Single-station multi-channel data fusion method and device for satellite navigation positioning reference station

Abstract

The invention discloses a single-station multi-channel data fusion method for a satellite navigation positioning base station, and the method comprises the steps: enabling a production line data management system in a data production line to process the satellite observation data generated by a plurality of base stations to obtain data information when the sharing of the satellite observation data of the plurality of base stations is provided; and the data fusion service carries out data fusion processing on the data information to obtain a fused data packet, and sends the fused data packet to the data service pushing system, so that the reliability of the data service can be effectively improved to ensure the stable operation of the satellite navigation positioning system.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation, and in particular to a method and device for fusing multi-channel data of a single satellite navigation positioning base station. Background Art

[0002] In the field of satellite navigation and positioning, base stations undertake key data production tasks, and they continuously generate satellite observation data at intervals of seconds at specific three-dimensional spatial locations. These data are transmitted to the data center via a proprietary network, and data services are provided after processing. The entire process constitutes a production line. However, in actual operation, factors such as unstable network services, software failures, and abnormal hardware facilities may lead to interruptions in production line data production. For example, the momentary loss of network signals, software crashes caused by vulnerabilities, or sudden hardware failures will cause data service interruptions, seriously affecting the reliability and continuity of data, and then adversely affecting various applications that rely on these data, such as reduced positioning accuracy and navigation errors. Therefore, there is an urgent need for a method that can effectively improve the reliability of data services to ensure the stable operation of satellite navigation and positioning systems. Summary of the invention

[0003] The present application provides a method and device for fusing multi-channel data of a single satellite navigation and positioning base station, so as to effectively improve the reliability of data services and ensure the stable operation of the satellite navigation and positioning system.

[0004] In a first aspect, the present application provides a method for fusion of multi-channel data of a single satellite navigation positioning base station, the method being applied to a data fusion switching system, the system comprising a plurality of base stations, a data production line, a data fusion service cluster, a service configuration system and a data service push system, wherein the data production line comprises a plurality of production line data management systems, the data fusion service cluster comprises a plurality of data fusion services; the method comprises: After the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system; The data fusion service in the data fusion service cluster determines the production line data management system corresponding to the data fusion service according to the production line information; The data fusion service obtains data information from the production line data management system corresponding to the data fusion service according to the data fusion site information; wherein the data information is obtained by the production line data management system in the data production line processing the satellite observation data generated by the multiple reference stations; The data fusion service performs data fusion processing on the data information to obtain a fused data packet, and sends the fused data packet to the data service push system.

[0005] In a second aspect, the present application provides a single-station multi-channel data fusion device for a satellite navigation and positioning reference station. The device is applied to a data fusion switching system, which includes multiple reference stations, a data production line, a data fusion service cluster, a service configuration system, and a data service push system. Among them, the data production line includes multiple production line data management systems, and the data fusion service cluster includes multiple data fusion services; the device includes: A first unit, configured to, after the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system; A second unit, configured to a data fusion service in the data fusion service cluster determine a production line data management system corresponding to the data fusion service according to the production line information; A third unit, configured to the data fusion service obtain data information from the production line data management system corresponding to the data fusion service according to the data fusion site information; wherein, the data information is obtained by a production line data management system in the data production line processing satellite observation data generated by the multiple reference stations; A fourth unit, configured to the data fusion service perform data fusion processing on the data information to obtain a fusion data packet, and send the fusion data packet to the data service push system.

[0006] In a third aspect, the present application provides a readable medium, including execution instructions. When a processor of an electronic device executes the execution instructions, the electronic device executes the method according to any one of the first aspect.

[0007] In a fourth aspect, the present application provides an electronic device, including a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor executes the method according to any one of the first aspect.

[0008] As can be seen from the above technical solution, after the data fusion service cluster in this application is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system; the data fusion service in the data fusion service cluster determines the production line data management system corresponding to the data fusion service according to the production line information; the data fusion service obtains data information from the production line data management system corresponding to the data fusion service according to the data fusion site information; wherein, the data information is obtained by the production line data management system in the data production line processing the satellite observation data generated by the multiple reference stations; the data fusion service performs data fusion processing on the data information to obtain a fusion data packet, and sends the fusion data packet to the data service push system. In this way, when this application provides the sharing of satellite observation data of multiple reference stations, the production line data management system in the data production line processes the satellite observation data generated by the multiple reference stations to obtain data information, the data fusion service performs data fusion processing on the data information to obtain a fusion data packet, and sends the fusion data packet to the data service push system. In this way, the reliability of the data service can be effectively improved to ensure the stable operation of the satellite navigation and positioning system.

