Intelligent differential base station system

Abstract

The invention relates to an intelligent differential base station system which comprises a first differential module and a second differential module, on one hand, 4G first differential correction data can be obtained through a 4G DTU transparent transmission module and a 4G antenna, and on the other hand, RTK second differential correction data can be obtained through an RTK positioning module and a GNSS antenna. A main controller is further arranged, the first differential correction data or the second differential correction data are selected to serve as optimal differential correction data through the main controller according to a preset decision scheme, and the signal transmission module is controlled to send the optimal differential correction data to the mobile device; the system has the functions of multi-source differential correction data input, autonomous judgment / decision making and autonomous switching of differential correction data sources according to decision making results, the robustness of the system can be improved, and the requirements of more use scenes are met.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of mobile device positioning, and in particular, to an intelligent differential base station system. Background Art

[0002] In order to achieve high-precision positioning of mobile devices (such as drones, unmanned vehicles and ground robots), the current main method is to set up base stations or servers on the ground in real time to forward differential correction data to remote mobile devices in real time. However, for different occasions (such as remote areas) and application scenarios (requiring fast response or mobile applications, etc.), a single mode has certain limitations and is prone to unreliable phenomena during use. Summary of the invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The main purpose of the embodiments of the present disclosure is to propose an intelligent differential base station system that can improve the robustness of the system to meet the needs of more usage scenarios.

[0005] A first aspect of an embodiment of the present application provides an intelligent differential base station system, characterized in that the intelligent differential base station system includes:

[0006] A first differential module, comprising a 4G DTU transparent transmission module and a 4G antenna, wherein the 4G DTU transparent transmission module is connected to the differential server through the 4G antenna and is used to receive the first differential correction data sent by the differential server;

[0007] A second differential module includes an RTK positioning module and a GNSS antenna, wherein the RTK positioning module obtains second differential correction data through the GNSS antenna;

[0008] A signal transmission module, connected to the movable device for communication;

[0009] A main controller is communicatively connected with the first differential module, the second differential module and the signal transmission module, and is used to select the first differential correction data or the second differential correction data as the optimal differential correction data according to a preset decision scheme, and control the signal transmission module to send the optimal differential correction data to the movable device.

[0010] This application proposes an intelligent differential base station system, which has the following beneficial effects:

[0011] The present application includes a first differential module and a second differential module. On the one hand, the first differential correction data of 4G can be obtained through the 4G DTU transparent transmission module and the 4G antenna, and on the other hand, the second differential correction data of RTK can be obtained through the RTK positioning module and the GNSS antenna. Then, a main controller is provided. The main controller selects the first differential correction data or the second differential correction data as the optimal differential correction data according to a preset decision-making scheme, and controls the signal transmission module to send the optimal differential correction data to the removable device. Through the above scheme, the system has the functions of multi-source differential correction data input and autonomous judgment / decision-making, and autonomously switching the differential correction data source according to the decision result, which can improve the robustness of the system and meet the needs of more usage scenarios.

[0012] In some embodiments of the present application, the step of selecting the first differential correction data or the second differential correction data as the optimal differential correction data according to a preset decision scheme, and controlling the signal transmission module to send the optimal differential correction data to the removable device includes:

[0013] The main controller is used to obtain the signal strength RSSI of the 4G DTU transparent transmission module and count the number of frames C of the first differential correction data of the 4G DTU transparent transmission module received within a set threshold time T. 4G ; and for determining the time T and the number of frames C according to the threshold value 4G , calculate the update frequency of the first differential correction data of the differential server to be f 4G =(C 4G / T)Hz;

[0014] The main controller is used to obtain the frame number C of the second differential correction data of the RTK positioning module according to the threshold time T RTK , according to the threshold time T and the number of frames C RTK , calculate the update frequency f of the second differential correction data of the RTK positioning module RTK =(C RTK / T)Hz;

[0015] The main controller is further configured to: when the signal strength RSSI> the first threshold, and f 4G ≥ the second threshold, the first differential correction data is used as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the mobile device; when the signal strength RSSI is ≤ the first threshold, or f 4G < the second threshold, and the update frequency f RTK≥ the third threshold, the second differential correction data is used as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the mobile device; when the signal strength RSSI is ≤ the first threshold, or f 4G < the second threshold, and the update frequency f RTK < the third threshold, taking the first differential correction data as the optimal differential correction data, and controlling the signal transmission module to send the optimal differential correction data to the movable device.

