Positioning system and method of static object, terminal equipment and storage medium

Abstract

The invention relates to the technical field of positioning, and discloses a positioning system and method of a static object, terminal equipment and a storage medium, and the system comprises a base station and an equipment station; the equipment station comprises RTK equipment arranged on a static object; the equipment station obtains satellite positioning information and sends a request instruction; the RTK base station responds to the request instruction and returns differential information of the RTK base station at the response moment; and the equipment station receives the differential information, and calculates the positioning information of the RTK equipment according to the differential information and the satellite positioning information at the first preset moment, or according to the differential information and the satellite positioning information at the second preset moment. According to the invention, high-precision positioning of the static object can be realized under the condition of low broadband or discontinuous network communication.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning system, method, terminal device and storage medium for a stationary object. Background Art

[0002] RTK (Real-time kinematic) carrier phase differential technology is mainly based on real-time kinematic differential correction technology, and achieves high-precision location information acquisition through data exchange between the base station and the mobile station. Since satellite signals are affected by various factors during the propagation process, the accuracy of a single RTK positioning is limited. In order to improve positioning accuracy, a differential source is introduced to eliminate errors, that is, the mobile station obtains the carrier phase observation value and base station coordinates of the RTK base station in real time through the data communication link, and performs differential operations with the carrier phase observation value collected by the mobile station itself, and uses relative positioning to eliminate common unknown errors to achieve centimeter-level positioning accuracy.

[0003] To ensure high-precision positioning, it is necessary to obtain relevant information of the RTK base station in real time. Therefore, there are high requirements for the communication bandwidth between the RTL base station and the RTK mobile station, and the cost is high. When the communication network is temporarily blocked, the transmission of the data communication link is very slow, or even when the network is disconnected, the mobile station cannot obtain relevant information of the RTK base station in real time, resulting in the inability to perform high-precision positioning. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a system, method, terminal device and storage medium for positioning a stationary object, which can effectively solve the problem of being unable to achieve high-precision positioning of stationary objects in the case of low bandwidth or intermittent network communication.

[0005] In a first aspect, an embodiment of the present application provides a positioning system for a stationary object, comprising an RTK reference station and an equipment station; the equipment station comprises an RTK equipment disposed on the stationary object;

[0006] The equipment station obtains satellite positioning information and sends a request instruction;

[0007] The RTK base station responds to the request instruction and transmits back the differential information of the RTK base station at the response time;

[0008] The equipment station receives the differential information, and calculates the positioning information of the RTK equipment according to the differential information and the satellite positioning information at a first preset time, or according to the differential information and the satellite positioning information at a second preset time.

[0009] In some embodiments, the RTK device in the equipment station records satellite positioning information in a first preset manner and sends a request instruction to the RTK base station; and receives the differential information, and determines the first preset time according to the response time corresponding to the differential information.

[0010] In some embodiments, the type of the first preset mode includes real-time recording and interval recording;

[0011] When executing the real-time recording, taking the recording time which is the same as the response time as the first preset time;

[0012] When the interval recording is performed, the first preset time is determined according to the response time.

[0013] In some embodiments, determining the first preset time according to the response time includes:

[0014] When there is a recording time that is the same as the response time, the recording time that is the same as the response time is used as the first preset time;

[0015] When all the recording moments are different from the response moments, the first preset moment is determined according to each of the recording moments and the response moments.

[0016] In some embodiments, the device station further comprises a preset device;

[0017] The RTK equipment sends the satellite positioning information at the positioning moment;

[0018] The preset device receives the satellite positioning information at the positioning moment and the differential information returned by the RTK base station in a second preset manner; and determines the second preset moment according to the positioning moment corresponding to the satellite positioning information.

[0019] In some embodiments, the type of the second preset mode includes real-time feedback and interval feedback;

[0020] When executing the real-time feedback, the feedback time which is the same as the positioning time is used as the second preset time;

[0021] When the interval transmission is performed, the second preset time is determined according to the positioning time.

[0022] In some embodiments, determining the second preset time according to the positioning time includes:

[0023] When there is a return time that is the same as the positioning time, the return time that is the same as the positioning time is used as the second preset time;

[0024] When all the return times are different from the positioning time, the second preset time is determined according to each of the return times and the response time.

