Satellite differential data dynamic broadcasting method and computer readable storage medium

Abstract

The invention discloses a satellite differential data dynamic broadcasting method and a computer readable storage medium, and the method comprises the steps: presetting a configuration rule table of a mobile terminal, the configuration rule table comprising each attribute and a broadcasting frequency corresponding to each terminal state; dividing the coverage area of the satellite differential data into static grids with different geographic attributes and dynamic grids with different weather attributes according to the map information and the real-time weather information; receiving uplink information sent by the mobile terminal, wherein the uplink information comprises a GGA message; determining position information and a terminal state of the mobile terminal according to the GGA message, and determining a grid where the mobile terminal is located according to the position information of the mobile terminal; determining a new broadcasting frequency according to the attribute of the grid, the terminal state and the configuration rule table; and broadcasting the satellite differential data according to the new broadcasting frequency. According to the invention, the broadcast frequency can be dynamically adjusted in real time, and the balance between wireless data flow control and differential positioning effect is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of data broadcasting, and in particular to a satellite differential data dynamic broadcasting method and a computer-readable storage medium. Background Art

[0002] For satellite differential data broadcasting, the existing industry-wide solution is based on the NTRIP protocol (Networked Transport of RTCM via Internet Protocol, a protocol for RTCM network transmission via the Internet). Mobile clients are generally connected to remote servers through wireless public networks, and the remote servers broadcast differential data according to the differential account configuration of the mobile client. The broadcast frequency is often a fixed frequency configured by the server according to the differential account. However, if the broadcast frequency is fixed, high-frequency broadcasting will generate large wireless data traffic, increasing user costs. Low-frequency broadcasting may reduce positioning accuracy and affect user use. In other solutions, mobile clients can also dynamically apply to change the differential service broadcast frequency based on their own status and surrounding environment, but this is not comprehensive enough. Mobile clients cannot perceive changes in conditions such as identifying grid attributes and make corresponding frequency switches. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a satellite differential data dynamic broadcasting method and a computer-readable storage medium, which can dynamically adjust the broadcasting frequency in real time to achieve a balance between wireless data flow control and differential positioning effect.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a method for dynamically broadcasting satellite differential data, comprising:

[0005] A configuration rule table for a preset mobile terminal, the configuration rule table including a broadcast frequency corresponding to each attribute and a broadcast frequency corresponding to each terminal state, the attributes including geographical attributes and weather attributes;

[0006] According to the map information, the coverage area of ​​satellite differential data is divided into static grids with different geographical attributes, and according to the real-time weather information, the coverage area of ​​satellite differential data is divided into dynamic grids with different weather attributes;

[0007] receiving uplink information sent by a mobile terminal, wherein the uplink information includes a GGA message;

[0008] Determine, according to the GGA message, the location information and the terminal state of the mobile terminal, and determine, according to the location information of the mobile terminal, the grid in which the mobile terminal is located, wherein the grid includes at least one of a static grid and a dynamic grid;

[0009] Determine the broadcast frequency corresponding to the mobile terminal according to the attribute of the grid where the mobile terminal is located, the terminal state and the configuration rule table, and determine the new broadcast frequency according to the corresponding broadcast frequency;

[0010] Satellite differential data is broadcast according to the new broadcast frequency.

[0011] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described above is implemented.

[0012] The beneficial effects of the present invention are: by parsing the GGA message sent by the mobile terminal, the grid where the mobile terminal is located and the terminal status of the mobile terminal are obtained, and then according to the attributes of the grid where the mobile terminal is located and the terminal status, the corresponding broadcast frequency is obtained from the configuration rule table and a new broadcast frequency is determined, so as to achieve the purpose of controlling the appropriate amount of RTK data broadcast to achieve effective high-precision positioning. The present invention generates a configuration rule table based on the virtual grid attributes and the status of the mobile terminal, and realizes the balance between wireless data flow control and differential positioning effect by real-time determination of switching the broadcast frequency of satellite differential data. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The present invention is a flowchart of a method for dynamically broadcasting satellite differential data according to a first embodiment of the present invention. DETAILED DESCRIPTION

[0014] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is a detailed description in conjunction with the implementation methods and the accompanying drawings.

