A method and device for fusion of multi-channel data of a single satellite navigation positioning base station

Abstract

The present application discloses a method for fusing multi-channel data of a single satellite navigation and positioning base station. When providing satellite observation data sharing for multiple base stations, the method comprises the following steps: a production line data management system in the data production line processes the satellite observation data generated by the multiple base stations to obtain data information; the data fusion service performs data fusion processing on the data information to obtain a fused data packet; and the fused data packet is sent 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.

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 reference station. Background Art

[0002] In the field of satellite navigation and positioning, base stations play a critical role in data production, continuously generating satellite observation data at second intervals at specific three-dimensional spatial locations. This data is transmitted to data centers via proprietary networks, processed, and provided as data services. This entire process constitutes a production line. However, in actual operation, factors such as unstable network services, software failures, and hardware anomalies can lead to interruptions in data production on the production line. For example, momentary loss of network signals, software crashes caused by vulnerabilities, or sudden hardware failures can all cause data service interruptions, severely impacting data reliability and continuity, and in turn, negatively impacting various applications that rely on this data, such as reduced positioning accuracy and navigation errors. Therefore, there is an urgent need for a method to 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 at a single satellite navigation positioning reference station, the method being applied to a data fusion switching system, the system comprising a plurality of reference 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, and the data fusion service cluster comprises a plurality of data fusion services; the method comprising:

[0005] After the data fusion service cluster successfully registers with the service configuration system, the data fusion service cluster obtains production line information and data fusion site information from the service configuration system;

[0006] 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;

[0007] The data fusion service obtains data information from the production line data management system corresponding to the data fusion service based on 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;

[0008] 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.

[0009] In a second aspect, the present application provides a single-station multi-channel data fusion device for a satellite navigation positioning base station, the device 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, and the data fusion service cluster comprises a plurality of data fusion services; the device comprising:

[0010] The first unit is configured to, after the data fusion service cluster successfully registers with the service configuration system, obtain production line information and data fusion site information from the service configuration system by the data fusion service cluster;

[0011] The second unit 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;

[0012] A third unit is configured for the data fusion service to obtain data information from a production line data management system corresponding to the data fusion service based on 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;

[0013] The fourth unit is configured to cause the data fusion service to perform data fusion processing on the data information to obtain a fused data packet, and to send the fused data packet to the data service push system.

[0014] In a third aspect, the present application provides a readable medium comprising execution instructions. When a processor of an electronic device executes the execution instructions, the electronic device executes any method described in the first aspect.

[0015] In a fourth aspect, the present application provides an electronic device comprising a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor executes any method described in the first aspect.

[0016] It can be seen from the above technical solution that 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 based on the production line information; the data fusion service obtains data information from the production line data management system corresponding to the data fusion service based on 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, so that the data service reliability can be effectively improved to ensure the stable operation of the satellite navigation and positioning system.

[0017] The further effects of the above-mentioned non-conventional preferred embodiment will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the existing technical solutions, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 A flowchart of a method for fusion of multi-channel data of a single satellite navigation positioning reference station provided in this application;

[0020] Figure 2 A flowchart of a method for fusion of multi-channel data of a single satellite navigation positioning reference station provided in this application;

[0021] Figure 3 A flowchart of a method for fusion of multi-channel data of a single satellite navigation positioning reference station provided in this application;

[0022] Figure 4 A flowchart of a method for fusion of multi-channel data of a single satellite navigation positioning reference station provided in this application;

[0023] Figure 5 This is a schematic diagram of the structure of a single-station multi-channel data fusion device for a satellite navigation positioning base station provided in this application;

[0024] Figure 6 This is a schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0027] See also Figure 1 , shows a method for fusion of multi-channel data of a single satellite navigation positioning reference station in an embodiment of the present application, which is applied to a data fusion switching system, such as Figure 2 As 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. The data production line includes multiple production line data management systems (e.g., 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 for satellites at a specific three-dimensional spatial location on Earth at a second-by-second interval. Satellite observation data: The satellite observation data produced per second at each three-dimensional spatial location refers to the satellite data from each constellation (Beidou, GPS, Galileo, etc.) at the current location. (Satellites observable in the sky at that location, due to the rotation of non-geostationary satellites around the Earth, can only be observed at a specific three-dimensional spatial location at a given moment.) The data production line: The reference station produces satellite observation data in real-time, over a long period of time, in an orderly manner, and continuously. The data is transmitted to the data center via a proprietary network. The data center aggregates, processes, and processes the data before providing data services. This entire process is defined as a production line. Data fusion: The data services provided by the data production line may cause production interruptions due to factors such as network services, software services, and hardware facilities. Therefore, the design station transmits the data to different data management production lines through proprietary networks provided by different network service providers. 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.