[0009] The further effects of the above non-conventional preferred methods will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present application or the existing technical solutions, the following will briefly introduce the drawings required for the description of the embodiments or the existing technical solutions. Obviously, the drawings described below are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

[0011] Figure 1 It is a schematic flow chart of a single-station multi-channel data fusion method for a satellite navigation and positioning reference station provided by the present application; Figure 2 It is a schematic flow chart of a single-station multi-channel data fusion method for a satellite navigation and positioning reference station provided by the present application; Figure 3 It is a schematic flow chart of a single-station multi-channel data fusion method for a satellite navigation and positioning reference station provided by the present application; Figure 4 It is a schematic flow chart of a single-station multi-channel data fusion method for a satellite navigation and positioning reference station provided by the present application; Figure 5Schematic structural diagram of a single-station multi-channel data fusion device for a satellite navigation and positioning reference station provided by this application; Figure 6 Schematic structural diagram of an electronic device provided by this application. Specific implementation manners

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0013] The following will, with reference to the drawings, elaborate on various non-restrictive implementation manners of this application.

[0014] Refer to Figure 1 , which shows a single-station multi-channel data fusion method in an embodiment of this application. The method is applied to a data fusion switching system. As Figure 2 shown, the system includes multiple reference stations, a data production line, a data fusion service cluster, a service configuration system, and a data service push system. Among them, the data production line includes multiple production line data management systems (for example, including a first production line data management system, a second production line data management system, and a third production line data management system), and the data fusion service cluster includes multiple data fusion services. A reference station can be understood as continuously producing satellite observation data of the current position relative to satellites at a certain three-dimensional space position on the earth's surface at intervals of one second. Satellite observation data: The satellite observation data produced per second at each three-dimensional space position refers to the satellite data of each constellation (Beidou, GPS, Galileo, etc.) at the current position (the satellites observable in the sky at this position. Since non-geostationary satellites rotate around the earth, only some satellites can be observed at a certain moment at a certain three-dimensional space position on the earth). Data production line: The satellite observation data produced by the reference station is real-time, long-term, orderly, and continuous, and is transmitted to the data center through a dedicated network. After data summarization, processing, and processing in the data center, data services are provided. The entire process is defined as a production line. Data fusion: The data services provided by the data production line may cause interruptions in the production of production line data due to factors such as network services, software services, and hardware facilities. Therefore, it is designed that the station end transmits through the dedicated networks provided by different network service providers to different data management production lines; in order to improve the reliability of data services, production line switching or data packet supplementation is performed according to the data fusion strategy when providing the same data service.

[0015] In this embodiment, the method may, for example, include the following steps: S101: After the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system.

[0016] It can be understood that after the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster can obtain production line information and data fusion site information from the service configuration system. The production line information can be understood as the identifier or information of the production line data management system from which data needs to be obtained. The data fusion site information can be understood as the identifier or information of the data fusion site in the data fusion service of the data fusion service cluster.

[0017] In one implementation, before the step in which the data fusion service cluster obtains production line information and data fusion site information from the service configuration system after the data fusion service cluster is successfully registered in the service configuration system, the method further includes: After the data fusion service cluster is started, the data fusion service cluster registers the cluster information of the data fusion service cluster with the service configuration system, and the data fusion service cluster regularly reports heartbeat data to the service configuration system to maintain the connection status between the data fusion service cluster and the service configuration system; Correspondingly, after the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system, including: After the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster regularly obtains production line information and data fusion site information from the service configuration system.

[0018] For example, as Figure 4 shown, when the data fusion service cluster is started, it registers the cluster information with the distributed service scheduling system (i.e., the service configuration system), regularly reports the cluster information heartbeat data to the service configuration system, and at the same time obtains production line information and data fusion site information from the service configuration system.

[0019] S102: The data fusion service in the data fusion service cluster determines the production line data management system corresponding to the data fusion service according to the production line information.

