Intelligent differential base station system

Abstract

The application relates to an intelligent differential base station system, which comprises a first differential module and a second differential module. On one hand, the 4G first differential correction data can be obtained through a 4G DTU transparent transmission module and a 4G antenna, and on the other hand, the RTK second differential correction data can be obtained through an RTK positioning module and a GNSS antenna. Then, a main controller is arranged. According to a preset decision scheme, the main controller selects the first differential correction data or the second differential correction data as optimal differential correction data, and controls a signal transmission module to send the optimal differential correction data to a movable device. The system has the functions of multi-source differential correction data input and autonomous judgment / decision, and autonomous switching of a differential correction data source according to a decision result, can improve the robustness of the system, and meets the demand of more use scenarios.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of mobile device positioning, and particularly relates to an intelligent differential base station system. BACKGROUND

[0002] In order to realize high-precision positioning of mobile devices (such as unmanned aerial vehicles, unmanned vehicles and ground robots), currently, a ground real-time base station or a server is mainly adopted in the form of real-time forwarding of differential correction data to a remote mobile device. However, in the face of different occasions (such as remote areas) and application scenarios (requiring rapid response or mobile applications, etc.), a single mode has certain limitations and is prone to cause unreliable phenomena in the use process. SUMMARY

[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 embodiment of the present application is to propose an intelligent differential base station system, which can improve the robustness of the system to meet the needs of more use scenarios.

[0005] The first aspect of the embodiment of the present application proposes an intelligent differential base station system, characterized in that the intelligent differential base station system comprises:

[0006] A first differential module comprising a 4G DTU transparent transmission module and a 4G antenna, the 4G DTU transparent transmission module being in communication connection with a differential server through the 4G antenna, and being configured to receive first differential correction data sent by the differential server;

[0007] A second differential module comprising an RTK positioning module and a GNSS antenna, the RTK positioning module being configured to obtain second differential correction data through the GNSS antenna;

[0008] A signal transmission module in communication connection with a mobile device;

[0009] A main controller in communication connection with the first differential module, the second differential module and the signal transmission module, the main controller being configured to select the first differential correction data or the second differential correction data as 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 mobile device.

[0010] The present 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. 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 mobile 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 results, which can improve the robustness of the system and meet the needs of more usage scenarios.

[0012] In some embodiments of the present application, 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 mobile device, includes:

[0013] The main controller is used to obtain the signal strength RSSI of the 4G DTU transparent transmission module and to 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 according to the threshold value T and the number of frames C 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 number of frames 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 is greater than 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 ≤ the first threshold, or f 4G <the second threshold, and the update frequency f RTKwhen the signal strength RSSI is greater than the third threshold value, the first differential correction data is taken as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the movable device; when the signal strength RSSI is less than the first threshold value, or f 4G the second threshold value, and the update frequency f RTK the third threshold value, the first differential correction data is taken as the optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the movable device.

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

[0017] The control of the signal transmission module to send the optimal differential correction data to the movable device comprises:

[0018] The main controller is configured to, when the optimal differential correction data is the first differential correction data, set a forwarding frequency f 4G of the optimal differential correction data, and control the data radio station to send the optimal differential correction data to the movable device at the forwarding frequency f 4G .

[0019] The main controller is further configured to, when the optimal differential correction data is the second differential correction data, set a forwarding frequency f RTK of the optimal differential correction data, and control the data radio station to send the optimal differential correction data to the movable device at the forwarding frequency f RTK .

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

[0021] The movable device is a UAV;

[0022] The control of the signal transmission module to send the optimal differential correction data to the movable device comprises:

[0023] The main controller is configured to, when the UAV is in a sliding take-off mode or a landing recovery mode, set a forwarding frequency f best of the optimal differential correction data as a corresponding update frequency, and send the whole frame of data in the form of being divided into N small packets, with a sending interval time of t and control the data interface to send the optimal differential correction data to the movable device at the forwarding frequency f best , and the sending interval time 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 further configured to: when the UAV is 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 entire 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 UAV to be in normal flight mode and the signal-to-noise ratio (SNR) of the ground station data transmission radio station to be <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, and then sent to the UAV by the ground station data transmission radio.

[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 to 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 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;

[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 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 configured to receive configuration information of the main controller, work 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 configured to obtain position information of the RTK positioning module after the RTK positioning module enters a fixed solution state, perform multiple average evaluations on the position information, obtain accurate position information of the RTK positioning module, send the accurate position information to the RTK positioning module as base station position information, and configure the RTK positioning module to work in a base station mode.

[0040] The RTK positioning module is further configured 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 comprises a display screen in communication connection with the controller.

[0042] The display screen is configured to display a working state of the intelligent differential base station system.

[0043] In some embodiments of the present application, the intelligent differential base station system further comprises an audible and visual alarm module in communication connection with the controller.

