RTK service grid layer matching method and device based on user behavior characteristics

Abstract

The invention provides an RTK service grid layer matching method and device based on user behavior characteristics. The technical problem that conflicts exist between positioning service demand differences of existing large-scale users and grid service quality is solved. The method comprises the following steps: acquiring data access authorizations of different RTK service grids to establish a VRS service data synchronization process, forming an RTK service layer of a corresponding grid, and establishing a mapping relationship between the layer and speed; receiving positioning information periodically fed back by the positioning terminal to form corresponding time sequence positioning data; regularly forming the average speed of the positioning terminal according to the time sequence positioning data; and determining a layer and grid nodes according to the average speed, and broadcasting corresponding VRS service data to the positioning terminal. VRS service data are managed in a layered mode according to service quality and corresponding grades through a network graph layer, the demand scale of a user for the service quality is measured by mapping user behaviors or speed feature feedback of an application scene, and the VRS service data of the corresponding grades are broadcasted timely.

Description

Technical Field

[0001] The present invention relates to the technical field of GNSS navigation and positioning, and particularly relates to a method and device for matching RTK service grid layers based on user behavior characteristics. Background Art

[0002] Currently, the network RTK service (RTK, Real-Time Kinematic, real-time dynamic carrier phase relative positioning technology) widely used in various high-precision real-time positioning mainly adopts the virtual reference station technology (virtual reference station, VRS). The principle of this technology is that the data center receives the observation data of each reference station in the reference station network and the approximate coordinates of the user (or rover) in real time; and based on the coordinate position of the user, a virtual reference station is generated near it, and the spatial distance-related errors such as tropospheric and ionospheric delays at the virtual reference station are modeled to generate VRS virtual observations, and then the differential correction numbers in the standard format at the virtual reference station are sent to the user, so as to achieve the real-time high-precision positioning of the user. As described above, this mode depends on establishing two-way communication with the user. After that, the service software calculates in the system according to the approximate position of the user to obtain the corresponding virtual reference station information, and then broadcasts it to the user, which requires a large amount of calculation and service performance, and the concurrency ability is very low.

[0003] Therefore, another service method has emerged, that is, the fixed grid VRS technology, which serves users through grid VRS data (that is, a grid composed of a virtual reference station matrix is formed at a certain longitude and latitude interval, and virtual reference station data is fixedly generated at the grid nodes through the VRS technology. The closer the RTK positioning terminal user is to a grid node in the grid, the more virtual reference station data of that grid node is used). For RTK positioning users, the closer the position of the positioning terminal is to the coordinate position of the grid node providing the VRS service data, the higher the positioning service accuracy. This means that the higher the grid density, the higher the positioning service accuracy, and the smaller the positioning service range of each grid node. At the same time, the denser the grid, the higher the performance requirements for computing resources.

[0004] In practical applications, there are significant differences in the positioning service accuracy requirements of different types of users. For example, surveying and mapping users generally require high positioning accuracy, but do not move quickly and do not pay much attention to the continuity of the positioning service. On the other hand, vehicle-mounted positioning and navigation users generally require relatively low positioning accuracy, but are in a fast-moving state and pay more attention to the continuity of the positioning service. To meet the needs of some users, only using high-density grids for positioning service response will result in high operating costs and a decline in operation and maintenance stability. Summary of the Invention

[0005] In view of the above problems, an embodiment of the present invention provides a method and device for RTK service grid layer matching based on user behavior characteristics, which solves the technical problem of the conflict between the positioning service requirements of a large number of existing users and the grid service quality.

[0006] The method for RTK service grid layer matching based on user behavior characteristics according to an embodiment of the present invention includes: Obtain data access authorization for different RTK service grids to establish a VRS service data synchronization process, form an RTK service layer for the corresponding grid, and establish a mapping relationship between the layer and the speed; Receive the positioning information periodically fed back by the positioning terminal to form corresponding sequential positioning data; Regularly form the average speed of the positioning terminal according to the sequential positioning data; Determine the layer and grid nodes according to the average speed, and broadcast the corresponding VRS service data to the positioning terminal.

