Beidou data transmission method based on LoRa data protocol, medium and equipment

Abstract

The invention relates to the technical field of Beidou data transmission, in particular to a Beidou data transmission method based on a LoRa data protocol, and the method comprises the steps: receiving t-th epoch Beidou data outputted by a Beidou module through a monitoring station, and decoding the t-th epoch Beidou data to obtain the obs observation data of the t-th epoch; removing irrelevant data of the t-th epoch to obtain a t-epoch obs observation value table of the monitoring station, and packaging and compressing the t-epoch obs observation value table to obtain compressed RTCM protocol data; transmitting the compressed RTCM protocol data to a base station by using the MCU of the monitoring station; splicing and decoding the data packets to obtain a t epoch obs observation value table of the base station; and performing rtk calculation according to the t epoch obs observation value table of the base station and the t epoch obs observation value table of the monitoring station, and transmitting a calculation result to a server to complete transmission of the t-th epoch Beidou data. According to the invention, the Huffman algorithm is adopted to compress the Beidou data, and a user-defined subpackage data protocol is adopted, so that the dependence on an external network is reduced, and the survival rate of equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of Beidou data transmission, and in particular to a Beidou data transmission method based on LoRa data protocol. Background Art

[0002] Landslides and other geological disasters are characterized by small areas and strong suddenness. The places where geological disasters occur are usually covered with vegetation and have poor network coverage, which is not conducive to the deployment of on-site monitoring equipment and remote data transmission. At present, conventional geological disaster monitoring mainly uses GPRS for data transmission, and the mobile network GPRS has signal dead zones and instability in environments with large altitude differences and complex terrain. Especially when multiple monitoring points are deployed at a disaster site, each monitoring point will upload the collected monitoring data to the remote service platform. Therefore, the stability of the network is required to be high. Many monitoring points have equipment offline due to data transmission failures, affecting the monitoring of geological disasters.

[0003] At present, when using Beidou for geological disaster monitoring, Beidou data is usually transmitted through the following methods:

[0004] 1. Mobile network (GPRS / 3G / 4G / 5G):

[0005] Data transmission is carried out with the help of mobile communication networks. This is a common and convenient method at present. It has a fast transmission speed and can transmit a large amount of monitoring data in real time. However, in some mountainous areas or areas with poor signal coverage, the signal may be unstable.

[0006] For example, at a geological disaster monitoring point in a mountainous area, the 4G network signal was weak, resulting in some data transmission delays, but by optimizing the equipment's antenna and signal enhancement device, the stability of data transmission was improved.

[0007] 2. Wireless RF communication:

[0008] Such as Wi-Fi and radio short-range wireless communication technology. It is suitable for situations where the monitoring point is close to the nearby data receiving station. For example, in a small geological disaster monitoring area, multiple monitoring devices form a local area network through the WIFI network to transmit data to nearby receiving terminals.

[0009] 3. Wired communication: Ethernet, optical fiber, etc. are used for transmission. This method has stable transmission and fast speed, but is limited by wiring conditions. It is generally suitable for scenarios where the distance between the monitoring point and the data center is close and the wiring is convenient.

[0010] 4. Satellite Communications:

[0011] Use satellites as relay stations for data transmission. For example, the monitoring data is sent to the designated receiving end through the short message function of Beidou satellites. This method is suitable for remote areas or places with weak communication infrastructure, but the transmission rate is relatively low and the data capacity is limited.