[0016] In some embodiments of the present application, the signal transmission module includes a data transmission radio station;

[0017] The controlling the signal transmission module to send the optimal differential correction data to the movable device includes:

[0018] The main controller is used for setting the forwarding frequency of the optimal differential correction data to f when the optimal differential correction data is the first differential correction data. 4G ; and control the digital radio station to forward frequency f 4G sending the optimal differential correction data to the movable device;

[0019] The main controller is further configured to set the forwarding frequency of the optimal differential correction data to f when the optimal differential correction data is the second differential correction data. RTK , and controls the data transmission station to forward the frequency f RTK The optimal differential correction data is sent to the removable device.

[0020] In some embodiments of the present application, the signal transmission module includes a data interface; the main controller is communicatively connected to a ground station data transmission radio station via the data interface, and the ground station data transmission radio station is communicatively connected to the movable device;

[0021] The movable device is a drone;

[0022] The controlling the signal transmission module to send the optimal differential correction data to the movable device includes:

[0023] The main controller is used to set the forwarding frequency f of the optimal differential correction data when the UAV is in a taxiing takeoff mode or a landing recovery mode. best is the corresponding update frequency, and the whole frame data is sent in the form of N small packets, and the sending interval is And control the data interface to forward frequency f best , the sending interval is t intervalThe optimal differential correction data is sent to the ground station data transmission radio, and then sent to the UAV by the ground station data transmission radio;

[0024] The main controller is also used for the UAV to be in a normal flight mode and the signal-to-noise ratio SNR of the ground station data transmission radio station is greater than or equal to SNR low When the optimal differential correction data forwarding frequency f is set best is the corresponding update frequency, and the whole frame data is sent in the form of N small packets, and the sending interval is And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the ground station data transmission radio, and then sent to the UAV by the ground station data transmission radio; SNR low is the preset threshold;

[0025] The main controller is also used to control the signal-to-noise ratio (SNR) of the ground station data transmission radio station when the UAV is in a normal flight mode. <SNR low When the optimal differential correction data forwarding frequency f is set best The corresponding update frequency times, and the whole frame data is split into N small packets and sent at an interval of And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the ground data transmission radio station, and then sent to the UAV by the ground station data transmission radio station.

[0026] In some embodiments of the present application, the signal transmission module includes a data interface; the main controller is communicatively connected to the measurement and control link via the data interface, and the measurement and control link is communicatively connected to the movable device;

[0027] The controlling the signal transmission module to send the optimal differential correction data to the movable device includes:

[0028] Query the signal-to-noise ratio SNR and network delay t of the measurement and control link within a fixed period T1 delay ;

[0029] The main controller is used for signal-to-noise ratio SNR ≥ SNR high When the SNR high is the preset threshold;

[0030] The main controller is also used to adjust the signal-to-noise ratio (SNR) low ≤SNR <SNR high When the data interface is controlled to divide the optimal differential correction data into a number of small packets N at a corresponding update frequency, and forward them at a forwarding interval time t interbal =1 / N will forward the optimal differential correction data to the measurement and control link, and the measurement and control link will send it to the mobile device; SNR low is the preset threshold;

[0031] The main controller is also used to adjust the signal-to-noise ratio (SNR) <SNR low , network delay t delay ≤t th When the optimal differential correction data forwarding frequency f is set best The corresponding update frequency times, and the whole frame data is split into N small packets and sent at an interval of And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the measurement and control link, and then sent to the movable device by the measurement and control link.

[0032] In some embodiments of the present application, the intelligent differential base station system further includes a configuration interface, wherein the configuration interface is communicatively connected to the main controller;

[0033] The signal transmission module includes a data transmission radio station;

[0034] The configuration interface is used to send configuration information to the main controller and send configuration query instructions to the main controller;

[0035] The main controller is used to configure the parameters of the data transmission radio, the 4G DTU transparent transmission module and the RTK positioning module according to the content of the configuration information; and is used to send the configuration parameters of the data transmission radio, the 4G DTU transparent transmission module and the RTK positioning module to the configuration interface according to the configuration query instruction.