[0007] In an embodiment of the present invention, the forming of the RTK service layer for the corresponding grid and the establishing of the mapping relationship between the layer and the speed include: Establish an RTK service layer according to the VRS service data source; Map the service quality according to the grid node density in the layer; Form a service level through the mapping of the speed interval and the layer.

[0008] In an embodiment of the present invention, the forming of the sequential positioning data includes: When the user goes online, provide the VRS service data adapted in the default layer to the user's positioning terminal according to the default service level; Receive the positioning information regularly fed back by the positioning terminal to obtain reliable positioning data; Establish a sequential data queue of the positioning data.

[0009] In an embodiment of the present invention, the forming of the average speed includes: Calculate the average speed within a specified duration according to the sequential positioning data.

[0010] In an embodiment of the present invention, the determining of the layer and grid nodes according to the average speed and the broadcasting of the VRS service data to the positioning terminal include: Broadcast the VRS service data of the grid nodes adapted in the service level corresponding layer according to the speed interval where the average speed is located to the user's positioning terminal.

[0011] In an embodiment of the present invention, it further includes: Project the grid nodes in each RTK service layer in a local area onto a virtual layer to form an RTK service virtual layer for the key local area, and form an additional service level according to the virtual layer.

[0012] The RTK service grid layer matching device based on user behavior characteristics according to an embodiment of the present invention includes: A memory for storing program codes of the processing process of the above-mentioned RTK service grid layer matching method based on user behavior characteristics; A processor for executing the program codes.

[0013] The RTK service grid layer matching device based on user behavior characteristics according to an embodiment of the present invention includes: A layer establishment module for obtaining data access authorization of different RTK service grids to establish a VRS service data synchronization process, forming an RTK service layer corresponding to the grid, and establishing a mapping relationship between the layer and the speed; A feedback processing module for receiving the positioning information periodically fed back by the positioning terminal to form corresponding sequential positioning data; A feature processing module for regularly forming the average speed of the positioning terminal according to the sequential positioning data; A feature recognition module for determining the layer and grid nodes according to the average speed and broadcasting corresponding VRS service data to the positioning terminal.

[0014] In an embodiment of the present invention, it further includes: An additional layer establishment module for projecting the grid nodes in each RTK service layer to a virtual layer in a local area to form an RTK service virtual layer for the key local area, and forming an additional service level according to the virtual layer.

[0015] The RTK service grid layer matching method and device based on user behavior characteristics according to an embodiment of the present invention realize the response guarantee of the positioning service quality and level according to user behavior. The VRS service data is hierarchically managed by the network layer according to the service quality and corresponding levels, and the speed characteristics feedback mapping user behavior or application scenarios are used to measure the scale of the user's demand for service quality, and the VRS service data of the corresponding level is timely broadcast. It ensures that the VRS service data belonging to different service services can maximize the data utilization rate and user coverage while balancing the service cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The flowchart of the RTK service grid layer matching method based on user behavior characteristics according to an embodiment of the present invention is shown.

[0017] Figure 2 The architecture diagram of the RTK service grid layer matching device based on user behavior characteristics according to an embodiment of the present invention is shown. DETAILED DESCRIPTION OF THE INVENTION

[0018] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0019] A method for matching RTK service grid layers based on user behavior characteristics according to an embodiment of the present invention is as Figure 1 shown. In Figure 1 , this embodiment includes: Step 100: Obtain data access authorizations for different RTK service grids to establish a VRS service data synchronization process, form RTK service layers corresponding to the grids, and establish a mapping relationship between the layers and speeds.