[0015] See also Figure 1 , a satellite differential data dynamic broadcasting method, comprising:

[0016] A configuration rule table for a preset mobile terminal, the configuration rule table including a broadcast frequency corresponding to each attribute and a broadcast frequency corresponding to each terminal state, the attributes including geographical attributes and weather attributes;

[0017] According to the map information, the coverage area of ​​satellite differential data is divided into static grids with different geographical attributes, and according to the real-time weather information, the coverage area of ​​satellite differential data is divided into dynamic grids with different weather attributes;

[0018] receiving uplink information sent by a mobile terminal, wherein the uplink information includes a GGA message;

[0019] Determine, according to the GGA message, the location information and the terminal state of the mobile terminal, and determine, according to the location information of the mobile terminal, the grid in which the mobile terminal is located, wherein the grid includes at least one of a static grid and a dynamic grid;

[0020] Determine the broadcast frequency corresponding to the mobile terminal according to the attribute of the grid where the mobile terminal is located, the terminal state and the configuration rule table, and determine the new broadcast frequency according to the corresponding broadcast frequency;

[0021] Satellite differential data is broadcast according to the new broadcast frequency.

[0022] From the above description, it can be seen that the beneficial effect of the present invention is that the broadcast frequency can be adjusted dynamically in real time to achieve a balance between wireless data flow control and differential positioning effect.

[0023] Furthermore, the geographical attributes include areas with concentrated high-rise buildings, mountain valley areas, forest areas and open areas; the weather attributes include cloudy areas, clear and cloudless areas, rainy areas, haze areas and sandstorm areas; the terminal status includes single-point solutions, floating-point solutions and differential solutions as well as different ranges of available satellite numbers.

[0024] From the above description, it can be seen that the geographical environment and weather environment of the terminal are the key factors affecting the positioning error. Therefore, in different geographical environments and weather environments, different satellite differential data broadcast frequencies are required to assist in positioning solution in order to ensure positioning accuracy.

[0025] Further, the determining of the broadcast frequency corresponding to the mobile terminal according to the attribute of the grid in which the mobile terminal is located, the terminal state and the configuration rule table, and determining the new broadcast frequency according to the corresponding broadcast frequency, is specifically:

[0026] According to the configuration rule table, acquiring a broadcast frequency corresponding to the attribute of the grid where the mobile terminal is located and a broadcast frequency corresponding to the terminal state of the mobile terminal, to obtain a broadcast frequency corresponding to the mobile terminal;

[0027] The highest broadcast frequency among the broadcast frequencies corresponding to the mobile terminal is used as the new broadcast frequency.

[0028] From the above description, it can be seen that by selecting the highest broadcast frequency, the differential positioning effect is prioritized.

[0029] Further, the broadcasting of satellite differential data according to the new broadcasting frequency is specifically:

[0030] If the new broadcast frequency is higher than the current broadcast frequency, a set of satellite differential data is broadcast immediately, and subsequent satellite differential data broadcast is performed according to the new broadcast frequency;

[0031] If the new broadcast frequency is lower than the current broadcast frequency, the satellite differential data to be broadcasted is broadcasted according to the current broadcast frequency, and subsequent satellite differential data is broadcasted according to the new broadcast frequency.

[0032] From the above description, it can be seen that when the new broadcast frequency is detected to be higher, it means that the mobile client needs higher frequency satellite differential data for auxiliary positioning, and the data broadcast needs to be switched quickly. Otherwise, it can wait until the current cycle ends before switching.

[0033] Furthermore, after broadcasting the satellite differential data according to the new broadcasting frequency, the method further includes:

[0034] The new broadcast frequency is sent to the mobile terminal, so that the mobile terminal switches the reporting frequency of uplink information according to the new broadcast frequency.

[0035] From the above description, it can be seen that the communication frequency between the remote server and the mobile terminal is guaranteed to be unified.

[0036] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described above is implemented.

[0037] Embodiment 1

[0038] Please refer to Figure 1 , Embodiment 1 of the present invention is: a method for dynamic broadcasting of satellite differential data, the method is based on a satellite differential data (RTK data) dynamic broadcasting system, the system includes a mobile terminal and a remote server, and the two are connected through a wireless network communication.

[0039] In this embodiment, the remote service end includes a grid management module, a configuration management module, a dynamic determination module and a data broadcast module. Among them, the grid management module divides the virtual grid and assigns corresponding attributes based on the static and dynamic environmental states; the configuration management module sets the broadcast rules according to the positioning quality, positioning mode, HDOP, grid attributes, etc.; the dynamic determination module determines the switching broadcast frequency according to the information uplinked by the mobile terminal (such as GGA), and the changes in the real-time positioning quality, positioning mode, HDOP, location information, etc., combined with the broadcast rules of the configuration management module; the data broadcast module broadcasts the differential data according to the results of the dynamic determination system.