[0020] In this embodiment, the data fusion service in the data fusion service cluster may determine the production line data management system corresponding to the data fusion service according to the production line information. Specifically, the data fusion service in the data fusion service cluster may first determine the difference between the production line information and the production line information in the memory of the data fusion service; the difference between the production line information and the production line information in the memory of the data fusion service may be understood as whether the identifier or information of the production line data management system in the production line information is the same as or different from the identifier or information of the production line data management system in the production line information in the memory of the data fusion service.

[0021] The data fusion service adjusts the production line information in the memory of the data fusion service according to the difference between the production line information and the production line information in the memory of the data fusion service, and obtains the adjusted production line information in the memory of the data fusion service. It can be understood that the adjusted production line information in the memory of the data fusion service is the same as the production line information obtained by the data fusion service cluster from the service configuration system. For example, as Figure 4 shown, the data fusion service compares the obtained latest production line information and data fusion site information with the production line information cached in the memory, and opens or closes the data pulling service corresponding to each production line according to the change of the production line information, and simultaneously updates the production line information and data fusion site information in the memory; it can be understood that there is a difference in the production line data management system between the production line information and the production line information in the memory of the data fusion service. If the production line information obtained by the data fusion service cluster from the service configuration system has the identifier of production line data management system A, but the production line information in the memory of the data fusion service does not have the identifier of production line data management system A, then the data pulling service corresponding to production line data management system A is closed. Conversely, if the production line information obtained by the data fusion service cluster from the service configuration system does not have the identifier of production line data management system A, but the production line information in the memory of the data fusion service has the identifier of production line data management system A, then the data pulling service corresponding to production line data management system A is opened.

[0022] Finally, the adjusted production line information in the memory of the data fusion service may be used as the production line data management system corresponding to the data fusion service.

[0023] S103: The data fusion service obtains data information from the production line data management system corresponding to the data fusion service according to the data fusion site information.

[0024] Among them, the data information is obtained by the production line data management system in the data production line processing the satellite observation data generated by the multiple reference stations. The production line data management system in the data production line is communicatively connected to each reference station through a plurality of different dedicated lines. For example, as Figure 2 shown, each production line data management system is connected to each reference station through a Unicom dedicated line, a Mobile dedicated line, and a Telecom dedicated line.

[0025] In this embodiment, the data fusion service may obtain the data information corresponding to the data fusion site information from the production line data management system corresponding to the data fusion service according to the data fusion site information. Specifically, the data fusion service may update the data fusion site information to the memory of the data fusion service; then, the data fusion service may use the data fusion site corresponding to the data fusion site information in the memory to obtain data information from the production line data management system corresponding to the data fusion service, and store the data information in the memory cache of the data fusion site corresponding to the data fusion site information; wherein, the data fusion site is set in the data fusion service. For example, as Figure 4 shown, the data pulling service corresponding to each production line data management system pulls data with the latest data fusion site information and caches the latest pulled data in the memory cache of the data fusion site corresponding to the data fusion site information. If some original data fusion site information is removed according to the latest data fusion site information, data is not pulled through these data fusion sites.

[0026] S104: The data fusion service performs data fusion processing on the data information to obtain a fusion data packet, and sends the fusion data packet to the data service push system.

[0027] In this embodiment, the data fusion service may perform data fusion processing on the data information to obtain a fusion data packet, and send the fusion data packet to the data service push system. Specifically, the data fusion task thread corresponding to each production line data management system traverses the memory cache of the data fusion site that obtains the data information from the production line data management system at intervals of a preset duration (for example, 1 ms), and determines whether the data fusion site is removed according to the latest data fusion site information. If the data fusion site has been removed, its memory cache is released. If the data fusion site has not been removed, a data fusion task is created for the data fusion site and put into a unified thread pool.