[0044] The audible and visual alarm module is configured to generate an audible and visual alarm signal when the working state is abnormal. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or related technical descriptions. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] Figure 1 is a structure diagram of the intelligent differential base station system provided by the present application;

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

[0048] Figure 3 is a flowchart of another data transmission mode of the intelligent differential base station system provided by the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0050] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[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 pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0052] like Figure 1 One 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 and then transferred to the 4G network. It has 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, the carrier phase difference technology (Real-time kinematic, RTK) is developed on the basis of GPS measurement technology and continuously improved and perfected. RTK technology can obtain real-time positioning accuracy of centimeter level in the field. By installing a mobile base station on a reference point with known position, the deviation of the positioning signal is measured, and the deviation is sent to the mobile station in real time, so that the mobile station obtains more accurate position information. GNSS (Global Navigation Satellite System) is a global navigation satellite system, which is a radio navigation system based on artificial satellites, providing all-weather, high-precision position, speed and time information for various types of carriers on land, sea, air and space.

[0057] The signal transmission module is in communication connection with the movable device.

[0058] The main controller is in communication connection with the first difference module, the second difference module and the signal transmission module, and is configured to select the first difference correction data or the second difference correction data as the optimal difference correction data according to a preset decision scheme, and control the signal transmission module to send the optimal difference correction data to the movable device.

[0059] Here, the specific type of the main controller is not limited.

[0060] The present application comprises a first difference module and a second difference module. On the one hand, the first difference correction data of 4G can be obtained through the 4G DTU transparent transmission module and the 4G antenna. On the other hand, the second difference correction data of RTK can be obtained through the RTK positioning module and the GNSS antenna. Then, the main controller is set to select the first difference correction data or the second difference correction data as the optimal difference correction data according to a preset decision scheme, and control the signal transmission module to send the optimal difference correction data to the movable device. Through the above scheme, the system has the functions of multi-source difference correction data input and judgment / decision, and autonomous switching of difference correction data source according to the decision result, which can improve the robustness of the system and meet the needs of more use scenarios.

[0061] It is worth mentioning that the system further comprises a power module, which is specifically as follows:

[0062] The power module comprises a lithium battery pack, a power voltage monitoring unit and a TypeC fast charging unit. The lithium battery pack provides power supply for the main controller and other components through the power voltage monitoring unit. The main controller obtains the voltage information of the lithium battery pack through the power voltage monitoring unit. The TypeC fast charging unit raises the 5V input to a suitable voltage to charge the lithium battery pack.

[0063] In some embodiments, according to a preset decision scheme, the first differential correction data or the second differential correction data is selected as optimal differential correction data, and the signal transmission module is controlled to send the optimal differential correction data to the mobile device, comprising:

[0064] The main controller is configured to acquire the signal strength RSSI of the 4G DTU transparent module, and count the frame number C of the first differential correction data of the 4G DTU transparent module received within a threshold time T 4G , and calculate the update frequency f 4G of the first differential correction data of the differential server as f 4G = (C 4G / T) Hz according to the threshold time T and the frame number C

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

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

[0067] In the embodiment, the first threshold value is set as -113 dBm, the second threshold value is set as 1 Hz, and the third threshold value is set as 1 Hz, which are all common parameters in the field.

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

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

[0070] When the signal strength RSSI ≤ the first threshold value, or f 4G < the second threshold value, and the update frequency f RTK ≥ the third threshold value, it is determined that the corresponding second differential correction data of the RTK positioning module is abnormal, and the first differential correction data of the 4G DTU transparent module is still preferred, because at this time, although the first differential correction data has errors, the effectiveness of the first differential correction data is still higher than that of the second differential correction data, so the first differential correction data is selected as the optimal differential correction data.

[0071] In some embodiments, the present embodiment is a smart differential base station system provided with three data transmission modes including:

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

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

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

[0075] The main controller is used to set the forwarding frequency of the optimal differential correction data to f 4G when the optimal differential correction data is the first differential correction data, and control the data transmission radio to send the optimal differential correction data to the movable device at the forwarding frequency f 4G

[0076] The main controller is also used to set the forwarding frequency of the optimal differential correction data to f RTK when the optimal differential correction data is the second differential correction data, and control the data transmission radio to send the optimal differential correction data to the movable device at the forwarding frequency f RTK

[0077] In the first data transmission mode, the main controller directly sends the optimal differential correction data through the data transmission radio, and does not change and package the differential correction data transmission frequency.

[0078] The second (ground station-measuring and controlling 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 mobile 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 forwarding frequency f of the optimal differential correction data 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 entire 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 radio, which then sends it to the drone. 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 that the UAV is in normal flight mode and the signal-to-noise ratio (SNR) of the ground station data radio 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 entire 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 control the signal-to-noise ratio (SNR) of the ground station data 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 radio, which then sends it to the drone. 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 the 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 UAV's operating modes 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 connected to the measurement and control link through the data interface, and the measurement and control link is connected to 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 0, 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 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;

[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 time is t interval The optimal differential correction data is sent to the measurement and control link, and is sent to the movable device by the measurement and control link. Preferably, N is 10 and m is 3.

[0095] In the embodiment, the main controller is connected with the measurement and control link through the data interface, acquires the signal-to-noise ratio and network delay and other parameters of the measurement and control link, judges the working state of the measurement and control link, and autonomously decides the forwarding mode and frequency of the optimal differential correction data.