[0040] Specifically, Figure 1 As shown, the steps performed by the remote server include:

[0041] S101: Preset a configuration rule table for a mobile terminal, the configuration rule table including broadcast frequencies corresponding to various attributes and broadcast frequencies corresponding to various terminal states, the attributes including geographical attributes and weather attributes.

[0042] Among them, geographical attributes include areas with concentrated high-rise buildings, mountain canyon areas, forest areas and open areas; weather attributes include cloudy areas, clear and cloudless areas, rainy areas, haze areas and sandstorm areas; the terminal status includes different GPS states (such as single-point solution, floating-point solution and differential solution) and different ranges of available satellite numbers.

[0043] The ionospheric error, tropospheric error and orbit error that affect GNSS positioning are the main contents of network RTK error processing, and the geographical environment and weather environment where the terminal is located are the key factors affecting these errors. Therefore, in these different geographical environments and weather environments, different RTK data broadcast frequencies are required to assist in positioning and solving in order to ensure positioning accuracy.

[0044] Specifically, the configuration management module of the remote server presets a general broadcast frequency according to the account information of the mobile terminal, and customizes the broadcast frequency of grids with different attributes and different terminal states. For example, the general broadcast frequency of a mobile terminal is 5s, the broadcast frequency after entering the grid with the attribute of high-rise building concentration area is 1s, the broadcast frequency after entering the grid with the attribute of cloudy area is 2s, and so on. By setting the corresponding broadcast frequency according to the state of the mobile terminal, for example, if the number of available satellites is less than 2, the broadcast is stopped, and if the number of available satellites is greater than 3 and no positioning is performed, the broadcast frequency is 1s. Finally, an independent configuration rule table is generated for each mobile terminal. In this embodiment, the configuration rule table can be shown in Table 1.

[0045] Table 1: Configuration rules table

[0046]

[0047] Among them, the general broadcast frequency is Cs, A<C, B<C, D<F, E<F.

[0048] In practical applications, the various attributes of the configuration rule table and the broadcast frequency corresponding to each terminal status need to be generated through actual scientific experimental tests.

[0049] S102: Divide the coverage area of ​​the satellite differential data into static grids of different geographical attributes according to the map information, and divide the coverage area of ​​the satellite differential data into dynamic grids of different weather attributes according to the real-time weather information.

[0050] Specifically, the grid management module divides the RTK data coverage area into static grid areas with different geographical attributes based on static map information, such as high-rise building concentration areas, mountain valley areas, forest areas, open areas, etc. Then, based on real-time weather information, the RTK data coverage area is divided into dynamic grid areas with different weather attributes, such as cloudy areas, clear and cloudless areas, rainy areas, haze areas, sandstorm areas, etc.

[0051] S103: Receive uplink information sent by the mobile terminal, where the uplink information includes a GGA message.

[0052] Specifically, the dynamic determination module receives uplink information from the mobile terminal, such as a GGA message. The GGA message includes 17 fields: a statement identifier, world time, latitude, latitude hemisphere, longitude, longitude hemisphere, positioning quality indication, number of satellites used, HDOP-horizontal precision factor, altitude, height unit, geoid height anomaly difference, height unit, differential GPS data period, differential reference base station number, checksum end mark (with a carriage return character), <cr>and line breaks <lf>), separated by 14 commas. Its structure is:

[0053] $GPGGA, <1> , <2> , <3> , <4> , <5> , <6> , <7> , <8> , <9> ,M, <10> ,M, <11> , <12> *xx <cr> <lf>

[0054] For example: $GPGGA,014434.70,3817.13334637,N,12139.72994196,E,4,07,1.5,6.571,M,8.942,M,0.7,0016*79

[0055] The meaning of each field is as follows:

[0056] $GPGGA: start guide and statement format description (this sentence is GPS positioning data);

[0057] <1> : UTC time, in the format of hhmmss.sss;

[0058] <2> : Latitude, in the format of ddmm.mmmm (even if the first digit is zero, it will be transmitted);

[0059] <3> : Latitude hemisphere, N or S (north or south);

[0060] <4> : Longitude, in the format of dddmm.mmmm (the first zero will also be transmitted);

[0061] <5> : Longitude hemisphere, E or W (east longitude or west longitude);

[0062] <6> :GPS status, 0 initialization, 1 single point positioning, 2 code differential, 3 invalid PPS, 4 fixed solution, 5 floating point solution, 6 estimating, 7 manual input fixed value, 8 simulation mode, 9 WAAS differential;

[0063] <7> : The number of satellites used, ranging from 00 to 12 (the first zero will also be transmitted);