[0028] When the data fusion task is executed, the data fusion site attempts to acquire the site data processing task lock. If the data fusion site successfully acquires the site data processing task lock, the data fusion site obtains the data fusion policy from its memory cache, and, according to the data fusion policy, performs data fusion processing on the data information to obtain a fusion data packet, and, sends the fusion data packet to the data service push system; if the data fusion site fails to acquire the site data processing task lock, it gives up processing. Among them, the specific method of performing data fusion processing on the data information according to the data fusion policy to obtain a fusion data packet and sending the fusion data packet to the data service push system is as follows: If the data fusion policy is packet-by-packet fusion, the data information is unpacked and repacked to obtain data packets, and the data information is decoded to obtain the data time; if the data time is later than the previous data fusion processing time, it is determined that the data packet is the latest data packet, then the data packet is used as the fusion data packet, and, the fusion data packet is sent to the data service push system; If the data fusion policy is not packet-by-packet fusion and the production line data management system corresponding to the data information is the same as the production line data management system corresponding to the data information in the previous data fusion processing, it is determined that the data information is the latest data packet, the data packet is used as the fusion data packet, and, the fusion data packet is sent to the data service push system; If the data fusion policy is not packet-by-packet fusion and the production line data management system corresponding to the data information is different from the production line data management system corresponding to the data information in the previous data fusion processing, data fusion processing is performed on the data information to obtain the fused data information. If the data fusion time of the data fusion processing is greater than the preset threshold, it is determined that the fused data information is the latest data packet, the fused data information is used as the fusion data packet, and, the fusion data packet is sent to the data service push system.

[0029] For example, such as Figure 3 、 4As shown, each data fusion task thread corresponding to the production line data management system traverses the memory cache of the data fusion site that obtains data information in the production line data management system at an interval of 1 ms. According to the latest data fusion site information (i.e., pulling the latest data fusion site information through the data pulling service), it determines whether the data fusion site has been excluded. If it has been excluded, it releases the memory cache corresponding to the data fusion site. Otherwise, it creates a data fusion task for the data fusion site and puts it into the unified data fusion task thread pool of multiple production lines for unified processing. When the data fusion task is executed, it first attempts to obtain the data processing task lock of this site (i.e., the data fusion site). If the task lock acquisition fails, it means that there are other tasks processing at this site, and the current task abandons data processing. If the task lock acquisition is successful, it obtains the data fusion strategy of this site from the memory and determines whether to perform data fusion packet by packet (for each observation packet).

[0030] If data fusion is performed packet by packet, it obtains the cached data fusion site information in the memory of this data fusion site, unpacks and repacks according to the data protocol corresponding to the data fusion site to obtain a complete observation packet, and parses the data time of this packet. It judges the relationship between the previous data fusion time and the current data time. If the current data time is greater than the previous fusion time, the current packet is the latest packet, and it updates the data fusion time and sends the latest fusion packet (i.e., the fusion packet) to the data service push system.

[0031] If data fusion is not performed packet by packet, it compares whether the production line information of this packet is the same production line as the production line information of the previous fusion data (i.e., the production line data management system corresponding to the data information and the production line data management system corresponding to the data information processed in the previous data fusion). If it is the same production line, the current packet is the latest packet, and it updates the data fusion production line information and the data fusion time and sends the latest fusion packet (i.e., the fusion packet) to the data service push system. If it is not the same production line, it further judges whether the data fusion time exceeds the threshold (such as 2 s, configurable). If it does not exceed the threshold, it means that the previous production line is producing normal data, and the current packet is discarded. If it exceeds the threshold, it may mean that the previous production line data production is interrupted or exceeds the data delay required by the business. The current packet may be the latest packet, and it updates the data fusion production line information to the production line information of the current packet and the data fusion time to the current time, and sends the latest fusion packet (i.e., the fusion packet) to the data service push system.

[0032] As can be seen from the above technical solution, after the data fusion service cluster in the present application is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system; the data fusion service in the data fusion service cluster determines the production line data management system corresponding to the data fusion service according to the production line information; the data fusion service obtains data information from the production line data management system corresponding to the data fusion service according to the data fusion site information; wherein, the data information is obtained by the production line data management system in the data production line processing the satellite observation data generated by the multiple reference stations; the data fusion service performs data fusion processing on the data information to obtain a fusion data packet, and sends the fusion data packet to the data service push system. In this way, when the present application provides satellite observation data sharing of multiple reference stations, the production line data management system in the data production line processes the satellite observation data generated by the multiple reference stations to obtain data information, the data fusion service performs data fusion processing on the data information to obtain a fusion data packet, and sends the fusion data packet to the data service push system. In this way, the reliability of the data service can be effectively improved to ensure the stable operation of the satellite navigation positioning system.