[0025] In a second aspect, an embodiment of the present application provides a method for positioning a stationary object, which is applicable to an RTK device, and the method includes:

[0026] Recording satellite positioning information in a first preset manner and sending a request instruction; the request instruction is used to obtain differential information of a reference station;

[0027] receiving the differential information, and determining a first preset time according to a response time corresponding to the differential information;

[0028] The positioning information of the RTK device is calculated according to the satellite positioning information corresponding to the first preset time and the differential information.

[0029] In a third aspect, an embodiment of the present application provides a method for positioning a stationary object, which is applicable to a preset device in a device station;

[0030] Receiving satellite positioning information sent by the RTK device at the positioning time and differential information returned by the RTK base station according to a second preset method;

[0031] Determine a second preset time according to the positioning time corresponding to the satellite positioning information;

[0032] The positioning information of the RTK device is calculated according to the differential information corresponding to the second preset time and the satellite positioning information.

[0033] In a fourth aspect, an embodiment of the present application provides a terminal device, which includes a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the above-mentioned method for positioning a stationary object.

[0034] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when executed on a processor, implements the above-mentioned method for positioning a stationary object.

[0035] The embodiments of the present application have the following beneficial effects:

[0036] The positioning system for stationary objects in the present application determines the same time of satellite positioning information and differential information through a first preset time or a second preset time, so that the positioning system calculates the positioning information of the RTK device through historical data at the same time, that is, the satellite positioning information and differential information, thereby achieving effective RTK high-precision positioning even when the network transmission rate is slow, communication is blocked or the network is temporarily disconnected, thereby improving the robustness of the device in obtaining high-precision positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 An application scenario diagram of the positioning system according to an embodiment of the present application is shown;

[0039] Figure 2 A structural schematic diagram of a stationary object positioning system according to an embodiment of the present application is shown;

[0040] Figure 3 A schematic diagram of signal interaction for real-time recording of satellite positioning information in an embodiment of the present application is shown;

[0041] Figure 4 A schematic diagram of signal interaction for recording satellite positioning information at intervals in an embodiment of the present application is shown;

[0042] Figure 5 Another structural schematic diagram of a stationary object positioning system according to an embodiment of the present application is shown;

[0043] Figure 6 A schematic diagram of signal interaction for real-time feedback of differential information in an embodiment of the present application is shown;

[0044] Figure 7 A schematic diagram of signal interaction for interval back-transmission of differential information in an embodiment of the present application is shown;

[0045] Figure 8 A schematic diagram showing a flow chart of a method for positioning a stationary object according to an embodiment of the present application is shown;

[0046] Fig. 9 Another schematic flow chart of a method for positioning a stationary object according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0048] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0049] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or a combination of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or a combination of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or a combination of the foregoing items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0050] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0051] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0052] like Figure 1 The positioning system shown is based on RTK carrier phase differential technology. The system includes a base station, a mobile station, i.e., a user station, a satellite, and a radio station. The base station first observes and receives satellite data; then, through a radio station, i.e., a communication data link, the observed data is sent to the mobile station in real time (the distance is generally not more than 20 kilometers). The mobile station receives the data from the base station, and also observes and receives satellite data. Based on the principle of relative positioning, the mobile station performs real-time differential operations based on the satellite data of the base station and the satellite data observed and received by itself, thereby calculating the three-dimensional coordinates and accuracy of the mobile station.

[0053] The stationary object positioning system is described below in conjunction with some specific embodiments.

[0054] Exemplarily, the positioning system includes a base station and a device station; the device station obtains satellite positioning information and sends a request instruction; the RTK base station responds to the request instruction and transmits back the differential information of the RTK base station at the response time; the device station receives the differential information and calculates the positioning information of the RTK device based on the differential information and the satellite positioning information at a first preset time, or based on the differential information and the satellite positioning information at a second preset time.

[0055] Figure 2 A structural schematic diagram of a positioning system for a stationary object in an embodiment of the present application is shown. In this embodiment, the equipment station includes an RTK device arranged on a stationary object. The RTK device records satellite positioning information in a first preset manner and sends a request instruction; the RTK base station responds to the request instruction and returns the differential information of the RTK base station at the response time; the RTK device receives the differential information and calculates the positioning information of the RTK device based on the differential information and the satellite positioning information at the first preset time.

