RTK signal transmission method, system, device and medium

Abstract

The invention provides an RTK signal transmission method, system, device and medium, and relates to the technical field of signal transmission, the method comprises the following steps: a reference station receives a plurality of satellite signals, determines an RTK signal according to the plurality of satellite signals, and sends the RTK signal to a phased array; and when the RTK signal is received, the phased array converts the RTK signal into a directional wave beam and sends the directional wave beam to the moving station. According to the invention, long-distance RTK signal coverage in a non-signal area is realized, so that high-precision positioning can be realized in the non-signal area.

Description

Technical Field

[0001] The present invention relates to the field of signal transmission technology, and in particular to an RTK signal transmission method, system, device and medium. Background Art

[0002] Real-time kinematic positioning technology (RTK) is a high-precision real-time differential GPS (RTDGPS) technology based on carrier phase observations. In the prior art, the transmission of RTK signals mainly relies on radio transmission or operator base station transmission. The coverage distance of radio transmission is limited, and the transmission of operator base stations depends on the mobile communication network, and the coverage range is limited by the distribution of base stations of mobile network operators. For some unmanned areas or signal blind areas, RTK signal transmission is limited, and the prior art cannot provide accurate positioning services for unmanned areas or signal blind areas. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide an RTK signal transmission method, system, device and medium. The present invention provides the following technical solutions:

[0004] In a first aspect, the present invention provides an RTK signal transmission method, which is applied to an RTK signal transmission system, the system comprising: a base station, a phased array and a mobile station, the method comprising: the base station receiving multiple satellite signals, determining an RTK signal based on the multiple satellite signals, and sending the RTK signal to the phased array; when receiving the RTK signal, the phased array converts the RTK signal into a directional beam, and sends the directional beam to the mobile station.

[0005] In one embodiment, the phased array includes: at least one RIS phased array, and the phased array converts the RTK signal into a directional beam, including: at least one RIS phased array adjusts the RTK signal according to preset parameters to obtain the directional beam.

[0006] In one embodiment, the RIS phased array includes: a controller and a plurality of electromagnetic units, the preset parameters include: a preset direction and a preset communication requirement, and at least one of the RIS phased arrays adjusts the RTK signal according to the preset parameters to obtain the directional beam, including: the controller determines the target parameters of each of the electromagnetic units according to the preset direction and the preset communication requirement; and according to the corresponding target parameters, adjusts each of the electromagnetic units to the target position, so that each of the electromagnetic units converts the RTK signal into a directional beam.

[0007] In one embodiment, the method further includes: the mobile station determining a current position of the mobile station based on the RTK signal.

[0008] In a second aspect, the present invention provides an RTK signal transmission system, which includes: a base station, a phased array and a mobile station; the base station is used to receive multiple satellite signals, determine the RTK signal based on the multiple satellite signals, and send the RTK signal to the phased array; the phased array is used to convert the RTK signal into a directional beam when receiving the RTK signal, and send the RTK signal to the mobile station.

[0009] In one embodiment, the phased array includes: at least one RIS phased array, used to adjust the RTK signal according to preset parameters to obtain the directional beam.

[0010] In one embodiment, the RIS phased array includes: a controller and a plurality of electromagnetic units, the preset parameters include: a preset direction and a preset communication requirement; the controller is used to determine the target parameters of each of the electromagnetic units according to the preset direction and the preset communication requirement; and according to the corresponding target parameters, each of the electromagnetic units is adjusted to the target position, so that each of the electromagnetic units converts the RTK signal into a directional beam.

[0011] In one embodiment, the system further comprises: a plurality of transmission line towers, each of which is provided with a RIS phased array.

[0012] In a third aspect, the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the RTK signal transmission method described in the first aspect is executed.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to transmit the RTK signal described in the first aspect.

[0014] The present invention provides an RTK signal transmission method, system, device and medium, the method comprising: the base station receives multiple satellite signals, determines the RTK signal according to the multiple satellite signals, and sends the RTK signal to the phased array; when receiving the RTK signal, the phased array converts the RTK signal into a directional beam and sends the directional beam to the mobile station. The present invention realizes long-distance RTK signal coverage in a signal-free area, so that high-precision positioning can be achieved in a signal-free area.