[0033] That is to say, the single-station multi-channel data fusion method for the satellite navigation positioning reference station has significant beneficial effects in many aspects, covering multiple key aspects such as improving data reliability, optimizing system operation efficiency, enhancing system adaptability, and promoting resource sharing: 1. Improve data reliability; Redundancy backup mechanism: The system transmits data through multiple data production lines, and different production lines can be used as backups for each other. Once a data production interruption occurs in a certain production line due to network failures, hardware problems, etc., other production lines can continue to provide data. During the data fusion process, by comparing the data time and production line information, the latest and most accurate data packets are selected for fusion, avoiding positioning errors caused by data delays or errors, ensuring the continuity and stability of the data service, and effectively improving the reliability of the data.

[0034] Erroneous data filtering: In the data fusion process, for non-packet-by-packet fusion, by judging the production line information of the data packet and the data fusion time threshold, data packets that may have problems can be effectively identified and discarded. If the previous production line is producing normally but the current data packet comes from a different production line and the fusion time does not exceed the threshold, it indicates that the data packet may be abnormal. At this time, discarding the data packet can prevent erroneous data from entering the subsequent processing process, further ensuring the accuracy and reliability of the data.

[0035] 2. Optimize system operation efficiency; Precise data retrieval: The data fusion service accurately retrieves data from the corresponding production line data management system based on the production line information and data fusion site information obtained from the service configuration system. This avoids blindly pulling a large amount of useless data, reducing data transmission volume and system resource consumption. The data retrieval service also adjusts the retrieval strategy in a timely manner according to the latest fusion site information, eliminating the data retrieval tasks of fusion sites that are no longer needed, and further improving the efficiency of data acquisition.

[0036] Efficient task scheduling: The data fusion task thread traverses the fusion site memory cache at intervals of 1ms, quickly identifies tasks that need to be processed, and puts them into a unified data fusion task thread pool. When tasks are executed, by obtaining task locks, it avoids conflicts caused by multiple tasks processing the same data simultaneously, ensuring the orderliness of data processing. This efficient task scheduling mechanism greatly improves the system's data processing speed, enabling the system to quickly respond to data fusion requirements and enhancing the overall operation efficiency.

[0037] 3. Enhance system adaptability; Flexible configuration options: The data fusion time threshold is configurable, and users or system administrators can adjust it according to different business scenarios and requirements. In scenarios with extremely high requirements for data real-time, such as in the fields of aviation navigation and autonomous driving, the threshold can be set lower to ensure timely acquisition of the latest data; in scenarios with relatively lower requirements for real-time but higher requirements for data stability, such as in the fields of geological monitoring and weather forecasting, the threshold can be appropriately increased to reduce system overhead caused by frequent switching of production lines, enhancing the adaptability and flexibility of the system.

[0038] Support for multiple networks and multiple production lines: The system supports multiple reference stations to transmit data to multiple production line data management systems through the proprietary networks of different network service providers. This architecture design of multiple networks and multiple production lines enables the system to adapt to different network environments and data sources. Whether in remote areas with unstable network signals or in complex urban environments, it can ensure the stable transmission and processing of data.

[0039] 4. Promote resource sharing; Unified data service push: The data fusion service uniformly pushes the fused data packets to the data service push system, providing a unified data interface for multiple users or applications. This enables different users and applications to avoid building complex data acquisition and processing systems separately, reducing usage costs and improving the sharing and utilization rate of data. Whether it is a research institution conducting geographical research or an enterprise developing location-based services, they can conveniently obtain accurate satellite navigation and positioning data through this system.

[0040] Standardized data processing flow: From the generation of observation data at the reference station, to the processing of data by the production line data management system, and then to the fusion processing by the data fusion service, the entire process follows unified rules and protocols. This standardized data processing flow ensures the effective fusion of data from different sources, lays a solid foundation for the wide sharing of data resources, and promotes the application and development of satellite navigation and positioning data in various fields.