[0020] Those skilled in the art can understand that when different RTK service systems use common reference station data to provide different VRS data services, each will form a dynamically maintained virtual reference station (VRS) set, covering the corresponding service area, and forming an RTK service grid. The virtual reference station set can be projected as grid nodes on a plane grid in the service area coordinate space, representing the coordinate positions and layout densities of the virtual reference stations. The VRS service data at the grid nodes usually includes periodically formed differential correction data. By obtaining authorizations, access and synchronization of the VRS service data in each RTK service system are performed. By integrating the VRS service data, a complete coverage area composed of the service areas of each RTK service grid is established, and RTK service layers corresponding to each RTK service grid in the complete coverage area are established. Each layer respectively reflects the layout density of the virtual reference stations and the positioning service accuracy in the existing RTK service grid. The service quality is quantified by the grid node density in each layer, and the service level is quantified by establishing a mapping relationship between the speed intervals and each layer.

[0021] Step 200: Receive the positioning information periodically fed back by the positioning terminal to form corresponding sequential positioning data.

[0022] The positioning terminal periodically feeds back its own positioning information to the server that uses the RTK service layer for RTK services. Through the positioning information, the server can identify terminal information including but not limited to the positioning time, positioning coordinates, and positioning quality, etc., and then form a sequential positioning data queue for each positioning terminal.

[0023] Step 300: Regularly form the average speed of the positioning terminal according to the sequential positioning data.

[0024] Calculate the average speed within a unit time in the RTK service coverage area using the time interval and coordinate spacing of the timing positioning data, and form judgments on the movement azimuth, movement elevation, movement speed, and movement trend of the positioning terminal carrier.

[0025] Step 400: Determine the layer and grid nodes according to the average speed, and broadcast the corresponding VRS service data to the positioning terminal.

[0026] Map the RTK service layer to the average speed interval of the positioning terminal. Form layer switching according to the change of the average speed, adapt to the adjacent grid nodes in the layer, and push the VRS service data of the grid nodes to the positioning terminal to ensure that the positioning terminal can obtain VRS service data that meets the speed or positioning service quality requirements.

[0027] The RTK service grid layer matching method based on user behavior characteristics in the embodiment of the present invention realizes the response guarantee of the positioning service quality and level according to user behavior. Through the network layer, the VRS service data is hierarchically managed according to the service quality and corresponding levels, and the speed characteristics feedback of the mapped user behavior or application scenario is used to measure the scale of the user's demand for service quality, and the VRS service data of the corresponding level is broadcast in a timely manner. It ensures that the VRS service data belonging to different business services can maximize the data utilization rate and user coverage while balancing the service cost.

[0028] As Figure 1 shown, in an embodiment of the present invention, step 100 includes: Step 110: Establish an RTK service layer according to the VRS service data source.

[0029] In an embodiment of the present invention, a virtual reference station in the same grid of a positioning service provider and the VRS service data provided by it form a corresponding RTK service layer, as well as the VRS service data of the grid nodes in the layer. Corresponding numbers of RTK service layers are formed according to the VRS service data source.

[0030] Step 120: Map the service quality according to the grid node density in the layer.

[0031] Calibrate the grid node density according to the number of grid nodes in the unit coverage area. Use the grid node density to map the positioning service quality that the VRS service data can achieve.

[0032] Step 130: Form a service level through the mapping of the speed interval and the layer.

[0033] Establish a service level by delimiting the speed interval, and map the service level to the layer identifier to establish a data response association between the speed characteristics and the service quality.

[0034] The RTK service grid layer matching method based on user behavior characteristics in the embodiments of the present invention establishes an association relationship among VRS service data, service levels, and service quality from different data sources for the layer, enabling the establishment of a basis for measuring user behavior while ensuring the compatibility between the VRS service data space and the coordinate space through coordinate normalization.

[0035] As Figure 1 shown, in an embodiment of the present invention, step 200 includes: Step 210: Provide the VRS service data adapted in the default layer to the user's positioning terminal at the default service level after the user goes online.