[0036] In some embodiments of the present application, the main controller is specifically used to obtain the longitude, latitude and altitude of the main controller, fill it into a frame of GPGGA data, and send it to the differential server through the 4G DTU transparent transmission module and the 4G antenna;

[0037] The differential server is used to transmit the first differential correction data to the main controller through the 4G antenna and the 4G DTU transparent transmission module after verifying the GPGGA data.

[0038] In some embodiments of the present application, the RTK positioning module is used to receive configuration information of the main controller, operate in a mobile station mode, and enter a differential state after the main controller receives the first differential correction data of the 4G DTU transparent transmission module;

[0039] The main controller is specifically used to obtain the position information of the RTK positioning module after the RTK positioning solution state of the RTK positioning module becomes a fixed solution, and perform multiple average evaluations on the position information to obtain the accurate position information of the RTK positioning module, and send the accurate position information as the base station position information to the RTK positioning module, and configure the RTK positioning module to work in the base station mode;

[0040] The RTK positioning module is also used to send the second differential correction data to the main controller when working in the base station mode.

[0041] In some embodiments of the present application, the intelligent differential base station system further includes a display screen communicatively connected to the controller;

[0042] The display screen is used to display the working status of the intelligent differential base station system.

[0043] In some embodiments of the present application, the intelligent differential base station system further includes an audible and visual alarm module communicatively connected to the controller;

[0044] The sound and light alarm module is used to generate a sound and light alarm signal when the working state is abnormal. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0046] Figure 1 It is a structural diagram of the intelligent differential base station system provided by this application;

[0047] Figure 2 It is a flow chart of one of the data transmission modes of the intelligent differential base station system provided by the present application;

[0048] Figure 3 This is a flow chart of another data transmission method of the intelligent differential base station system provided by this application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0051] 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 are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0052] like Figure 1 An embodiment of the present application provides an intelligent differential base station system, the intelligent differential base station system comprising:

[0053] The first differential module includes a 4G DTU transparent transmission module and a 4G antenna. The 4G DTU transparent transmission module is connected to the differential server through the 4G antenna and is used to receive the first differential correction data sent by the differential server.

[0054] Among them, 4G DTU is a terminal device widely used for data transmission in the industrial Internet of Things. The original data of various sensor serial ports are transmitted to DTU via RS485 / 232 to 4G network, with two-way transparent transmission, and supports Modbus RTU to TCP / MQTT.

[0055] The second differential module includes an RTK positioning module and a GNSS antenna. The RTK positioning module obtains second differential correction data through the GNSS antenna.

[0056] Among them, carrier phase differential technology (Real-time kinematic, RTK) is developed on the basis of GPS measurement technology through continuous improvement and perfection. RTK technology can obtain centimeter-level positioning accuracy in real time in the field. By installing a mobile base station at a reference point at a known position, the deviation of the positioning signal is measured, and this deviation is sent to the mobile station that needs to be positioned in real time, so that the mobile station can obtain more accurate position information. GNSS (Global Navigation Satellite System) is a global navigation satellite system. It is a radio navigation system based on artificial earth satellites. It provides all-weather, high-precision position, speed and time information for various carriers on land, sea, air and space around the world.

[0057] The signal transmission module is connected to the movable device for communication.

[0058] A main controller is communicatively connected with the first differential module, the second differential module and the signal transmission module. The main controller is used to select the first differential correction data or the second differential correction data as the optimal differential correction data according to a preset decision scheme, and control the signal transmission module to send the optimal differential correction data to the removable device.

[0059] The specific type of the main controller is not limited here.