[0064] <8> : HDOP-Horizontal Dilution of Precision, ranging from 0.5 to 99.9. It is generally believed that the smaller the HDOP, the better the quality;

[0065] <9> : Altitude, the value range is -9999.9 to 9999.9 meters;

[0066] M refers to the unit meter;

[0067] <10> : Geoid height anomaly difference, ranging from -9999.9 to 9999.9 meters;

[0068] M refers to the unit meter;

[0069] <11> : Differential GPS data period (RTCM SC-104), the number of seconds for the final RTCM transmission. If it is not differential positioning, it is empty;

[0070] <12> : Differential reference base station number, ranging from 0000 to 1023 (the first leading 0 will also be transmitted);

[0071] *: statement end marker;

[0072] xx: XOR check of all ASCII codes from $ to *;

[0073] <cr>: Carriage return, end mark;

[0074] <lf>: Line break, end marker.

[0075] It can be seen that by parsing the GGA message, the positioning quality, positioning mode, HDOP, longitude and latitude, GPS status and other information of the mobile terminal can be obtained.

[0076] S104: Determine the location information and terminal status of the mobile terminal according to the GGA message, and determine the grid where the mobile terminal is located according to the location information of the mobile terminal, where the grid includes at least one of a static grid and a dynamic grid.

[0077] Specifically, the dynamic determination module determines the <2> , <3> , <4> , <5> field, the current location information of the mobile terminal can be obtained from the GGA message <6> , <7> field, you can get the terminal status of the mobile terminal.

[0078] If the current location information of the mobile terminal is within the range of a static grid, the static grid is used as the grid where the mobile terminal is currently located; at the same time, if the current location information of the mobile terminal is within the range of a dynamic grid, the dynamic grid is also used as the grid where the mobile terminal is currently located. In other words, the mobile terminal may be located in grids of different attributes at the same time.

[0079] S105: Determine the broadcast frequency corresponding to the mobile terminal according to the attributes of the grid where the mobile terminal is located, the terminal state and the configuration rule table, and determine a new broadcast frequency according to the corresponding broadcast frequency.

[0080] Specifically, the dynamic determination module obtains the configuration rule table of the mobile terminal from the configuration management module through the identity code of the mobile terminal, and then searches for the corresponding broadcast frequency based on the terminal status of the mobile terminal and the attributes of the grid in which it is located, combined with the configuration rule table. According to the terminal status and attributes, multiple broadcast frequencies can be queried. If the queried broadcast frequencies are the same, they are directly used as the new broadcast frequency. If the queried broadcast frequencies are different, the highest broadcast frequency is selected as the new broadcast frequency.

[0081] S106: Broadcast the satellite differential data according to the new broadcast frequency.

[0082] Specifically, the new broadcast frequency is compared with the broadcast frequency currently in effect on the mobile terminal. If the new broadcast frequency is higher than the current broadcast frequency, a set of satellite differential data is broadcast immediately, and the subsequent satellite differential data is broadcast at the new broadcast frequency; if the new broadcast frequency is lower than the current broadcast frequency, the current satellite differential data to be broadcast is broadcast at the current broadcast frequency, and the subsequent satellite differential data is broadcast at the new broadcast frequency. If the new broadcast frequency is consistent with the current broadcast frequency, the original state is maintained.

[0083] That is to say, when it is detected that the new broadcast frequency becomes higher, it means that the mobile client needs higher-frequency RTK data for auxiliary positioning, and the data broadcast needs to be switched quickly. Otherwise, it can wait until the current cycle ends before switching.

[0084] Furthermore, the new broadcast frequency is sent to the mobile terminal, so that the mobile terminal switches the reporting frequency of the uplink information according to the new broadcast frequency.

[0085] In this embodiment, the mobile terminal includes a positioning analysis unit, a wireless communication unit, an RTK management unit, etc. The positioning analysis unit is responsible for positioning solution and position information output; the RTK management unit is responsible for reporting terminal information to the remote server, and parsing and forwarding RTK differential data to the positioning analysis unit; the wireless communication unit is responsible for wireless public network access and data transmission.

[0086] The steps performed by the mobile terminal include:

[0087] S201: After the system is started, the positioning analysis unit performs real-time position solution and outputs the solved position information to the RTK management unit.

[0088] S202: The wireless communication unit completes wireless network access and remote server interaction.

[0089] S203: The RTK management unit obtains the current broadcast frequency and differential data from the remote server through the wireless communication unit, forwards the differential data to the positioning analysis unit for differential analysis, and periodically reports or stops reporting the position information output by the positioning analysis unit to the remote server based on the broadcast frequency.