[0036] As an initialization process, after the user goes online, the default layer is switched to at the default service level, and the VRS service data formed by the grid nodes adjacent to the default layer is adapted according to the coordinates fed back by the user's positioning terminal. The service level is usually intermediate in the provided service levels, and the VRS service data in the corresponding default layer provides medium accuracy for positioning services.

[0037] Step 220: Receive the positioning information regularly fed back by the positioning terminal to obtain reliable positioning data.

[0038] In an embodiment of the present invention, the positioning information fed back by the positioning terminal uses the GGA (GPS positioning data message) encapsulation format of NMEA0183, including information such as the longitude, latitude, altitude, positioning time, and positioning quality indication of the positioning device, which can be used to determine the current position and positioning accuracy. The reliable positioning data is obtained by filtering the GGA positioning information according to the positioning accuracy identifier in the positioning information, such as the coordinates and positioning time in a specific coordinate system. The time interval of the regular feedback from the positioning terminal varies according to the terminal type, ranging from 1 to 5 seconds.

[0039] Step 230: Establish a chronological data queue for the positioning data.

[0040] After the user goes online, the positioning information regularly fed back by the terminal is continuously received, and the obtained reliable positioning data is cached into the data queue chronologically. Ensure that the chronological length of the queue is greater than the regular requirement length.

[0041] Specifically, based on the GGA positioning information uploaded by the user's positioning terminal, select the positioning results that are fixed solutions and the HDOP value ≤ 1.0 (the digit after "E" in the GGA positioning information represents the positioning quality, where 4 represents a fixed solution, that is, the carrier phase ambiguity of this positioning result is fixed, and the positioning accuracy is high; at the same time, the HDOP value ≤ 1.0 indicates that the number and distribution of received satellites are good. Both conditions are met, indicating that the credibility of this positioning result is high and can be adopted), and arrange them continuously in chronological order.

[0042] The RTK service grid layer matching method based on user behavior characteristics in the embodiments of the present invention forms an effective collection and filtering of positioning terminal information through the feedback mechanism of RTK technology, forms a quantitative basis for the continuous behavior characteristics of service objects, and ensures the timeliness and accuracy of behavior characteristic quantification.

[0043] As Figure 1 shown, in an embodiment of the present invention, step 300 includes: Step 310: Calculate the average speed within a specified duration according to the sequential positioning data.

[0044] The specified duration can be set according to the user identifier. The specified duration can be a continuous specified duration or a specified duration with an interval rule. The average speed of the positioning terminal is regularly formed according to the specified duration.

[0045] In an embodiment of the present invention, the calculation of the average speed is as follows: - Set the specified duration. In the embodiment of the present invention, it is set to 15 minutes.

[0046] - Determine the geocentric geodetic coordinate data at the start and end moments of the specified duration in the sequential positioning data according to the specified duration, and convert the (latitude), (longitude), and h (geodetic height) in the geocentric geodetic coordinate data into the geocentric earth-fixed rectangular coordinates x, y, and z using the following formula.

[0047]

[0048]

[0049]

[0050] Among them, N is the radius of curvature of the prime vertical circle of the reference ellipsoid, and e is the eccentricity of the ellipsoid. They have the following relationship with the semi-major axis a and semi-minor axis b of the reference ellipsoid: The geodetic height h in the geocentric geodetic coordinate system has the following relationship with the above sea level altitude H (where is the geoid height. Both H and are included in the GGA information uploaded by the user positioning terminal): -Form the total spatial displacement value between the start and end times as a whole using the geocentric rectangular coordinates x, y, z at the start and end times of the specified duration according to the following formula : where is to the total spatial displacement value as a whole between the start and end times.

[0051] -Form the average speed of the specified duration according to the following formula : where is and the specific time difference at the moment.

[0052] The RTK service grid layer matching method based on user behavior characteristics in the embodiment of the present invention uses geophysical principles to form a quantitative inference of the velocity characteristics in the three-dimensional space, ensuring the accuracy and real-time nature of the key characteristics directly related to user behavior.