[0060] The present application includes a first differential module and a second differential module. On the one hand, the first differential correction data of 4G can be obtained through the 4G DTU transparent transmission module and the 4G antenna, and on the other hand, the second differential correction data of RTK can be obtained through the RTK positioning module and the GNSS antenna. Then, a main controller is provided. The main controller selects the first differential correction data or the second differential correction data as the optimal differential correction data according to a preset decision-making scheme, and controls the signal transmission module to send the optimal differential correction data to the removable device. Through the above scheme, the system has the functions of multi-source differential correction data input and judgment / decision, and autonomously switches the differential correction data source according to the decision result, which can improve the robustness of the system and meet the needs of more usage scenarios.

[0061] It is worth mentioning that this system also includes a power supply module, as shown below:

[0062] The power module includes a lithium battery pack, a power voltage monitoring unit and a Type C fast charging unit; the lithium battery pack provides power to the main controller and its other components through the power voltage monitoring unit, and the main controller obtains the lithium battery pack voltage information through the power voltage monitoring unit; the Type C fast charging unit increases the 5V input to a suitable voltage to charge the lithium battery pack.

[0063] In some embodiments, according to a preset decision scheme, selecting the first differential correction data or the second differential correction data as the optimal differential correction data, and controlling the signal transmission module to send the optimal differential correction data to the removable device includes:

[0064] The main controller is used to obtain the signal strength RSSI of the 4G DTU transparent transmission module and count the number of frames C of the first differential correction data of the 4G DTU transparent transmission module received within the set threshold time T. 4G ; and for determining the time T and the number of frames C according to the threshold value 4G , calculate the update frequency of the first differential correction data of the differential server to be f 4G =(C 4G / T)Hz;

[0065] The main controller is used to obtain the frame number C of the second differential correction data of the RTK positioning module according to the threshold time T RTK , according to the threshold time T and the number of frames C RTK , calculate the update frequency f of the second differential correction data of the RTK positioning module RTK =(C RTK / T)Hz;

[0066] The main controller is further configured to: when the signal strength RSSI> the first threshold value, and f 4G ≥ the second threshold, the first differential correction data is used as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the mobile device; when the signal strength RSSI is ≤ the first threshold, or f 4G < the second threshold, and the update frequency f RTK ≥ the third threshold, the second differential correction data is used as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the mobile device; when the signal strength RSSI is ≤ the first threshold, or f 4G < the second threshold, and the update frequency f RTK < the third threshold, the first differential correction data is used as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the movable device.

[0067] In this embodiment, the first threshold is preferably set to -113dBm, the second threshold is 1Hz, and the third threshold is 1Hz. These three parameters are commonly used parameters in the field.

[0068] If the signal strength RSSI> the first threshold, and f 4G ≥ the second threshold, the first differential correction data is used as the preferred differential correction data for transmission, which is named as the optimal differential correction data;

[0069] If the signal strength RSSI ≤ the first threshold, or f4G < the second threshold, it means that the first differential correction data of the 4G DTU transparent transmission module is abnormal, and the update frequency f RTK ≥ the third threshold, the second differential correction data is used as the preferred data, the first differential correction data provided by the 4G DTU transparent transmission module is not received, and fault isolation is performed on the first differential correction data;

[0070] When the signal strength RSSI ≤ the first threshold, or f 4G < the second threshold, and the update frequency f RTK < the third threshold, the corresponding second differential correction data of the RTK positioning module is determined to be abnormal, and the first differential correction data of the 4G DTU transparent transmission module is still preferred. This is because although the first differential correction data has an error at this time, the validity of the first differential correction data is still higher than that of the second differential correction data. Therefore, the first differential correction data is selected as the optimal differential correction data.

[0071] In some embodiments, the present embodiment is that the intelligent differential base station system is provided with the following three data transmission modes:

[0072] The first one (data link direct mode):

[0073] The signal transmission module of the intelligent differential base station system includes a data transmission radio station;

[0074] The control signal transmission module sends the optimal differential correction data to the removable device, including:

[0075] The main controller is used to set the forwarding frequency of the optimal differential correction data to f when the optimal differential correction data is the first differential correction data. 4G , and control the digital radio to forward the frequency f 4G sending the optimal differential correction data to a removable device;

[0076] The main controller is also used to set the forwarding frequency of the optimal differential correction data to f when the optimal differential correction data is the second differential correction data. RTK , and control the digital radio to forward the frequency f RTK The optimal differential correction data is sent to the removable device.