[0056] In this embodiment, the type of the first preset mode includes real-time recording; when real-time recording is performed, the recording time that is the same as the response time is used as the first preset time. It can also be understood that when the satellite positioning information is recorded in real-time recording mode, the recording time that is the same as the response time is selected from all the recording times as the first preset time, and the first preset time is the same as the response time, that is, the positioning information of the RTK device is calculated by the satellite positioning information and differential information at the same time, thereby achieving the purpose of real-time positioning.

[0057] like Figure 3As shown, the RTK device starts to record satellite positioning information in real time from time A, that is, all satellite carrier phase information that the RTK device can observe. At the request time, i.e., time A2, the RTK device sends a request instruction to the RTK base station, and the request instruction requests differential information. The differential information includes the satellite carrier phase that the RTK base station can observe and the calibrated station information known to the RTK base station. Due to the communication network, the rate of the request instruction sent by the RTK device to the RTK base station, i.e., the request message for differential information, is very slow, and the transmission takes a while, because the RTK base station does not know the request instruction at the request time, i.e., time A2 (the response time is obviously later than the request time). The RTK base station responds to the request instruction at the response time, i.e., time B, and returns the differential information corresponding to the response time to the RTK device. Also due to the delay of the communication network, the rate of the differential information sent by the RTK base station to the RTK device is very slow. The RTK device receives the differential information of the RTK base station at the receiving time, i.e., time C, and the differential information of the RTK base station obtained by the RTK device is the response time, i.e., time B. Since the RTK device records satellite positioning information in real time, that is, it records all satellite positioning information from the start time, i.e., time A, to the receiving time, i.e., time C, it is possible to obtain the recording time and satellite positioning information corresponding to the response time, i.e., time B, from the recorded satellite positioning information. Finally, the recording time B corresponding to the response time, i.e., time B, is used as the first preset time, and the accurate positioning information of the RTK device is calculated based on the differential information of the response time, i.e., time B, and the satellite positioning information of the recording time B.

[0058] In this embodiment, the type of the first preset method includes interval recording; when interval recording is performed, if there is a recording moment that is the same as the response moment, the recording moment that is the same as the response moment is used as the first preset moment; if all recording moments and response moments are different, the first preset moment is determined based on each recording moment and response moment.

[0059] It can also be understood that when the satellite positioning information is recorded in interval recording mode, a recording time that is the same as or close to the response time is selected from all recording times as the first preset time. The first preset time is the same as the response time, that is, the positioning information of the RTK device is calculated by using the satellite positioning information and differential information at the same time or close to the time, thereby achieving the purpose of real-time positioning.

[0060] like Figure 4As shown, the RTK device starts recording satellite positioning information at preset time intervals from time A. The RTK device receives the differential information of the RTK base station at the receiving time, i.e., time C, and the differential information of the RTK base station obtained by the RTK device is the response time, i.e., time B. Since the RTK device records satellite positioning information at intervals, the satellite positioning information of time B may not necessarily exist in all satellite positioning information. If there is time B, the recording time of time B is selected as the first preset time. If there is no time B, the recording time B1 close to time B is selected, i.e., the difference between the recording time B1 and time B is the smallest, as the first preset time. Although the time points of time B1 and time B are different, the time interval is very short and can be considered as information at the same time point. Finally, the RTK device calculates its own accurate positioning information based on the differential information of the response time, i.e., time B, and the satellite positioning information of the first preset time (time B or time B1).