[0053] As Figure 1 shown, in an embodiment of the present invention, step 400 includes: Step 410: Determine the VRS service data of the adapted grid nodes in the layer corresponding to the service level according to the speed interval where the average speed is located and broadcast it to the user's positioning terminal.

[0054] In an embodiment of the present invention, determine the service level according to the following speed intervals: If the average speed ≥ the speed interval division threshold (for example, 10 m / s), it is considered that the positioning terminal is in a high-dynamic application scenario, and the VRS service data of the adapted grid nodes in the layer with a small grid density (for example, 10*10 km spacing), including differential correction data, is broadcast for it; If the average speed < the speed interval division threshold (for example, 10 m / s), it is considered that the positioning terminal is in a low-dynamic application scenario, and the system broadcasts the VRS service data of the adapted grid nodes in the layer with a large grid point density (for example, 3*3 km spacing), including differential correction data, for it.

[0055] In practical applications, the default service level in the initialization stage can be randomly selected.

[0056] In practical applications, perform cyclic average speed judgment with the specified duration as the step size, and different positioning service characteristic requirements can be met according to user behavior characteristics.

[0057] The RTK service grid layer matching method based on user behavior characteristics in the embodiments of the present invention uses layers to distinguish the service accuracy of VRS service data within the same service coverage area, ensuring that the differences in user behavior can obtain targeted service quality and effectively avoiding the excessive demand for computing power and communication resources by the service grid constructed by RTK technology when the user scale grows rapidly.

[0058] In an embodiment of the present invention, for the underlying data architecture of using homologous general reference station data for each RTK service grid in the same region, it further includes: Project the grid nodes in each RTK service layer to a virtual layer within a local area to form an RTK service virtual layer for the key local area, and form additional service levels according to the virtual layer.

[0059] The additional RTK service virtual layer has a higher virtual reference station layout density and positioning service accuracy.

[0060] An RTK service grid layer matching device based on user behavior characteristics in an embodiment of the present invention includes: A memory for storing the program code of the processing process of the RTK service grid layer matching method based on user behavior characteristics described in the above embodiments; A processor for executing the program code of the processing process of the RTK service grid layer matching method based on user behavior characteristics described in the above embodiments.

[0061] The processor can adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, an SoC (system on a chip) system board, or a minimum system of a PLC (Programmable Logic Controller) including I / O.

[0062] An RTK service grid layer matching device based on user behavior characteristics in an embodiment of the present invention is as Figure 2 shown. In Figure 2 , this embodiment includes: A layer establishment module 10 for obtaining data access authorization for different RTK service grids to establish a VRS service data synchronization process, forming an RTK service layer for the corresponding grid, and establishing a mapping relationship between the layer and the speed; A feedback processing module 20 for receiving the positioning information periodically fed back by the positioning terminal to form corresponding sequential positioning data; A feature processing module 30, configured to regularly form an average speed of a positioning terminal according to time-sequential positioning data; A feature recognition module 40, configured to determine a layer and grid nodes according to the average speed, and broadcast corresponding VRS service data to the positioning terminal.

[0063] As Figure 2 shown, in an embodiment of the present invention, the layer establishment module 10 includes: A layer identification unit 11, configured to establish an RTK service layer according to the VRS service data source; A quality mapping unit 12, configured to map service quality according to the grid node density in the layer; A registration mapping unit 13, configured to form a service level by mapping a speed interval and a layer.

[0064] As Figure 2 shown, in an embodiment of the present invention, the feedback processing module 20 includes: A service initialization unit 21, configured to provide VRS service data adapted in a default layer to a positioning terminal of a user according to a default service level after the user goes online; A data time-sequentialization unit 22, configured to receive positioning information regularly fed back by the positioning terminal to obtain reliable positioning data; A queue update unit 23, configured to establish a time-sequential data queue of positioning data.