[0077] In the first data transmission mode, the main controller directly sends the optimal differential correction data through the digital radio station without changing the transmission frequency of the differential correction data or performing packet processing.

[0078] The second type (ground station-telemetry and control link forwarding mode):

[0079] The signal transmission module of the intelligent differential base station system includes a data interface; the main controller is connected to the ground station data transmission radio through the data interface, and the ground station data transmission radio is connected to the movable device;

[0080] The movable device is a drone;

[0081] The control signal transmission module sends the optimal differential correction data to the removable device, including:

[0082] The main controller is used to set the optimal differential correction data forwarding frequency f when the UAV is in the taxiing takeoff mode or landing recovery mode. best is the corresponding update frequency (if the optimal differential correction data is the first differential correction data, the forwarding frequency is the update frequency corresponding to the first differential correction data), and the whole frame data is sent in the form of splitting into N small packets, and the sending interval is And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the ground station data transmission radio, and then sent to the drone by the ground station data transmission radio. The main controller does not change the forwarding frequency of the differential correction data, and divides the correction data into N small packets and sends them at equal intervals.

[0083] The main controller is also used to check the signal-to-noise ratio (SNR) of the ground station data transmission radio when the UAV is in normal flight mode and the signal-to-noise ratio (SNR) of the ground station data transmission radio is ≥ SNR. low When the optimal differential correction data forwarding frequency f is set best is the corresponding update frequency, and the whole frame data is sent in the form of N small packets, and the sending interval is And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the ground station data transmission radio, and then sent to the drone by the ground station data transmission radio; SNR low is the preset threshold.

[0084] The main controller is also used to adjust the signal-to-noise ratio (SNR) of the ground station data transmission radio when the drone is in normal flight mode. <SNR low When the optimal differential correction data forwarding frequency f is set best The corresponding update frequency times, and the whole frame data is split into N small packets and sent at an interval of And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the ground station data transmission radio, and then sent to the drone by the ground station data transmission radio. N is preferably set to 10 and m is set to 3.

[0085] In this embodiment, the main controller is connected to the UAV ground station system (including a ground station data transmission radio) through a data interface, obtains the working mode of the UAV and the working status parameters of the ground station data transmission radio in real time, actively adjusts the forwarding frequency and method of the optimal differential correction data, and counts the number of forwarded data frames for status monitoring.

[0086] The working modes of the drone include taxiing takeoff mode, landing recovery mode, and normal flight mode;

[0087] The working status parameters of the ground station data transmission radio include the signal-to-noise ratio (SNR). The data interface is the serial port and the network port.

[0088] The third type (measurement and control link forwarding mode):

[0089] The signal transmission module of the intelligent differential base station system includes a data interface, the main controller is communicatively connected with the measurement and control link through the data interface, and the measurement and control link is communicatively connected with the movable device.

[0090] The control signal transmission module sends the optimal differential correction data to the removable device, including:

[0091] Query the signal-to-noise ratio (SNR) and network delay (t) of the measurement and control link within a fixed period (T1). delay ;

[0092] The main controller is used to high When the SNR is , the control data interface forwards the optimal differential correction data to the measurement and control link in a whole packet at the corresponding update frequency, and the measurement and control link sends it to the mobile device; high is the preset threshold;

[0093] The main controller is also used to adjust the signal-to-noise ratio (SNR) low ≤SNR <SNR high When the control data interface divides the optimal differential correction data into several small packets N at the corresponding update frequency, and transmits them at the forwarding interval t interval =1 / N Forward the optimal differential correction data to the measurement and control link, and the measurement and control link sends it to the mobile device; SNR low is the preset threshold;

[0094] The main controller is also used to adjust the signal-to-noise ratio (SNR) <SNR low , network delay t delay ≤t th When the optimal differential correction data forwarding frequency f is set best The corresponding update frequency times, and the whole frame data is split into N small packets and sent at an interval of And control the data interface to forward frequency fbest , the sending interval is t interval The optimal differential correction data is sent to the measurement and control link, and then sent to the mobile device by the measurement and control link. Preferably, N is set to 10 and m is set to 3.