[0061] Figure 5 Another structural schematic diagram of the positioning system of a stationary object in an embodiment of the present application is shown. In this embodiment, the equipment station includes an RTK device and a preset device arranged on a stationary object. The preset device can also be arranged on the stationary object, or can be arranged close to the stationary object to reduce the communication transmission time between the preset device and the RTK device. The preset device can include a receiving unit, a storage unit and a processing unit; the receiving unit is used to receive satellite positioning information and differential information; the storage unit is used to store a plurality of differential information, so as to extract the differential information at a second preset time from the stored differential information, and the processing unit processes the differential signal and the satellite positioning information extracted at the second preset time to obtain the positioning information of the RTK device. The RTK device sends the satellite positioning information at the positioning time; wherein the positioning time refers to the time corresponding to the positioning information of the RTK device, and when the positioning information of different time periods needs to be calculated, the positioning time is a certain time in different time periods. The preset device sends a request instruction according to the second preset method; the RTK base station responds to the request instruction and transmits the differential information of the RTK base station back according to the second preset method. The preset device receives the satellite positioning information at the positioning moment and the differential information returned by the RTK base station; calculates the positioning information of the RTK device according to the differential information at the second preset moment and the satellite positioning information, and then transmits the positioning information to the RTK device.

[0062] In this embodiment, the type of the second preset mode includes real-time feedback; when real-time feedback is performed, the feedback time that is the same as the positioning time is used as the second preset time. It can also be understood that when differential information is transmitted in real-time feedback mode, the feedback time that is the same as the positioning time is selected from all feedback times as the second preset time, and the second preset time is the same as the feedback time, that is, the positioning information of the RTK device is calculated by the satellite positioning information and differential information at the same time, thereby achieving the purpose of real-time positioning.

[0063] like Figure 6 As shown, the preset device starts to request differential information in real time from time A, and the RTK base station returns satellite positioning information in real time, that is, the preset device obtains real-time differential information. The RTK device sends the satellite positioning information observed at the positioning time, that is, time B, to the preset device. Due to the communication network, the rate of satellite positioning information sent by the RTK device to the preset device is very slow, and the transmission takes a period of time. Then the preset device receives the satellite positioning information sent by the RTK device at the receiving time, that is, time C. Since the preset device obtains the returned differential information in real time, that is, all the satellite positioning information from the starting time, that is, time A, to the receiving time, that is, time C, then the return time and differential information corresponding to the positioning time, that is, time B, can be obtained. Finally, the recorded time B corresponding to the positioning time, that is, time B, is used as the second preset time. Finally, the preset device calculates the accurate positioning information of the RTK device based on the satellite positioning information at the positioning time, that is, time B, and the differential information at the return time B, and feeds the positioning information back to the RTK device.

[0064] In this embodiment, the type of the second preset method includes interval feedback; when performing interval feedback, if there is a feedback moment that is the same as the positioning moment, the feedback moment that is the same as the positioning moment is used as the second preset moment; if all feedback moments are different from the positioning moment, the second preset moment is determined according to each feedback moment and the response moment. It can also be understood that when the interval feedback method is used to transmit differential information, from all the feedback moments, the feedback moment that is the same or close to the positioning moment is selected as the second preset moment, and the second preset moment is the same as the feedback moment, that is, the preset device is used to calculate the positioning information of the RTK device through the satellite positioning information and differential information at the same moment or close to the moment, and then the positioning information is fed back to the RTK device, thereby achieving the purpose of real-time positioning.

[0065] like Figure 7As shown, the preset device starts to request differential information at intervals according to the preset time interval from time A, and the RTK base station returns satellite positioning information at intervals, that is, the differential information obtained by the preset device. The RTK device sends the satellite positioning information observed at the positioning time, that is, time B, to the preset device. Due to the communication network, the rate of the satellite positioning information sent by the RTK device to the preset device is very slow, and the transmission takes a period of time. Then the preset device receives the satellite positioning information sent by the RTK device at the receiving time, that is, time C. Since the preset device obtains the returned differential information at intervals, the differential information of time B may not exist in all the returned differential information. If there is time B, the return time of time B is selected as the second preset time. If there is no time B, the return time B1 close to time B is selected, that is, the difference between the recording time B1 and the positioning time B is the smallest, as the second preset time. Although the time points of time B1 and time B are different, the time interval is very short, and it can be considered as information at the same time point. Finally, the preset device calculates the accurate positioning information of the RTK device based on the satellite positioning information at the positioning moment, i.e., moment B, and the differential information at the second preset moment (the return moment B or the return moment B1), and feeds the positioning information back to the RTK device.