[0012] The most commonly used method for Beidou data transmission is GPRS network transmission, but in some mountainous areas or areas with poor signal coverage, unstable signals may occur; using WIFI and radio for data transmission has large distance restrictions on the one hand, and high power consumption on the other hand, which is not suitable for outdoor scenarios. Summary of the invention

[0013] The object of the present invention is to provide a Beidou data transmission method based on the LoRa data protocol, which can reduce dependence on external networks and improve device survival rate. The specific technical scheme is as follows:

[0014] The present invention provides a Beidou data transmission method based on the LoRa data protocol, comprising the following steps:

[0015] S1: Use the monitoring station to receive the BeiDou data of the tth epoch output by the BeiDou module, and decode it to obtain the obs observation data of the tth epoch;

[0016] S2: remove irrelevant data in the obs observation data of the t-th epoch to obtain the obs observation value table of the t-th epoch of the monitoring station, and pack and compress the obs observation data of the t-th epoch to obtain the compressed RTCM protocol data;

[0017] S3: Use the MCU in the monitoring station to transmit the compressed RTCM protocol data to the base station, specifically:

[0018] S3.1. Packetize the compressed RTCM protocol data according to the set data protocol to obtain multiple data packets;

[0019] S3.2, using the monitoring station MCU to transmit each data packet to the LoRa module, and then transmitting the data packet to the base station through the LoRa module;

[0020] S4: using the reference station to splice and decode each data packet according to the set data protocol to obtain the obs observation value table of the reference station at epoch t;

[0021] S5: Perform RTK calculation based on the obs observation value table of the reference station at the t epoch and the obs observation value table of the monitoring station at the t epoch, and transmit the calculation result to the server through 4G or Beidou short message module to complete the transmission of Beidou data of the t epoch.

[0022] Optionally, the S2 includes:

[0023] S2.1 removes satellite data with cycle slips, data with incomplete satellite observation values, Galileo satellite data and GLONASS satellite data from the obs observation data, and saves the L1, L2, B1 and B2 band observation values ​​of the remaining Beidou satellites and GPS satellites to obtain the obs observation value table of the monitoring station t epoch;

[0024] S2.2, calculate the increment of the obs observation data of the tth epoch compared with the data in the obs observation value table of the previous epoch to obtain the obs incremental observation data of the tth epoch;

[0025] S2.3. The obs incremental observation data of the t-th epoch are packaged to obtain RTCM protocol data, and Huffman coding is used to compress the data to obtain compressed RTCM protocol data.

[0026] Optionally, the specific calculation formula for the obs incremental observation data of the t-th epoch in S2.2 is as follows:

[0027]

[0028] Where: i is the satellite number, j is the band number of a certain satellite; is the j-band observation value of satellite i at the t-th epoch, is the j-band observation value of satellite i at the t-1 epoch; is the j-band obs incremental observation data of satellite i at the t-th epoch; when there is no data in the obs observation value table of the t-1 epoch,

[0029] Optionally, the setting data protocol of S3.1 includes a start character, a total length of RTCM data, an accelerometer, an angle, a sub-data packet sequence number, a sub-data packet length, a device ID, data and a terminator in sequence.

[0030] Optionally, in S3.1, when performing data packetization, a sliding window algorithm is used to calculate whether the acceleration data of each data packet is displaced, specifically:

[0031] Divide the acceleration data and the angle data into multiple sliding windows according to the data transmission interval;

[0032] The average values ​​of the acceleration data and the angle data in each window are calculated respectively. If the average value of the acceleration data in n consecutive windows is greater than the first set threshold, or the average value of the angle data in n consecutive windows is greater than the second set threshold, it is determined that displacement has occurred, and the accelerometer identifier and the angle identifier in the data protocol of the corresponding data packet are set to 1; otherwise, it is determined that no displacement has occurred, and the accelerometer identifier and the angle identifier in the data protocol of the corresponding data packet are set to 0.

[0033] Optionally, the S4 includes:

[0034] S4.1. Extract the accelerometer identifier, angle identifier, sub-data packet sequence number and device ID in the data packet according to the set data protocol, and retrieve the data corresponding to each data packet according to the device ID;

[0035] S4.2. According to the sub-packet sequence number and device ID, the data of different device IDs are spliced. If the length of the spliced ​​data is equal to the total length of the RTCM data, the splicing is completed to obtain the RTCM data. Otherwise, wait for the next data packet to be transmitted to the LoRa module to continue splicing until the length of the spliced ​​data is equal to the total length of the RTCM data.