[0041] As Figure 5 shown, it is a specific embodiment of a satellite navigation and positioning reference station single-station multi-channel data fusion device provided by the present application. The device in this embodiment, that is, the entity device for executing the method described in the above embodiment. Its technical solution is essentially the same as that of the above embodiment, and the corresponding descriptions in the above embodiment also apply to this embodiment. The device is applied to a data fusion switching system, and the system includes multiple reference stations, a data production line, a data fusion service cluster, a service configuration system, and a data service push system. Among them, the data production line includes multiple production line data management systems, and the data fusion service cluster includes multiple data fusion services. The device in this embodiment includes: The first unit 501 is used for, after the data fusion service cluster successfully registers in the service configuration system, the data fusion service cluster to obtain production line information and data fusion site information from the service configuration system; The second unit 502 is used for the data fusion service in the data fusion service cluster to determine the production line data management system corresponding to the data fusion service according to the production line information; The third unit 503 is used for the data fusion service to obtain data information from the production line data management system corresponding to the data fusion service according to the data fusion site information; wherein, the data information is obtained by the production line data management system in the data production line processing the satellite observation data generated by the multiple reference stations; The fourth unit 504 is used for the data fusion service to perform data fusion processing on the data information to obtain a fusion data packet, and to send the fusion data packet to the data service push system.

[0042] Optionally, it further includes: a fifth unit, which is used for, before the step of the data fusion service cluster obtaining production line information and data fusion site information from the service configuration system after the data fusion service cluster successfully registers in the service configuration system, performing the following steps: After the data fusion service cluster is started, the data fusion service cluster registers the cluster information of the data fusion service cluster with the service configuration system, and the data fusion service cluster regularly reports heartbeat data to the service configuration system to maintain the connection status between the data fusion service cluster and the service configuration system; Correspondingly, after the data fusion service cluster is successfully registered with the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system, including: After the data fusion service cluster is successfully registered with the service configuration system, the data fusion service cluster regularly obtains production line information and data fusion site information from the service configuration system.

[0043] Optionally, the data fusion service in the data fusion service cluster determines the production line data management system corresponding to the data fusion service according to the production line information, including: The data fusion service in the data fusion service cluster determines the difference between the production line information and the production line information in the memory of the data fusion service; The data fusion service adjusts the production line information in the memory of the data fusion service according to the difference between the production line information and the production line information in the memory of the data fusion service, and obtains the adjusted production line information in the memory of the data fusion service; The adjusted production line information in the memory of the data fusion service is used as the production line data management system corresponding to the data fusion service.

[0044] Optionally, the data fusion service obtains data information from the production line data management system corresponding to the data fusion service according to the data fusion site information, including: The data fusion service updates the data fusion site information to the memory of the data fusion service; The data fusion service uses the data fusion site corresponding to the data fusion site information in the memory to obtain data information from the production line data management system corresponding to the data fusion service, and stores the data information in the memory cache of the data fusion site corresponding to the data fusion site information; wherein, the data fusion site is set in the data fusion service.

[0045] Optionally, the data fusion service performs data fusion processing on the data information to obtain a fusion data packet, and sends the fusion data packet to the data service push system, including: For each data fusion task thread corresponding to the production line data management system, traverse the memory cache of the data fusion site that obtains data information from the production line data management system at a preset time interval, and determine whether the data fusion site is excluded according to the latest data fusion site information; If the data fusion site has been excluded, release its memory cache; If the data fusion site has not been excluded, create a data fusion task for the data fusion site and put it into a unified thread pool; When the data fusion task is executed, the data fusion site attempts to obtain the site data processing task lock; if the data fusion site successfully obtains the site data processing task lock, the data fusion site obtains the data fusion strategy from its memory cache, and performs data fusion processing on the data information according to the data fusion strategy to obtain a fusion data packet, and sends the fusion data packet to the data service push system; if the data fusion site fails to obtain the site data processing task lock, it gives up processing.

[0046] Optionally, the performing data fusion processing on the data information according to the data fusion strategy to obtain a fusion data packet, and sending the fusion data packet to the data service push system includes: If the data fusion strategy is packet-by-packet fusion, unpack and repack the data information to obtain a data packet, and decode the data information to obtain a data time; if the data time is later than the previous data fusion processing time, determine that the data packet is the latest data packet, then use the data packet as the fusion data packet, and send the fusion data packet to the data service push system; If the data fusion strategy is not packet-by-packet fusion and the production line data management system corresponding to the data information is the same as the production line data management system corresponding to the data information in the previous data fusion processing, determine that the data information is the latest data packet, use the data packet as the fusion data packet, and send the fusion data packet to the data service push system; If the data fusion strategy is not packet-by-packet fusion and the production line data management system corresponding to the data information is different from the production line data management system corresponding to the data information in the previous data fusion processing, perform data fusion processing on the data information to obtain fused data information. If the data fusion time of the data fusion processing is greater than a preset threshold, determine that the fused data information is the latest data packet, use the fused data information as the fusion data packet, and send the fusion data packet to the data service push system.