[0066] The positioning system for stationary objects in the embodiment of the present application is in a static state because the RTK device is in a static state. Therefore, historical data is also applicable to the calculation of the current position, that is, the satellite positioning information and differential information at the same time point in history are used. In the case of low bandwidth (including network communication obstruction) or intermittent network communication, high-precision positioning can be achieved by obtaining the differential information (not necessarily real-time information) of the RTK base station over a long period of time, or high-precision positioning can be achieved by using additional preset devices for the satellite positioning information and differential information at the same time, and the feedback is sent to the RTK device.

[0067] Figure 8 A schematic flow chart of a method for positioning a stationary object according to an embodiment of the present application is shown. Exemplarily, the positioning method includes:

[0068] S110, the RTK device records satellite positioning information according to a first preset method and sends a request instruction.

[0069] In this embodiment, the types of the first preset method include real-time recording and interval recording; real-time recording is to record satellite positioning information from the beginning time; interval recording is to record according to a preset time interval, for example, the preset time interval is one minute, and the specific interval time is set according to the control strategy, and the time interval may lead to an increase in positioning error.

[0070] S120, the RTK base station responds to the request instruction and returns the differential information corresponding to the response time.

[0071] In this embodiment, the RTK base station receives and responds to the request instruction of the RTK device, and transmits the differential information corresponding to the response time back to the RTK device.

[0072] S130, the RTK device receives the differential information, and determines a first preset time according to a response time corresponding to the differential information.

[0073] In this embodiment, when real-time recording is performed, the recording time that is the same as the response time is used as the first preset time; when interval recording is performed, if there is a recording time that is the same as the response time, the recording time that is the same as the response time is used as the first preset time; if all recording times are different from the response time, the first preset time is determined based on each recording time and response time.

[0074] S140, the RTK device calculates the positioning information of the RTK device according to the satellite positioning information and the differential information corresponding to the first preset time.

[0075] In this embodiment, when the recording time that is the same as the response time is used as the first preset time, the accurate positioning information of the RTK device is calculated based on the difference information of the response time, i.e., time B, and the satellite positioning information of the recording time B. When the first preset time is determined based on each recording time and the response time, the RTK device calculates its own accurate positioning information based on the difference information of the response time, i.e., time B, and the satellite positioning information of the first preset time (time B or time B1).

[0076] Fig. 9 A schematic flow chart of a method for positioning a stationary object according to an embodiment of the present application is shown. Exemplarily, the positioning method includes:

[0077] S210, the preset device sends a request instruction according to a second preset method.

[0078] In this embodiment, the types of the second preset mode include real-time feedback and interval feedback. Real-time feedback means that differential information is continuously transmitted from the time of starting the request; interval recording means that the request is made at a preset time interval, for example, the preset time interval is one minute, and the specific interval time is set according to the control strategy, and the time interval may cause the subsequent positioning error to increase.

[0079] S220, the RTK base station responds to the request instruction and returns the differential information of the RTK base station.

[0080] In this embodiment, the RTK base station receives the request instruction and transmits the differential information in real time or at intervals according to the second preset mode.

[0081] S230, the preset device receives the satellite positioning information at the positioning moment and the returned differential information.

[0082] In this embodiment, the preset device receives the satellite positioning information at the positioning moment and all the differential information returned in the second preset manner.

[0083] S240: The preset device determines a second preset time according to the positioning time corresponding to the satellite positioning information.

[0084] In this embodiment, when real-time feedback is performed, the feedback time that is the same as the positioning time is used as the second preset time. When interval feedback is performed, if there is a feedback time that is the same as the positioning time, the preset device uses the feedback time that is the same as the positioning time as the second preset time; if all feedback times are different from the positioning time, the preset device determines the second preset time according to each feedback time and the response time.

[0085] S250, the preset device calculates the positioning information of the RTK device according to the differential information corresponding to the second preset time and the satellite positioning information.

[0086] In this embodiment, when the return time that is the same as the positioning time is used as the second preset time, the preset device calculates the positioning information of the RTK device based on the satellite positioning information at the positioning time and the differential information at the return time, and feeds the positioning information back to the RTK device.

[0087] When the second preset time is determined based on each feedback time and the positioning time, the preset device calculates the positioning information of the RTK device based on the satellite positioning information of the positioning time, i.e., time B, and the differential information of the second preset time (feedback time B or feedback time B1), and feeds the positioning information back to the RTK device.