[0036] S4.3. Use Huffman coding to decode the RTCM data in S4.2 to obtain the obs observation data of the monitoring station. The specific formula is as follows:

[0037]

[0038] S4.4. The obs observation data corresponding to different device IDs are saved in the obs observation value table of the reference station to obtain the obs observation value table of the t epoch of the reference station.

[0039] Optionally, between S4.1 and S4.2, the step further includes: storing the extracted accelerometer identifier and angle identifier in a data table used for Beidou data solution.

[0040] Optionally, the monitoring station includes a first Beidou module, a first MCU and a first LoRa module, the first Beidou module is connected to the first MCU, and the first MCU receives data output by the first Beidou module; the first MCU is connected to the first LoRa module, and the first LoRa module outputs compressed Beidou data to the reference station;

[0041] The base station includes a second Beidou module, a second MCU, a second LoRa, and a 4G or Beidou short message module; the second Beidou module is connected to the second MCU, and the second MCU receives the base station data output by the second Beidou module; the second LoRa module is connected to the second MCU, and the monitoring station data received by the second LoRa is transmitted to the second MCU; the second MCU is connected to the 4G or Beidou short message module, and the 4G or Beidou short message module is used to output the solution results of the Beidou data.

[0042] The present invention also provides a readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the Beidou data transmission method based on the LoRa data protocol as described above is implemented.

[0043] The present invention also provides an electronic device, comprising: at least one processor, at least one memory and computer program instructions stored in the memory. When the computer program instructions are executed by the processor, the Beidou data transmission method based on the LoRa data protocol as described above is implemented.

[0044] By applying the technical solution of the present invention, an MCU is integrated inside the monitoring station to decode and process the Beidou data output by the Beidou module, and useless data is removed at the receiver end to reduce the data volume; the OBS observation data increment is converted into RTCM data for data transmission, and the base station performs data recovery after receiving the data, which can greatly reduce the data volume of the Beidou data; and the present invention adopts the Huffman algorithm to compress the Beidou data, and adopts a customized packet data protocol to facilitate the data transmission of LoRa. The Beidou data is processed centrally at the base station, thereby reducing the dependence on the external network and improving the survival rate of the equipment.

[0045] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0047] Figure 1 It is a flowchart of a Beidou data transmission method based on the LoRa data protocol in an embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of the process from S1 to S3 in an embodiment of the present invention;

[0049] Figure 3 is a schematic diagram of the structure of a monitoring station in an embodiment of the present invention;

[0050] Figure 4 Schematic diagram of the structure of the reference station in the embodiment of the present invention. DETAILED DESCRIPTION

[0051] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways that are defined and covered.

[0052] In one embodiment, if Figure 1 and Figure 2 As shown, a Beidou data transmission method based on the LoRa data protocol comprises the following steps:

[0053] S1: Use the monitoring station to receive the Beidou data of the tth epoch output by the Beidou module, and decode it to obtain the obs observation data of the tth epoch; at the same time, the nav ephemeris data of the tth epoch will also be obtained.

[0054] S2: remove irrelevant data in the obs observation data of the t-th epoch to obtain the obs observation value table of the t-th epoch of the monitoring station, and pack and compress the obs observation data of the t-th epoch to obtain compressed RTCM protocol data; S2 includes:

[0055] S2.1 removes satellite data with cycle slips, incomplete satellite observation data, Galileo satellite data and GLONASS satellite data from the obs observation data, and saves the L1, L2, B1, and B2 band observation values ​​of the remaining Beidou satellites and GPS satellites;

[0056] S2.2, calculate the increment of the obs observation data of the tth epoch compared with the data in the obs observation value table of the previous epoch to obtain the obs incremental observation data of the tth epoch;