[0015] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic diagram of the structure of an RTK signal transmission system provided by an embodiment of the present invention is shown;

[0018] Figure 2 A schematic diagram of a process of an RTK signal transmission method provided by an embodiment of the present invention is shown;

[0019] Figure 3 A schematic diagram of an RTK signal transmission path provided by an embodiment of the present invention is shown;

[0020] Figure 4 A schematic structural diagram of an electronic device provided by an embodiment of the present invention is shown.

[0021] Description of main component symbols:

[0022] 100-RTK signal transmission system; 110-base station; 120-phased array; 130-mobile station; 400-electronic equipment; 401-transceiver; 402-processor; 403-memory. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0026] Example 1

[0027] Real-time kinematic (RTK) measurement technology is a high-precision differential global navigation satellite system (CNSS) positioning technology based on carrier phase observations. RTK measurement technology can achieve centimeter-level precise positioning through real-time carrier phase differential, combined with the collaborative operation of the base station 110 and the mobile station 130. The RTK measurement system is composed of a base station 110 and a mobile station 130, wherein the base station 110 and the mobile station 130 are both used to receive satellite signals sent by multiple different satellites. The base station 110 is fixed at a known position, receives multiple satellite signals in real time, and generates RTK signals based on the multiple satellite signals, and sends them to the mobile station 130. The mobile station 130 calibrates the satellite signals it receives based on the received RTK signals, thereby achieving high-precision positioning of its own position. In the prior art, the transmission of RTK signals mainly relies on radio transmission or operator base station transmission, and the coverage distance is limited. In this regard, an embodiment of the present invention provides an RTK signal transmission method, which is applied to Figure 1 The RTK signal transmission system 100 shown in FIG. 1 includes a base station 110, a phased array 120, and a rover 130. Figure 2 , Figure 2 A schematic flow chart of an RTK signal transmission method provided in an embodiment of the present invention is shown. The method comprises steps S210 to S220.

[0028] In step S210 , the base station 110 receives a plurality of satellite signals, determines an RTK signal according to the plurality of satellite signals, and sends the RTK signal to the phased array 120 .

[0029] It can be understood that the reference station 110 is fixed at a known precise position, and the reference station 110 includes a GNSS receiver for receiving carrier phase information from multiple satellites, that is, the satellite signals described in this application. The reference station 110 uses its known precise position and the observed multiple satellite signals to calculate the difference between the actual observation value and its true position to obtain the RTK signal.

[0030] In this embodiment, the phased array 120 includes at least one RIS phased array 120, and the RIS phased array 120 includes: a controller and a plurality of electromagnetic units. The controller controls each electromagnetic unit to adjust to a target position according to a preset direction and preset communication requirements, so that each electromagnetic unit reflects the received RTK signal to form a directional beam.

[0031] Step S220 , when receiving the RTK signal, the phased array 120 converts the RTK signal into a directional beam, and sends the directional beam to the mobile station 130 .

[0032] In this embodiment, the phased array 120 uses beamforming technology to determine the phase value that needs to be adjusted for each electromagnetic unit according to a preset direction and preset communication requirements, so as to convert the RTK signal into a directional beam through each electromagnetic unit, and send the directional beam to the mobile station 130. It can be understood that the directional beam includes the RTK signal.

[0033] In one embodiment, the phased array 120 includes: at least one RIS phased array 120, and the phased array 120 converts the RTK signal into a directional beam, including: at least one RIS phased array 120 adjusts the RTK signal according to preset parameters to obtain the directional beam.

[0034] The phased array 120 includes at least one RIS phased array 120, see Figure 3 , Figure 3 A schematic diagram of the RTK signal transmission path is shown. The phased array 120 includes four RIS phased arrays 120, specifically, a RIS phased array master array and three RIS phased slave stations. The RIS phased array master station has a built-in base station 110. The RIS phased array master station is used to convert the RTK signal obtained from the base station 110 into a corresponding directional beam, and send it to each RIS slave station, and transmit the directional beam to the mobile station 130 through each RIS slave station.

[0035] It is understandable that for some unmanned and signal-free areas, the terrain is often more complex. By setting up multiple RIS phased arrays 120, the signal coverage can be improved, thereby ensuring that the mobile station 130 can successfully obtain a directional beam and achieve precise positioning.