[0047] Optionally, the production line data management system in the data production line is communicatively connected to each reference station through a plurality of different dedicated lines.

[0048] In this way, the device can effectively improve the reliability of data services to ensure the stable operation of the satellite navigation and positioning system.

[0049] Figure 6 FIG. is a schematic structural diagram of an electronic device provided by an embodiment of the present application. At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. Among them, the memory may include a memory, such as a high-speed random access memory (Random-Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory, etc. Of course, the electronic device may also include other hardware required for other services.

[0050] The processor, network interface, and memory can be interconnected through an internal bus, and the internal bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 6 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0051] The memory is used to store executable instructions. Specifically, the executable instructions are computer programs that can be executed. The memory can include a memory and a non-volatile memory, and provide the executable instructions and data to the processor.

[0052] In a possible implementation manner, the processor reads the corresponding executable instructions from the non-volatile memory into the memory and then runs them, or can also obtain the corresponding executable instructions from other devices to form a single-station multi-channel data fusion device for a satellite navigation and positioning reference station at the logical level. The processor executes the executable instructions stored in the memory to implement the single-station multi-channel data fusion method for a satellite navigation and positioning reference station provided in any embodiment of the present application through the executed executable instructions.

[0053] As described above in the present application Figure 1The method executed by the single-station multi-channel data fusion device of the satellite navigation and positioning reference station provided by the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, the steps of the above method can be completed by the integrated logic circuit in the hardware of the processor or instructions in the form of software. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0054] The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0055] The embodiments of the present application also propose a readable medium. When the execution instructions stored in the readable storage medium are executed by the processor of the electronic device, the electronic device can execute the satellite navigation and positioning reference station single-station multi-channel data fusion method provided in any embodiment of the present application, and is specifically used to execute the above evaluation method.

[0056] The electronic device described in each of the foregoing embodiments may be a computer.

[0057] Those skilled in the art should understand that the embodiments of the present application may be provided as a method or a computer program product. Therefore, the present application may adopt a completely hardware embodiment, a completely software embodiment, or a form combining software and hardware.

[0058] Each embodiment in this application is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0059] It should also be noted that the term "including", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or elements inherent to such process, method, commodity or device. Without further limitation, the element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, commodity or device including the said element.

[0060] The above description is only for the embodiments of this application and is not intended to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims

1. A single-station multi-channel data fusion method for satellite navigation and positioning reference stations, characterized in that The method is applied to a data fusion switching system, which includes multiple reference stations, a data production line, a data fusion service cluster, a service configuration system, and a data service push system. Among them, the data production line includes multiple production line data management systems, and the data fusion service cluster includes multiple data fusion services. The method includes: After the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system; The data fusion services in the data fusion service cluster determine the production line data management system corresponding to the data fusion service according to the production line information; The data fusion service obtains data information from the production line data management system corresponding to the data fusion service according to the data fusion site information. Among them, the data information is obtained by the production line data management system in the data production line processing the satellite observation data generated by the multiple reference stations; The data fusion service performs data fusion processing on the data information to obtain a fusion data packet, and sends the fusion data packet to the data service push system.

2. The method according to claim 1, wherein Before the step that after the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system, the method further includes: After the data fusion service cluster is started, the data fusion service cluster registers the cluster information of the data fusion service cluster in the service configuration system, and the data fusion service cluster regularly reports heartbeat data to the service configuration system to maintain the connection status between the data fusion service cluster and the service configuration system; Correspondingly, after the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system, including: After the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster regularly obtains production line information and data fusion site information from the service configuration system.