[0057] The specific calculation formula for the obs incremental observation data of the tth epoch in S2.2 is as follows:

[0058]

[0059] Where: i is the equipment number of the satellite, j is the band number of a certain satellite; is the j-band observation value of satellite i at the t-th epoch, is the j-band observation value of satellite i at the t-1 epoch; is the j-band obs incremental observation data of satellite i at the t-th epoch; when there is no data in the obs observation value table of the t-1 epoch,

[0060] S2.3. The obs incremental observation data of the t-th epoch are packaged to obtain RTCM protocol data, and Huffman coding is used to compress the data to obtain compressed RTCM protocol data.

[0061] S3: Use the MCU in the monitoring station to transmit the compressed RTCM protocol data to the base station, specifically:

[0062] S3.1. According to the set data protocol, the compressed RTCM protocol data is divided into multiple data packets; the length of each data packet is ensured to be less than 256 to facilitate transmission.

[0063] The setting data protocol of S3.1 includes the start character, the total length of RTCM data, the accelerometer, the angle, the sub-packet sequence number, the sub-packet length, the device ID, the data and the terminator in sequence.

[0064] In S3.1, when performing data packetization, a sliding window algorithm is used to calculate whether the acceleration data of each data packet is displaced. Specifically:

[0065] Divide the acceleration data and the angle data into multiple sliding windows according to the data transmission interval;

[0066] The average values ​​of the acceleration data and the angle data in each window are calculated respectively. If the average value of the acceleration data in n consecutive windows is greater than the first set threshold, or the average value of the angle data in n consecutive windows is greater than the second set threshold, it is determined that displacement has occurred, and the accelerometer identifier and the angle identifier in the data protocol of the corresponding data packet are set to 1; otherwise, it is determined that no displacement has occurred, and the accelerometer identifier and the angle identifier in the data protocol of the corresponding data packet are set to 0.

[0067] S3.2, using the monitoring station MCU to transmit each data packet to the LoRa module, and then transmitting the data packet to the base station through the LoRa module;

[0068] S4: using the reference station to splice and decode each data packet according to the set data protocol to obtain the obs observation value table of the reference station at epoch t; S4 includes:

[0069] S4.1. Extract the accelerometer identifier, angle identifier, sub-data packet sequence number and device ID in the data packet according to the set data protocol, and take out the data corresponding to each data packet according to the device ID; the set data protocol is shown in Table 1.

[0070] Table 1

[0071]

[0072] The process between S4.1 and S4.2 also includes: storing the extracted accelerometer identifier and angle identifier in a data table used for Beidou data solution.

[0073] S4.2. According to the sub-packet sequence number and device ID, the data of different device IDs are spliced. If the length of the spliced ​​data is equal to the total length of the RTCM data, the splicing is completed to obtain the RTCM data. Otherwise, wait for the next data packet to be transmitted to the LoRa module to continue splicing until the length of the spliced ​​data is equal to the total length of the RTCM data.

[0074] S4.3. Use Huffman coding to decode the RTCM data in S4.2 to obtain the obs observation data of the monitoring station. The specific formula is as follows:

[0075]

[0076] S4.4. The obs observation data corresponding to different device IDs are saved in the obs observation value table of the reference station to obtain the obs observation value table of the t epoch of the reference station.

[0077] S5: Perform RTK calculation based on the obs observation value table of the reference station at the t epoch and the obs observation value table of the monitoring station at the t epoch, and transmit the calculation result to the server through 4G or Beidou short message module to complete the transmission of Beidou data of the t epoch.