[0095] In this embodiment, the main controller is connected to the measurement and control link through a data interface, obtains parameters such as the signal-to-noise ratio and network delay of the measurement and control link, determines the working state of the measurement and control link, and independently determines the forwarding method and frequency of the optimal differential correction data;

[0096] In this embodiment, three data transmission modes are set, including data link direct transmission mode, ground station-measurement and control link forwarding mode and measurement and control link forwarding mode. The system can have the function of adaptively deciding differential correction of data forwarding frequency according to the communication link status, and has the function of performing multiple forwarding modes such as direct transmission / ground station-measurement and control link forwarding / measurement and control link forwarding through independent data links, which can meet the needs of various usage scenarios.

[0097] In some embodiments, the intelligent differential base station system further includes a configuration interface, the configuration interface being communicatively connected to the main controller;

[0098] The signal transmission module includes a digital transmission radio station;

[0099] The configuration interface is used to send configuration information to the main controller and send configuration query instructions to the main controller;

[0100] The main controller is used to configure the parameters of the data transmission radio, 4G DTU transparent transmission module and RTK positioning module according to the content of the configuration information; and to send the configuration parameters of the data transmission radio, 4G DTU transparent transmission module and RTK positioning module to the configuration interface according to the configuration query instruction.

[0101] like Figure 2 and Figure 3 , in some embodiments, the main controller is specifically used to obtain the longitude, latitude and altitude of the main controller, fill it into a frame of GPGGA data, and send it to the differential server through the 4G DTU transparent transmission module and the 4G antenna;

[0102] The differential server is used to transmit the first differential correction data to the main controller through the 4G antenna and 4GDTU transparent transmission module after verifying the GPGGA data.

[0103] In some embodiments, the main controller sends configuration information to the RTK positioning module, configuring the RTK positioning module to output RTCM1074, 1084, 1094, 1124, 1006, 1033 telegram information.

[0104] When the main controller determines that the positioning solution state of the RTK positioning module is a fixed solution state, it receives and verifies the differential correction data sent by the RTK positioning module. Specifically, it includes the following:

[0105] The RTK positioning module is used to receive the configuration information of the main controller, work in the mobile station mode, and enter the differential state after the main controller receives the first differential correction data of the 4GDTU transparent transmission module;

[0106] The main controller is specifically used to obtain the position information of the RTK positioning module after the RTK positioning solution state of the RTK positioning module becomes a fixed solution, and perform multiple average evaluations on the position information to obtain the accurate position information of the RTK positioning module, and send the accurate position information as the base station position information to the RTK positioning module, and configure the RTK positioning module to work in the base station mode;

[0107] The RTK positioning module is also used to send second differential correction data to the main controller when working in the base station mode.

[0108] In some embodiments, the intelligent differential base station system further includes a display screen communicatively connected to the controller;

[0109] The display screen is used to display the working status of the intelligent differential base station system.

[0110] In some embodiments, the intelligent differential base station system further includes an audible and visual alarm module communicatively connected to the controller;

[0111] The sound and light alarm module is used to generate sound and light alarm signals when the working state is abnormal.

[0112] The display screen mainly realizes the real-time status (i.e. working status) monitoring function. The main controller parses the system's working status and displays it on the display screen. The system working status includes but is not limited to the number of satellites, base station location information, system operating voltage, base station system positioning status, 4G signal strength, digital radio station signal strength, differential correction data sending frame number and frame loss rate and other key system parameters.

[0113] The sound and light alarm module indicates whether the optimal differential correction data is forwarded normally, the signal strength RSSI of the digital radio station, the data transmission and reception status, the network connection status of the 4G DTU transparent transmission module, etc.; the display screen displays the latitude and longitude position information of the intelligent differential base station system, the positioning solution status of the RTK positioning module, the TypeC voltage and other parameters.

[0114] For example, if the first differential correction data or the second differential correction data is judged to be abnormal, an alarm can be given through the sound and light alarm module and the display screen. Alternatively, the UAV ground station system (including the ground station data transmission radio) counts the optimal differential correction data frame number N forwarded within a unit time interval in real time, and compares it with the theoretical differential correction data frame number M: If MN>K, an alarm message is prompted, where K is the set deviation threshold.