3. The method according to claim 1, wherein The data fusion services in the data fusion service cluster determine the production line data management system corresponding to the data fusion service according to the production line information, including: The data fusion services in the data fusion service cluster determine the difference between the production line information and the production line information in the memory of the data fusion service; The data fusion service adjusts the production line information in the memory of the data fusion service according to the difference between the production line information and the production line information in the memory of the data fusion service to obtain the adjusted production line information in the memory of the data fusion service; The adjusted production line information in the memory of the data fusion service is used as the production line data management system corresponding to the data fusion service.

4. The method according to claim 1, characterized in that, The data fusion service obtains data information from the production line data management system corresponding to the data fusion service according to the data fusion site information, including: The data fusion service updates the data fusion site information into the memory of the data fusion service; The data fusion service uses the data fusion site corresponding to the data fusion site information in the memory to obtain data information from the production line data management system corresponding to the data fusion service, and stores the data information into the memory cache of the data fusion site corresponding to the data fusion site information; wherein, the data fusion site is set in the data fusion service.

5. The method according to claim 4, wherein The data fusion service performs data fusion processing on the data information to obtain a fusion data packet, and sends the fusion data packet to the data service push system, including: The data fusion task thread corresponding to each production line data management system traverses the memory cache of the data fusion site that has obtained data information from the production line data management system at a preset time interval, and determines whether the data fusion site is excluded according to the latest data fusion site information; If the data fusion site has been excluded, release its memory cache; If the data fusion site has not been excluded, create a data fusion task for the data fusion site and put it into a unified thread pool; When the data fusion task is executed, the data fusion site attempts to obtain the site data processing task lock; if the data fusion site successfully obtains the site data processing task lock, the data fusion site obtains the data fusion strategy from its memory cache, and performs data fusion processing on the data information according to the data fusion strategy to obtain a fusion data packet, and sends the fusion data packet to the data service push system; if the data fusion site fails to obtain the site data processing task lock, it gives up processing.

6. The method according to claim 5, characterized in that, The performing data fusion processing on the data information according to the data fusion strategy to obtain a fusion data packet, and sending the fusion data packet to the data service push system, including: If the data fusion strategy is packet-by-packet fusion, unpack and repack the data information to obtain a data packet, and decode the data information to obtain the data time; if the data time is later than the previous data fusion processing time, determine that the data packet is the latest data packet, then use the data packet as the fusion data packet, and send the fusion data packet to the data service push system; If the data fusion strategy is not packet-by-packet fusion, and the production line data management system corresponding to the data information is the same as the production line data management system corresponding to the data information in the previous data fusion processing, determine that the data information is the latest data packet, use the data packet as the fusion data packet, and send the fusion data packet to the data service push system; If the data fusion strategy is not packet-by-packet fusion, and the production line data management system corresponding to the data information is different from the production line data management system corresponding to the data information of the previous data fusion process, then perform data fusion processing on the data information to obtain the fused data information. If the data fusion time of the data fusion processing is greater than a preset threshold, determine that the fused data information is the latest data packet, use the fused data information as the fusion data packet, and send the fusion data packet to the data service push system.

7. The method according to claim 1, wherein The production line data management system in the data production line is communicatively connected to each reference station through a plurality of different dedicated lines.

8. A single-station multi-channel data fusion device for a satellite navigation and positioning reference station, characterized in that, The device is applied to a data fusion switching system, which includes a plurality of reference stations, a data production line, a data fusion service cluster, a service configuration system, and a data service push system. Among them, the data production line includes a plurality of production line data management systems, and the data fusion service cluster includes a plurality of data fusion services; the device includes: A first unit for, after the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster obtaining production line information and data fusion site information from the service configuration system. A second unit for a data fusion service in the data fusion service cluster determining the production line data management system corresponding to the data fusion service according to the production line information. A third unit for the data fusion service obtaining data information from the production line data management system corresponding to the data fusion service according to the data fusion site information; where the data information is obtained by the production line data management system in the data production line processing the satellite observation data generated by the plurality of reference stations. A fourth unit for the data fusion service performing data fusion processing on the data information to obtain a fusion data packet, and sending the fusion data packet to the data service push system.

9. A readable medium, characterized in that, The readable medium includes execution instructions. When the processor of the electronic device executes the execution instructions, the electronic device executes the method according to any one of claims 1-7.

10. An electronic device, characterized in that, The electronic device includes a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor executes the method according to any one of claims 1-7.

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