[0078] like Figure 3 As shown, the monitoring station includes a first Beidou module, a first MCU and a first LoRa module. The first Beidou module is connected to the first MCU, and the first MCU receives data output by the first Beidou module; the first MCU is connected to the first LoRa module, and the first LoRa module outputs compressed Beidou data to the reference station; Figure 4 As shown, the base station receiver includes a second Beidou module, a second MCU, a second LoRa, and a 4G or Beidou short message module; the second Beidou module is connected to the second MCU, and the second MCU receives the base station data output by the second Beidou module; the second LoRa module is connected to the second MCU, and the monitoring station data received by the second LoRa is transmitted to the second MCU; the second MCU is connected to the 4G or Beidou short message module, and the 4G or Beidou short message module is used to output the solution result of the Beidou data.

[0079] In this embodiment, the first epoch observation data and the second epoch observation data decoded by the monitoring station are as described in Table 2.

[0080] Table 2

[0081]

[0082] The obs increment observation data of the second epoch are shown in Table 3.

[0083] Table 3. Observational data of obs increments at the second epoch

[0084]

[0085] The RTCM protocol data before compression is 1757 bytes, and the RTCM protocol data after compression is 801 bytes. The RTCM protocol data before compression and the RTCM protocol data after compression are shown in Table 4.

[0086] Table 4

[0087]

[0088] This embodiment also includes a readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the Beidou data transmission method based on the LoRa data protocol as described above is implemented.

[0089] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0090] This embodiment also includes an electronic device, including: at least one processor, at least one memory, and computer program instructions stored in the memory. When the computer program instructions are executed by the processor, the mining slope stability analysis method as described above is performed.

[0091] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0092] The electronic device may be a computing device such as a mobile phone, a desktop computer, a notebook, a PDA, a cloud server, etc. The electronic device may include, but is not limited to, a processor and a memory. For example, the electronic device may also include an input / output device, a network access device, a bus, etc.

[0093] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0094] The memory can be used to store the computer program and / or module, and the processor implements the computer program by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0095] Wherein, if the module / unit integrated in the electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A Beidou data transmission method based on LoRa data protocol, It is characterized in that The steps include: S1: Use the monitoring station to receive the BeiDou data of the tth epoch output by the BeiDou module, and decode it to obtain the obs observation data of the tth epoch; S2: remove irrelevant data in the obs observation data of the t-th epoch to obtain the obs observation value table of the t-th epoch of the monitoring station, and pack and compress the obs observation data of the t-th epoch to obtain the compressed RTCM protocol data; S3: Use the MCU in the monitoring station to transmit the compressed RTCM protocol data to the base station, specifically: S3.

1. Packetize the compressed RTCM protocol data according to the set data protocol to obtain multiple data packets; S3.2, using the monitoring station MCU to transmit each data packet to the LoRa module, and then transmitting the data packet to the base station through the LoRa module; S4: using the reference station to splice and decode each data packet according to the set data protocol to obtain the obs observation value table of the reference station at epoch t; S5: Perform RTK calculation based on the obs observation value table of the reference station at the t epoch and the obs observation value table of the monitoring station at the t epoch, and transmit the calculation result to the server through 4G or Beidou short message module to complete the transmission of Beidou data of the t epoch.

2. The Beidou data transmission method based on the LoRa data protocol according to claim 1, It is characterized in that The S2 includes: S2.1 removes satellite data with cycle slips, data with incomplete satellite observation values, Galileo satellite data and GLONASS satellite data from the obs observation data, and saves the L1, L2, B1 and B2 band observation values ​​of the remaining Beidou satellites and GPS satellites to obtain the obs observation value table of the monitoring station t epoch; S2.2, calculate the increment of the obs observation data of the tth epoch compared with the data in the obs observation value table of the previous epoch to obtain the obs incremental observation data of the tth epoch; S2.

3. The obs incremental observation data of the t-th epoch are packaged to obtain RTCM protocol data, and Huffman coding is used to compress the data to obtain compressed RTCM protocol data.

