read per second, for example, one running coordinate is read from the running trajectory information according to the preset running speed of the carrier every second, and uploaded to the RTK server; the base station data corresponding to the running coordinates is obtained from the RTK server (based on the running coordinates, the approximate position of the carrier running according to the running trajectory is determined, and the base station data corresponding to the approximate position is obtained), and sent to the receiver. The receiver performs positioning calculation based on the base station data to obtain the RTK positioning result (the positioning result of the receiver of different base stations is used).

[0105] Figure 4 This is a schematic diagram of another running trajectory according to an embodiment of this disclosure, such as... Figure 4 As shown, R is a known coordinate point (reference coordinate), and the trajectory starting from S simulates the flight trajectory of a drone based on large-scale, high-precision map data. This trajectory crosses more than one virtual base station grid (the more times it switches and the more grids it crosses, the more thorough the test), allowing for multiple base station handover tests and improving efficiency. This type of trajectory provides a large test coverage area and a high number of base station handovers, enabling the verification of services from many base stations and handovers between multiple base stations in a single test.

[0106] This embodiment simulates a carrier moving along a certain trajectory at a simulated speed, acquiring the carrier's approximate position every second and uploading it to an RTK server (network RTK server or multi-base station RTK server). It then obtains base station data corresponding to this approximate position and sends it to a receiver for RTK calculation. The receiver's real-time positioning results using different base stations are compared with the reference coordinates. If the difference exceeds a certain threshold (e.g., 10cm), the positioning is considered abnormal. This embodiment records the abnormal time point and base station ID. This embodiment can also record all base station data obtained from the RTK server and the receiver's positioning results using different base stations for post-processing analysis. This embodiment can simulate different carrier movement speeds, such as walking surveying speed of 1m / s, agricultural machinery speed of 10m / s, and drone speed of 30m / s; it can perform continuous testing 24 / 7. After the simulation of one trajectory is completed, the next trajectory can be tested, or the test can be repeated. For a single operational trajectory, the test results of a base station handover test can include: whether the received and output coordinates change during the entire test process, and whether there are periods when the coordinates output by the receiver cannot be fixed for a long time. If the coordinates change, it may be that the coordinate frame changes during base station handover; if they cannot be fixed for a long time, it is necessary to check the correspondence between the observed values ​​and the base station coordinates during base station handover.

[0107] This embodiment of the disclosure sets up a GNSS receiver at a known coordinate point, simulates the motion trajectory of various carriers through software, obtains data from multiple base stations running along the trajectory information from the RTK server, and sends it to the receiver. The test compares the consistency between the receiver positioning results of different base stations and the reference coordinates during base station handover, thereby achieving the purpose of testing the base station handover function of network RTK or multi-base station RTK services. This saves testing costs and time and increases the testing coverage.

[0108] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A method for conducting base station handover testing, characterized in that, include: Send predetermined trajectory information containing two or more running coordinates to the real-time differential positioning (RTK) server. The trajectory information includes the running trajectory determined with the coordinates of the test static antenna as the reference coordinates. Obtain RTK service data from the RTK server showing base station switching during the carrier's operation according to its trajectory information; Send the acquired RTK service data to the receiver used for base station handover testing, and obtain the receiver positioning results calculated by the receiver based on the RTK service data using different base stations; The results of the base station handover test were determined by obtaining the receiver positioning results and reference coordinates from different base stations. The static antenna is a pre-set antenna that remains stationary and is connected to the receiver used for base station handover testing.

2. The method according to claim 1, characterized in that, The trajectory formed by the trajectory information spans more than one virtual base station grid.

3. The method according to claim 1, characterized in that, The distance between one or more of the aforementioned operating coordinates and the intersection of the service areas of two or more base stations is less than a preset intersection distance threshold.

4. The method according to claim 1, characterized in that, The distance between the running coordinates contained in the running trajectory information and the reference coordinates is less than a preset distance threshold.

5. The method according to claim 1, characterized in that, The step of obtaining RTK service data from the RTK server regarding base station switching during carrier operation according to the operating trajectory information includes: Determine the approximate position of the carrier as it travels along the predetermined trajectory at a pre-determined carrier speed; The base station data corresponding to the determined approximate location is obtained from the RTK server.

6. The method according to any one of claims 1 to 5, characterized in that, The determination of the base station handover test results includes: Based on the consistency between the receiver positioning results from different base stations and the reference coordinates, it is determined whether a jump occurred during base station handover.

7. The method according to claim 6, characterized in that, Determining whether a jump occurs during base station handover includes: When the absolute value of the difference between the positioning results of receivers from different base stations and the reference coordinates is greater than or equal to a preset difference threshold, it is determined that the positioning is abnormal during base station handover. When a location anomaly is detected during base station handover, the location anomaly time is recorded, and the unique identifier ID of the base station used for receiver positioning is determined.

8. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for implementing base station handover testing as described in any one of claims 1 to 7.

9. A terminal, comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When the computer program is executed by the processor, it implements the method for conducting base station handover testing as described in any one of claims 1 to 7.

10. An apparatus for performing base station handover testing, comprising: The system includes a unit for sending the running trajectory, a unit for acquiring service data, a unit for acquiring positioning results, and a unit for determining test results; among these, The unit for sending the running trajectory is configured to send pre-determined running trajectory information containing two or more running coordinates to the RTK server. The running trajectory information includes the running trajectory determined with the coordinates of the test static antenna as the reference coordinates. The service data acquisition unit is configured to: acquire RTK service data of base station switching during the operation of the carrier according to the running trajectory information from the RTK server; The unit for obtaining positioning results is configured to: send the acquired RTK service data to the receiver used for base station handover testing, and obtain the receiver positioning results calculated by the receiver based on the RTK service data using different base stations; The test result determination unit is set as follows: the result of the base station handover test is determined by obtaining the positioning results and reference coordinates of the receivers using different base stations; The static antenna is a pre-set antenna that remains stationary and is connected to the receiver used for base station handover testing.

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