[0115] The embodiments of the present application have at least the following beneficial effects:

[0116] An intelligent differential base station system of the present application has the function of multi-source differential correction data input and autonomous judgment / decision-making such as ground base stations / servers, and autonomous switching of differential correction data sources according to decision results. It has the function of adaptively deciding the frequency of differential correction data forwarding according to the communication link status, the function of real-time status monitoring and prompting of differential correction data, and the function of multiple forwarding modes such as direct transmission / ground station-measurement and control link forwarding / measurement and control link forwarding through independent data links, which can meet the needs of various usage scenarios.

Claims

1. An intelligent differential base station system, characterized in that: The intelligent differential base station system comprises: A first differential module, comprising a 4G DTU transparent transmission module and a 4G antenna, wherein the 4G DTU transparent transmission module is connected to the differential server through the 4G antenna and is used to receive the first differential correction data sent by the differential server; A second differential module includes an RTK positioning module and a GNSS antenna, wherein the RTK positioning module obtains second differential correction data through the GNSS antenna; A signal transmission module, connected to the movable device for communication; A main controller is communicatively connected with the first differential module, the second differential module and the signal transmission module, and is used to select the first differential correction data or the second differential correction data as the optimal differential correction data according to a preset decision scheme, and control the signal transmission module to send the optimal differential correction data to the movable device.

2. The intelligent differential base station system according to claim 1, characterized in that: The step of selecting the first differential correction data or the second differential correction data as the optimal differential correction data according to a preset decision scheme, and controlling the signal transmission module to send the optimal differential correction data to the movable device comprises: The main controller is used to obtain the signal strength RSSI of the 4G DTU transparent transmission module and count the number of frames C of the first differential correction data of the 4G DTU transparent transmission module received within a set threshold time T. 4G ; and for determining the time T and the number of frames C according to the threshold value 4G , calculate the update frequency of the first differential correction data of the differential server to be f 4G =(C 4G / T)Hz; The main controller is used to obtain the frame number C of the second differential correction data of the RTK positioning module according to the threshold time T RTK , according to the threshold time T and the number of frames C RTK , calculate the update frequency f of the second differential correction data of the RTK positioning module RTK =(C RTK / T)Hz; The main controller is further configured to: when the signal strength RSSI> the first threshold, and f 4G ≥ the second threshold, the first differential correction data is used as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the mobile device; when the signal strength RSSI is ≤ the first threshold, or f 4G < the second threshold, and the update frequency f RTK ≥ the third threshold, the second differential correction data is used as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the mobile device; when the signal strength RSSI is ≤ the first threshold, or f 4G < the second threshold, and the update frequency f RTK < the third threshold, taking the first differential correction data as the optimal differential correction data, and controlling the signal transmission module to send the optimal differential correction data to the movable device.

3. The intelligent differential base station system according to claim 2, characterized in that: The signal transmission module includes a data transmission radio station; The controlling the signal transmission module to send the optimal differential correction data to the movable device includes: The main controller is used for setting the forwarding frequency of the optimal differential correction data to f when the optimal differential correction data is the first differential correction data. 4G , and controls the data transmission station to forward the frequency f 4G sending the optimal differential correction data to the movable device; The main controller is further configured to set the forwarding frequency of the optimal differential correction data to f when the optimal differential correction data is the second differential correction data. rtK , and controls the data transmission station to forward the frequency f RTK The optimal differential correction data is sent to the removable device.