[0090] S204: The mobile terminal receives the frequency switching notification broadcast by the remote server in real time during operation, and switches the reporting frequency of the location information accordingly.

[0091] This embodiment generates a configuration rule table based on virtual grid attributes and the status of the mobile terminal, and achieves a balance between wireless data flow control and differential positioning effect by switching the frequency of RTK data broadcasting in real time.

[0092] Embodiment 2

[0093] This embodiment is a computer-readable storage medium corresponding to the above embodiment, on which a computer program is stored. When the program is executed by the processor, the various steps of the satellite differential data dynamic broadcasting method in the above embodiment are implemented, and the same technical effect can be achieved, which will not be repeated here.

[0094] In summary, the present invention provides a method for dynamically broadcasting satellite differential data and a computer-readable storage medium, which parses the GGA message sent by the mobile terminal to obtain the grid where the mobile terminal is located and the terminal status of the mobile terminal, and then obtains the corresponding broadcast frequency from the configuration rule table and determines the new broadcast frequency according to the attributes of the grid and the terminal status, so as to achieve the purpose of controlling the appropriate amount of RTK data broadcasting to achieve effective high-precision positioning. The present invention generates a configuration rule table based on the virtual grid attributes and the status of the mobile terminal, and switches the broadcast frequency of satellite differential data in real time to achieve a balance between wireless data flow control and differential positioning effect.

[0095] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.< / lf> < / cr> < / lf> < / cr> < / lf> < / cr>

Claims

1. A method for dynamically broadcasting satellite differential data, characterized in that: include: A configuration rule table for a preset mobile terminal, the configuration rule table including a broadcast frequency corresponding to each attribute and a broadcast frequency corresponding to each terminal state, the attributes including geographical attributes and weather attributes; According to the map information, the coverage area of ​​satellite differential data is divided into static grids with different geographical attributes, and according to the real-time weather information, the coverage area of ​​satellite differential data is divided into dynamic grids with different weather attributes; receiving uplink information sent by a mobile terminal, wherein the uplink information includes a GGA message; Determine, according to the GGA message, the location information and the terminal state of the mobile terminal, and determine, according to the location information of the mobile terminal, the grid in which the mobile terminal is located, wherein the grid includes at least one of a static grid and a dynamic grid; Determine the broadcast frequency corresponding to the mobile terminal according to the attribute of the grid where the mobile terminal is located, the terminal state and the configuration rule table, and determine the new broadcast frequency according to the corresponding broadcast frequency; Satellite differential data is broadcast according to the new broadcast frequency.

2. The method for dynamically broadcasting satellite differential data according to claim 1, characterized in that: The geographical attributes include areas with concentrated high-rise buildings, mountain valley areas, forest areas and open areas; the weather attributes include cloudy areas, clear and cloudless areas, rainy areas, haze areas and sandstorm areas; the terminal status includes single-point solutions, floating-point solutions and differential solutions as well as different ranges of available satellite numbers.

3. The method for dynamically broadcasting satellite differential data according to claim 1, characterized in that: The determining, according to the attribute of the grid where the mobile terminal is located, the terminal state and the configuration rule table, the broadcast frequency corresponding to the mobile terminal, and determining the new broadcast frequency according to the corresponding broadcast frequency, is specifically: According to the configuration rule table, acquiring a broadcast frequency corresponding to the attribute of the grid where the mobile terminal is located and a broadcast frequency corresponding to the terminal state of the mobile terminal, to obtain a broadcast frequency corresponding to the mobile terminal; The highest broadcast frequency among the broadcast frequencies corresponding to the mobile terminal is used as the new broadcast frequency.

4. The method for dynamically broadcasting satellite differential data according to claim 1, characterized in that: The broadcasting of satellite differential data according to the new broadcasting frequency is specifically: If the new broadcast frequency is higher than the current broadcast frequency, a set of satellite differential data is broadcast immediately, and subsequent satellite differential data broadcast is performed according to the new broadcast frequency; If the new broadcast frequency is lower than the current broadcast frequency, the satellite differential data to be broadcasted is broadcasted according to the current broadcast frequency, and subsequent satellite differential data is broadcasted according to the new broadcast frequency.

5. The method for dynamically broadcasting satellite differential data according to claim 1, characterized in that: After the satellite differential data is broadcast according to the new broadcast frequency, the method further includes: The new broadcast frequency is sent to the mobile terminal, so that the mobile terminal switches the reporting frequency of uplink information according to the new broadcast frequency.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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