[0065] As Figure 2 shown, in an embodiment of the present invention, the feature processing module 30 includes: A feature quantization unit 31, configured to calculate an average speed within a specified duration according to time-sequential positioning data.

[0066] As Figure 2 shown, in an embodiment of the present invention, the feature recognition module 40 includes: A feature response unit 41, configured to broadcast VRS service data of grid nodes adapted in a layer corresponding to a service level to a positioning terminal of a user according to a speed interval in which the average speed is located.

[0067] In an embodiment of the present invention, it further includes: An additional layer establishment module, configured to project grid nodes in each RTK service layer to a virtual layer in a local area to form an RTK service virtual layer of a key local area, and form an additional service level according to the virtual layer.

[0068] As described above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A RTK service grid layer matching method based on user behavior characteristics, characterized in that: include: Obtain data access authorization for different RTK service grids to establish VRS service data synchronization process, form RTK service layers for corresponding grids, and establish mapping relationship between layers and speeds; Receive the positioning information periodically fed back by the positioning terminal to form corresponding time-series positioning data; Regularly form the average speed of the positioning terminal based on the time-series positioning data; The layer and grid nodes are determined according to the average speed, and the corresponding VRS service data is broadcast to the positioning terminal.

2. The RTK service grid layer matching method based on user behavior characteristics according to claim 1, characterized in that: The forming of the RTK service layer corresponding to the grid and establishing the mapping relationship between the layer and the speed includes: Establish RTK service layer based on VRS service data source; Map the quality of service based on the density of grid nodes in the layer; Service levels are formed through speed range and layer mapping.

3. The RTK service grid layer matching method based on user behavior characteristics according to claim 1, characterized in that: The formation of the temporal positioning data includes: When the user comes online, the VRS service data adapted in the default layer is provided to the user's positioning terminal according to the default service level; Receive positioning information regularly fed back by the positioning terminal to obtain reliable positioning data; Establish a temporal data queue for positioning data.

4. The RTK service grid layer matching method based on user behavior characteristics according to claim 1, characterized in that: The formation of the average speed includes: Calculates the average speed within a specified time period based on time-series positioning data.

5. The RTK service grid layer matching method based on user behavior characteristics according to claim 1, characterized in that: Determining the layer and grid node according to the average speed and broadcasting VRS service data to the positioning terminal includes: The VRS service data of the grid nodes adapted in the service level corresponding layer is determined according to the speed range in which the average speed is located and broadcasted to the user's positioning terminal.

6. The RTK service grid layer matching method based on user behavior characteristics according to claim 1, characterized in that: Also includes: In the local area, the grid nodes in each RTK service layer are projected onto a virtual layer to form an RTK service virtual layer for the key local area, and an additional service level is formed based on the virtual layer.

7. An RTK service grid layer matching device based on user behavior characteristics, characterized in that: include: A memory, used to store a program code for a processing process of an RTK service grid layer matching method based on user behavior characteristics as described in any one of claims 1 to 6; A processor is used to execute the program code.

8. An RTK service grid layer matching device based on user behavior characteristics, characterized in that: include: The layer establishment module is used to obtain data access authorization for different RTK service grids to establish the VRS service data synchronization process, form the RTK service layer of the corresponding grid, and establish the mapping relationship between the layer and the speed; A feedback processing module, used to receive the positioning information periodically fed back by the positioning terminal to form corresponding time-series positioning data; A feature processing module, used to periodically form an average speed of the positioning terminal according to the time-series positioning data; The feature recognition module is used to determine the layer and grid nodes according to the average speed and broadcast the corresponding VRS service data to the positioning terminal.

9. The RTK service grid layer matching device based on user behavior characteristics according to claim 8, characterized in that: Also includes: The additional layer establishment module is used to project the grid nodes in each RTK service layer onto a virtual layer in a local area to form an RTK service virtual layer for the key local area, and form an additional service level based on the virtual layer.

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