4. The intelligent differential base station system according to claim 2, characterized in that: The signal transmission module includes a data interface; the main controller is connected to the ground station data transmission radio via the data interface, and the ground station data transmission radio is connected to the movable device; The movable device is a drone; The controlling the signal transmission module to send the optimal differential correction data to the movable device includes: The main controller is used to set the forwarding frequency f of the optimal differential correction data when the UAV is in a taxiing takeoff mode or a landing recovery mode. best is the corresponding update frequency, and the whole frame data is sent in the form of N small packets, and the sending interval is And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the ground station data transmission radio, and then sent to the UAV by the ground station data transmission radio; The main controller is also used for the UAV to be in a normal flight mode and the signal-to-noise ratio SNR of the ground station data transmission radio station is greater than or equal to SNR low When the optimal differential correction data forwarding frequency f is set best is the corresponding update frequency, and the whole frame data is sent in the form of N small packets, and the sending interval is And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the ground station data transmission radio, and then sent to the UAV by the ground station data transmission radio; SNR low is the preset threshold; The main controller is also used to control the signal-to-noise ratio (SNR) of the ground station data transmission radio station when the UAV is in a normal flight mode. <SNR low When the optimal differential correction data forwarding frequency f is set best The corresponding update frequency times, and the whole frame data is split into N small packets and sent at an interval of And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the ground station data transmission radio, and then sent to the UAV by the ground station data transmission radio.

5. The intelligent differential base station system according to claim 2, characterized in that: The signal transmission module includes a data interface; the main controller is connected to the measurement and control link through the data interface, and the measurement and control link is connected to the movable device; The controlling the signal transmission module to send the optimal differential correction data to the movable device includes: Query the signal-to-noise ratio SNR and network delay t of the measurement and control link within a fixed period T1 delay ; The main controller is used for signal-to-noise ratio SNR ≥ SNR high When the SNR high is the preset threshold; The main controller is also used to adjust the signal-to-noise ratio (SNR) low ≤SNR <SNR high When the data interface is controlled to divide the optimal differential correction data into a number of small packets N at a corresponding update frequency, and forward them at a forwarding interval time t interval =1 / N forwards the optimal differential correction data to the measurement and control link, and the measurement and control link sends it to the mobile device; SNR low is the preset threshold; The main controller is also used to adjust the signal-to-noise ratio (SNR) <SNR low , network delay t delay ≤t th When the optimal differential correction data forwarding frequency f is set best The corresponding update frequency times, and the whole frame data is split into N small packets and sent at an interval of And control the data interface to forward frequency f best , the sending interval is t interval The optimal differential correction data is sent to the measurement and control link, and then sent to the movable device by the measurement and control link.

6. The intelligent differential base station system according to claim 2, characterized in that: The intelligent differential base station system further comprises a configuration interface, wherein the configuration interface is communicatively connected with the main controller; The signal transmission module includes a data transmission radio station; The configuration interface is used to send configuration information to the main controller and send configuration query instructions to the main controller; The main controller is used to configure the parameters of the data transmission radio, the 4G DTU transparent transmission module and the RTK positioning module according to the content of the configuration information; and is used to send the configuration parameters of the data transmission radio, the 4G DTU transparent transmission module and the RTK positioning module to the configuration interface according to the configuration query instruction.

7. The intelligent differential base station system according to claim 1, characterized in that: The main controller is specifically used to obtain the longitude, latitude and altitude of the main controller, fill it into a frame of GPGGA data, and send it to the differential server through the 4G DTU transparent transmission module and the 4G antenna; The differential server is used to transmit the first differential correction data to the main controller through the 4G antenna and the 4G DTU transparent transmission module after verifying the GPGGA data.

8. The intelligent differential base station system according to claim 1, characterized in that: The RTK positioning module is used to receive the configuration information of the main controller, work in the mobile station mode, and enter the differential state after the main controller receives the first differential correction data of the 4G DTU transparent transmission module; The main controller is specifically used to obtain the position information of the RTK positioning module after the RTK positioning solution state of the RTK positioning module becomes a fixed solution, and perform multiple average evaluations on the position information to obtain the accurate position information of the RTK positioning module, and send the accurate position information as the base station position information to the RTK positioning module, and configure the RTK positioning module to work in the base station mode; The RTK positioning module is also used to send the second differential correction data to the main controller when working in the base station mode.

9. The intelligent differential base station system according to claim 1, characterized in that: The intelligent differential base station system also includes a display screen communicatively connected to the controller; The display screen is used to display the working status of the intelligent differential base station system.

10. The intelligent differential base station system according to claim 9, characterized in that: The intelligent differential base station system also includes an audible and visual alarm module that is communicatively connected to the controller; The sound and light alarm module is used to generate a sound and light alarm signal when the working state is abnormal.

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