[0088] RTK equipment used under static conditions (or conditions that can be regarded as static conditions) can still effectively perform RTK positioning when the network bandwidth is very small and the communication delay is relatively long (such as communication via satellite short messages), which can save network costs and increase the scope of application of the equipment (for example, RTK equipment can be installed in areas without public network coverage and can still effectively perform high-precision positioning).

[0089] The present application also provides a terminal device. Exemplarily, the terminal device includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program, thereby enabling the terminal device to execute the above-mentioned method for positioning a stationary object.

[0090] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU) and a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0091] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store a computer program, and the processor may execute the computer program accordingly after receiving an execution instruction.

[0092] The present application also provides a computer-readable storage medium for storing the computer program used in the above-mentioned terminal device. For example, the computer-readable storage medium may include but is not limited to: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0093] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0094] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0095] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.

[0096] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A stationary object positioning system, characterized in that: It includes an RTK reference station and an equipment station; the equipment station includes an RTK equipment arranged on the stationary object; The equipment station obtains satellite positioning information and sends a request instruction; The RTK base station responds to the request instruction and transmits back the differential information of the RTK base station at the response time; The equipment station receives the differential information, and calculates the positioning information of the RTK equipment according to the differential information and the satellite positioning information at a first preset time, or according to the differential information and the satellite positioning information at a second preset time.

2. The stationary object positioning system according to claim 1, characterized in that: The RTK equipment in the equipment station records satellite positioning information according to a first preset method and sends a request instruction to the RTK base station; And receiving the differential information, and determining the first preset time according to the response time corresponding to the differential information.

3. The stationary object positioning system according to claim 2, characterized in that: The types of the first preset mode include real-time recording and interval recording; When executing the real-time recording, taking the recording time which is the same as the response time as the first preset time; When the interval recording is performed, the first preset time is determined according to the response time.

4. The stationary object positioning system according to claim 3, characterized in that: The determining the first preset time according to the response time includes: When there is a recording time that is the same as the response time, the recording time that is the same as the response time is used as the first preset time; When all the recording moments are different from the response moments, the first preset moment is determined according to each of the recording moments and the response moments.

5. The stationary object positioning system according to claim 1, characterized in that: The equipment station also includes a preset device; The RTK equipment sends the satellite positioning information at the positioning moment; The preset device receives the satellite positioning information at the positioning moment and the differential information returned by the RTK base station in a second preset manner; and determines the second preset moment according to the positioning moment corresponding to the satellite positioning information.

6. The stationary object positioning system according to claim 5, characterized in that: The types of the second preset mode include real-time feedback and interval feedback; When executing the real-time feedback, the feedback time which is the same as the positioning time is used as the second preset time; When the interval transmission is performed, the second preset time is determined according to the positioning time.

7. The stationary object positioning system according to claim 6, characterized in that: The determining the second preset time according to the positioning time includes: When there is a return time that is the same as the positioning time, the return time that is the same as the positioning time is used as the second preset time; When all the return times are different from the positioning time, the second preset time is determined according to each of the return times and the response time.

8. A method for positioning a stationary object, characterized in that: Applicable to RTK equipment, the method comprises: Recording satellite positioning information in a first preset manner and sending a request instruction; the request instruction is used to obtain differential information of a reference station; receiving the differential information, and determining a first preset time according to a response time corresponding to the differential information; The positioning information of the RTK device is calculated according to the satellite positioning information corresponding to the first preset time and the differential information.

9. A method for positioning a stationary object, characterized in that: Applicable to preset devices in the equipment station; Receiving satellite positioning information sent by the RTK device at the positioning time and differential information returned by the RTK base station according to a second preset method; Determine a second preset time according to the positioning time corresponding to the satellite positioning information; The positioning information of the RTK device is calculated according to the differential information corresponding to the second preset time and the satellite positioning information.

10. A terminal device, characterized in that: The terminal device includes a processor and a memory, the memory stores a computer program, and the processor is used to execute the computer program to implement the method for positioning a stationary object as described in claim 8 or 9.

11. A computer-readable storage medium, characterized in that: The computer program is stored therein, and when the computer program is executed on a processor, the method for positioning a stationary object according to claim 8 or 9 is implemented.

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