3. The Beidou data transmission method based on the LoRa data protocol according to claim 2, It is characterized in that The specific calculation formula for the obs incremental observation data of the tth epoch in S2.2 is as follows: Where: i is the satellite number, j is the band number of a certain satellite; is the j-band observation value of satellite i at the t-th epoch, is the j-band observation value of satellite i at the t-1 epoch; is the j-band obs incremental observation data of satellite i at the t-th epoch; when there is no data in the obs observation value table of the t-1 epoch, 4. The Beidou data transmission method based on the LoRa data protocol according to claim 3, It is characterized in that The setting data protocol of S3.1 includes a start character, a total length of RTCM data, an accelerometer, an angle, a sub-data packet sequence number, a sub-data packet length, a device ID, data, and a terminator in sequence.

5. The Beidou data transmission method based on the LoRa data protocol according to claim 4, It is characterized in that In S3.1, when performing data packetization, a sliding window algorithm is used to calculate whether the acceleration data of each data packet is displaced, specifically: Divide the acceleration data and the angle data into multiple sliding windows according to the data transmission interval; The average values ​​of the acceleration data and the angle data in each window are calculated respectively. If the average value of the acceleration data in n consecutive windows is greater than the first set threshold, or the average value of the angle data in n consecutive windows is greater than the second set threshold, it is determined that displacement has occurred, and the accelerometer identifier and the angle identifier in the data protocol of the corresponding data packet are set to 1; otherwise, it is determined that no displacement has occurred, and the accelerometer identifier and the angle identifier in the data protocol of the corresponding data packet are set to 0.

6. The Beidou data transmission method based on the LoRa data protocol according to claim 5, It is characterized in that The S4 includes: S4.

1. Extract the accelerometer identifier, angle identifier, sub-data packet sequence number and device ID in the data packet according to the set data protocol, and retrieve the data corresponding to each data packet according to the device ID; S4.

2. According to the sub-packet sequence number and device ID, the data of different device IDs are spliced. If the length of the spliced ​​data is equal to the total length of the RTCM data, the splicing is completed to obtain the RTCM data. Otherwise, wait for the next data packet to be transmitted to the LoRa module to continue splicing until the length of the spliced ​​data is equal to the total length of the RTCM data. S4.

3. Use Huffman coding to decode the RTCM data in S4.2 to obtain the obs observation data of the monitoring station. The specific formula is as follows: S4.

4. The obs observation data corresponding to different device IDs are saved in the obs observation value table of the reference station to obtain the obs observation value table of the t epoch of the reference station.

7. The Beidou data transmission method based on the LoRa data protocol according to claim 6, It is characterized in that The step between S4.1 and S4.2 also includes: storing the extracted accelerometer identifier and angle identifier in a data table used for Beidou data solution.

8. The Beidou data transmission method based on the LoRa data protocol according to any one of claims 1 to 7, It is characterized in that The monitoring station includes a first Beidou module, a first MCU and a first LoRa module, the first Beidou module is connected to the first MCU, and the first MCU receives data output by the first Beidou module; the first MCU is connected to the first LoRa module, and the first LoRa module outputs compressed Beidou data to the reference station; The base station includes a second Beidou module, a second MCU, a second LoRa, and a 4G or Beidou short message module; the second Beidou module is connected to the second MCU, and the second MCU receives the base station data output by the second Beidou module; the second LoRa module is connected to the second MCU, and the monitoring station data received by the second LoRa is transmitted to the second MCU; the second MCU is connected to the 4G or Beidou short message module, and the 4G or Beidou short message module is used to output the solution results of the Beidou data.

9. A readable storage medium, It is characterized in that Computer program instructions are stored thereon, and when the computer program instructions are executed by a processor, the Beidou data transmission method based on the LoRa data protocol as described in any one of claims 1 to 8 is implemented.

10. An electronic device, It is characterized in that include: At least one processor, at least one memory, and computer program instructions stored in the memory. When the computer program instructions are executed by the processor, the Beidou data transmission method based on the LoRa data protocol as described in any one of claims 1 to 8 is implemented.

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