[0036] In one embodiment, the RIS phased array 120 includes: a controller and a plurality of electromagnetic units, the preset parameters include: a preset direction and a preset communication requirement, and at least one of the RIS phased arrays 120 adjusts the RTK signal according to the preset parameters to obtain the directional beam, including: the controller determines the target parameters of each of the electromagnetic units according to the preset direction and the preset communication requirement; and according to the corresponding target parameters, adjusts each of the electromagnetic units to the target position, so that each of the electromagnetic units converts the RTK signal into a directional beam.

[0037] In this embodiment, the preset direction refers to the specific direction in which the RIS phased array 120 needs to send the signal, and the preset communication requirements include: signal strength and signal quality, etc. According to the preset parameters, the RIS phased array 120 adjusts the RTK signal to form a directional beam, mainly including: (1) the controller calculates the target parameters of each electromagnetic unit according to the preset direction and communication requirements, and these parameters determine how each electromagnetic unit needs to adjust the phase and amplitude of the RTK signal; (2) the controller adjusts each electromagnetic unit to its target position according to the calculated target parameters, so that each electromagnetic unit reflects the RTK signal into a directional beam for transmission.

[0038] In one embodiment, the method further includes: the mobile station 130 determining a current position of the mobile station 130 according to the RTK signal.

[0039] It can be understood that the mobile station 130 is a movable device including a GNSS receiver. The mobile station 130 receives multiple satellite signals and simultaneously receives the RTK signal sent by the base station 110. The mobile station 130 corrects the received multiple satellite signals according to the RTK signal, eliminates or reduces the influence of common error sources, such as satellite clock error, ionospheric delay, and tropospheric delay, thereby achieving centimeter-level high-precision positioning.

[0040] The RTK signal transmission method provided by the embodiment of the present invention receives multiple satellite signals through the base station, determines the RTK signal based on the multiple satellite signals, and sends the RTK signal to the phased array; when the RTK signal is received, the phased array converts the RTK signal into a directional beam and sends the directional beam to the mobile station, thereby realizing long-distance RTK signal coverage in signal-free areas, so that high-precision positioning can be achieved even in signal-free areas.

[0041] Example 2

[0042] Please see again Figure 1 , Figure 1A structural schematic diagram of an RTK signal transmission system 100 provided in an embodiment of the present invention is shown, and the RTK signal transmission system 100 includes: a base station 110, which is used to receive multiple satellite signals, determine an RTK signal based on the multiple satellite signals, and send the RTK signal to the phased array 120; the phased array 120, which is used to convert the RTK signal into a directional beam when receiving the RTK signal, and send the RTK signal to the mobile station 130; the mobile station 130, which is used to determine the current position of the mobile station 130 according to the RTK signal.

[0043] In one embodiment, the phased array 120 includes: at least one RIS phased array 120, which is used to adjust the RTK signal according to preset parameters to obtain the directional beam.

[0044] In one embodiment, the RIS phased array 120 includes: a controller and a plurality of electromagnetic units, the preset parameters include: a preset direction and a preset communication requirement; the controller is used to determine the target parameters of each of the electromagnetic units according to the preset direction and the preset communication requirement; and according to the corresponding target parameters, each of the electromagnetic units is adjusted to the target position, so that each of the electromagnetic units converts the RTK signal into a directional beam.

[0045] In one embodiment, the system further includes: a plurality of transmission line towers, each of which is provided with a RIS phased array 120 .

[0046] The RTK signal transmission system 100 provided in the embodiment of the present invention is used to implement the RTK signal transmission method described in the above-mentioned embodiment 1, and will not be described again here to avoid repetition.

[0047] The RTK signal transmission system provided by the embodiment of the present invention receives multiple satellite signals through the base station, determines the RTK signal based on the multiple satellite signals, and sends the RTK signal to the phased array; when receiving the RTK signal, the phased array converts the RTK signal into a directional beam and sends the directional beam to the mobile station, thereby realizing long-distance RTK signal coverage in signal-free areas, so that high-precision positioning can be achieved even in signal-free areas.

[0048] Example 3

[0049] Also, see Figure 4 An embodiment of the present invention provides an electronic device 400, including a processor 402 and a memory 403, wherein the memory 403 stores a computer program, and when the computer program runs on the processor 402, the RTK signal transmission method provided in Example 1 is executed.

[0050] Specifically, the electronic device 400 includes: a transceiver 401, a bus interface and a processor 402. The processor 402 is used for the base station to receive multiple satellite signals, determine the RTK signal based on the multiple satellite signals, and send the RTK signal to the phased array; when receiving the RTK signal, the phased array converts the RTK signal into a directional beam and sends the directional beam to the mobile station.