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

[0097] In some embodiments, the intelligent differential base station system further comprises a configuration interface in communication connection with the main controller.

[0098] The signal transmission module comprises a data transmission radio station.

[0099] The configuration interface is configured to send configuration information to the main controller and send a configuration query instruction to the main controller.

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

[0101] As Figure 2 and Figure 3 In some embodiments, the main controller is specifically configured to acquire the longitude, latitude and altitude of the main controller, fill in a frame of GPGGA data, and send the GPGGA data to the differential server through the 4G DTU transparent transmission module and the 4G antenna.

[0102] The differential server is configured to, after the GPGGA data is verified, transmit the first differential correction data to the main controller through the 4G antenna and the 4G DTU transparent transmission module.

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

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

[0105] The RTK positioning module is configured to receive configuration information from the main controller, and to work in a mobile station mode and enter a differential state after the main controller receives the first differential correction data from the 4G DTU transparent module.

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

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

[0108] In some embodiments, the intelligent differential base station system further includes a display screen in communication connection with the controller.

[0109] The display screen is configured to display the working state 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 in communication connection with the controller.

[0111] The audible and visual alarm module is configured to generate an audible and visual alarm signal when the working state is abnormal.

[0112] The display screen mainly realizes a real-time state (i.e., working state) monitoring function, which is realized by the main controller analyzing the working state of the system and displaying the working state through the display screen. The system working state includes, but is not limited to, the number of satellites, base station position information, system working voltage, base station system positioning state, 4G signal strength, data radio signal strength, differential correction data sending frame number and frame loss rate, and other key system parameters.

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

[0114] For example, if the first difference correction data or the second difference correction data is abnormal, the sound and light alarm module and the display screen can be used for alarm prompt. Alternatively, the unmanned aerial vehicle ground station system (including the ground station data link radio) counts the number of optimal difference correction data frames N forwarded in a unit time interval in real time, and compares it with the theoretical number of difference correction data frames M: if M-N>K, an alarm information is prompted, wherein K is a set deviation threshold.

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

[0116] The intelligent difference base station system of the present application has the functions of multi-source difference correction data input and autonomous judgment / decision of ground base station / server, autonomous switching of difference correction data source according to the decision result, adaptive decision of difference correction data forwarding frequency according to the communication link state, real-time state monitoring and prompt of difference correction data, and multiple forwarding modes such as direct transmission, ground station-measuring and controlling link forwarding, and measuring and controlling link forwarding through independent data link, which can meet the needs of various use scenarios.

Claims

1. An intelligent differential base station system, characterized in that: The intelligent differential base station system includes: A 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. 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, communicating with a removable device; a main controller, communicatively connected to the first differential module, the second differential module, and the signal transmission module, the main controller being configured to select, according to a preset decision scheme, the first differential correction data or the second differential correction data as optimal differential correction data, and control the signal transmission module to send the optimal differential correction data to the removable device; the selecting, according to the preset decision scheme, the first differential correction data or the second differential correction data as optimal differential correction data, and controlling the signal transmission module to send the optimal differential correction data to the removable device, comprising: The main controller is used to obtain the signal strength RSSI of the 4G DTU transparent transmission module and to 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 according to the threshold value T and the number of frames C 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 number of frames 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 is greater than 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 ≤ 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 ≤ 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.

2. The intelligent differential base station system according to claim 1, characterized in that: The signal transmission module includes a data transmission radio; The controlling the signal transmission module to send the optimal differential correction data to the movable device includes: The main controller is configured 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 frequency f 4G sending the optimal differential correction data to the removable 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 control the digital radio to forward frequency f RTK The optimal differential correction data is sent to the removable device.

3. The intelligent differential base station system according to claim 1, 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 the taxiing takeoff mode or the landing recovery mode. best is the corresponding update frequency, and the entire 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 further configured to: when the UAV is 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 entire 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 UAV to be in normal flight mode and the signal-to-noise ratio (SNR) of the ground station data transmission radio station to be <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.

4. The intelligent differential base station system according to claim 1, characterized in that: 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; 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 to 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 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.

5. The intelligent differential base station system according to claim 1, characterized in that: The intelligent differential base station system further includes a configuration interface, wherein the configuration interface is communicatively connected to the main controller; The signal transmission module includes a data transmission radio; 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.

6. 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 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.

7. 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, operate 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 configured to obtain position information of the RTK positioning module after the RTK positioning solution state of the RTK positioning module becomes a fixed solution, perform multiple average evaluations on the position information to obtain accurate position information of the RTK positioning module, send the accurate position information as base station position information to the RTK positioning module, and configure the RTK positioning module to operate in base station mode; The RTK positioning module is further configured to send the second differential correction data to the main controller when operating in a base station mode.

8. The intelligent differential base station system according to claim 1, characterized in that: The intelligent differential base station system further 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.

9. The intelligent differential base station system according to claim 8, characterized in that: The intelligent differential base station system further comprises an audible and visual alarm module 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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