[0051] In one embodiment, the phased array includes: at least one RIS phased array, and the phased array converts the RTK signal into a directional beam, including: at least one RIS phased array adjusts the RTK signal according to preset parameters to obtain the directional beam.

[0052] In one embodiment, the RIS phased array includes: a controller and a plurality of electromagnetic units, the preset parameters include: a preset direction and a preset communication requirement, and at least one of the RIS phased arrays adjusts the RTK signal according to the preset parameters to obtain the directional beam, including: the controller determines the target parameters of each of the electromagnetic units according to the preset direction and the preset communication requirement; and according to the corresponding target parameters, adjusts each of the electromagnetic units to the target position, so that each of the electromagnetic units converts the RTK signal into a directional beam.

[0053] In one embodiment, the method further includes: the mobile station determining a current position of the mobile station based on the RTK signal.

[0054] In the embodiment of the present invention, the electronic device 400 further includes a memory 403. Figure 4 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 402 and memory represented by memory 403. The bus architecture may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 401 may be a plurality of components, i.e., including a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. The processor 402 is responsible for managing the bus architecture and general processing, and the memory 403 may store data used by the processor 402 when performing operations.

[0055] The electronic device 400 provided in the embodiment of the present invention can execute the RTK signal transmission method provided in the above method embodiment 1, which will not be described again here to avoid repetition.

[0056] Example 4

[0057] In addition, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the RTK signal transmission method provided in Example 1 is implemented.

[0058] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0059] The computer-readable storage medium provided in this embodiment can implement the RTK signal transmission method provided in Example 1, and will not be described again here to avoid repetition.

[0060] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0061] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0062] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A RTK signal transmission method, characterized in that: Applied to an RTK signal transmission system, the system includes: a base station, a phased array and a mobile station, and the method includes: The base station receives a plurality of satellite signals, determines an RTK signal according to the plurality of satellite signals, and sends the RTK signal to the phased array; When receiving the RTK signal, the phased array converts the RTK signal into a directional beam and sends the directional beam to the mobile station.

2. The RTK signal transmission method according to claim 1, characterized in that: The phased array includes: at least one RIS phased array, and the phased array converts the RTK signal into a directional beam, including: At least one of the RIS phased arrays adjusts the RTK signal according to preset parameters to obtain the directional beam.

3. The RTK signal transmission method according to claim 2, characterized in that: The RIS phased array includes: a controller and a plurality of electromagnetic units, the preset parameters include: a preset direction and a preset communication requirement, and at least one of the RIS phased arrays adjusts the RTK signal according to the preset parameters to obtain the directional beam, including: The controller determines the target parameters of each electromagnetic unit according to the preset direction and the preset communication requirement; According to the corresponding target parameters, each electromagnetic unit is adjusted to a target position, so that each electromagnetic unit converts the RTK signal into a directional beam.

4. The RTK signal transmission method according to claim 3, characterized in that: The method further includes: the mobile station determining a current position of the mobile station according to the RTK signal.

5. An RTK signal transmission system, characterized in that: The system comprises: a base station, a phased array and a mobile station; The base station is used to receive a plurality of satellite signals, determine an RTK signal according to the plurality of satellite signals, and send the RTK signal to the phased array; The phased array is used to convert the RTK signal into a directional beam when receiving the RTK signal, and send the RTK signal to the mobile station.

6. The RTK signal transmission system according to claim 5, characterized in that: The phased array includes: at least one RIS phased array, which is used to adjust the RTK signal according to preset parameters to obtain the directional beam.

7. The RTK signal transmission system according to claim 6, characterized in that: The RIS phased array includes: a controller and a plurality of electromagnetic units, and the preset parameters include: a preset direction and a preset communication requirement; The controller is used to determine the target parameters of each electromagnetic unit according to the preset direction and the preset communication requirements; and adjust each electromagnetic unit to the target position according to the corresponding target parameters, so that each electromagnetic unit converts the RTK signal into a directional beam.

8. The RTK signal transmission system according to claim 7, characterized in that: The system further comprises: a plurality of transmission line towers, each of which is provided with a RIS phased array.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is run on the processor, the RTK signal transmission method according to any one of claims 1 to 4 is executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the RTK signal transmission method according to any one of claims 1 to 4 is implemented.

Images