[0028] In this embodiment, the method may include the following steps:

[0029] 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.

[0030] It is understood that after the data fusion service cluster successfully registers with the service configuration system, it can obtain production line information and data fusion site information from the service configuration system. 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. 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.

[0031] In one implementation, after the data fusion service cluster successfully registers with the service configuration system, before the step of the data fusion service cluster acquiring production line information and data fusion site information from the service configuration system, the method further includes:

[0032] After the data fusion service cluster is started, the data fusion service cluster registers its cluster information with the service configuration system, and the data fusion service cluster periodically reports heartbeat data to the service configuration system to maintain the connection status between the data fusion service cluster and the service configuration system;

[0033] Accordingly, after the data fusion service cluster successfully registers 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:

[0034] After the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster periodically obtains production line information and data fusion site information from the service configuration system.

[0035] For example, if Figure 4 As shown, when the data fusion service cluster is started, it registers cluster information with the distributed service scheduling system (i.e., the service configuration system), reports cluster information heartbeat data to the service configuration system at regular intervals, and obtains production line information and data fusion site information from the service configuration system.

[0036] 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.

[0037] In this embodiment, the data fusion service in the data fusion service cluster can determine the production line data management system corresponding to the data fusion service based on the production line information. Specifically, the data fusion service in the data fusion service cluster can 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 can 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.

[0038] 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. It is understandable 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, Figure 4 As shown, the data fusion service compares the latest production line information and data fusion site information obtained with the production line information cached in the memory, and opens and closes the data pulling service corresponding to each production line according to the changes in the production line information, and updates the production line information and data fusion site information in the memory at the same time; it can be understood that the production line information and the production line data management system in the memory of the data fusion service are different. If the production line information obtained by the data fusion service cluster from the service configuration system contains the identification of the production line data management system A, but the production line information in the memory of the data fusion service does not contain the identification of the production line data management system A, then the data pulling service corresponding to the 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 contain the identification of the production line data management system A, but the production line information in the memory of the data fusion service contains the identification of the production line data management system A, then the data pulling service corresponding to the production line data management system A is opened.

[0039] Finally, the adjusted production line information in the memory of the data fusion service can be used as the production line data management system corresponding to the data fusion service.

[0040] 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.

[0041] The data information is obtained by processing the satellite observation data generated by the multiple reference stations by the production line data management system in the data production line. The production line data management system in the data production line and each reference station are connected to each other through multiple different dedicated lines, for example, Figure 2 As shown, each production line data management system is connected to each base station through China Unicom dedicated line, China Mobile dedicated line, and China Telecom dedicated line.

[0042] In this embodiment, the data fusion service can obtain the data information corresponding to the data fusion site information from the production line data management system corresponding to the data fusion service based on the data fusion site information. Specifically, the data fusion service can update the data fusion site information to the memory of the data fusion service; then, the data fusion service can 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, if Figure 4 As shown, the data pull service corresponding to each production line data management system pulls data based on the latest data fusion site information and caches the newly pulled data in the memory cache of the data fusion site corresponding to that data fusion site information. If the information of some previous data fusion sites is eliminated based on the latest data fusion site information, data will not be pulled through these data fusion sites.

[0043] S104: 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.

[0044] In this embodiment, the data fusion service can perform data fusion processing on the data information to obtain a fused data packet, and then send the fused 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 obtained the data information from the production line data management system at preset intervals (e.g., 1ms), and determines whether the data fusion site has been removed based on 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 placed in a unified thread pool.

[0045] 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, the processing is abandoned. The specific method of 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 is:

[0046] If the data fusion strategy is packet-by-packet fusion, the data information is unpacked and assembled to obtain a data packet, and the data information is decoded to obtain a data time; if the data time is later than the last data fusion processing time, it is determined that the data packet is the latest data packet, the data packet is used as a fused data packet, and the fused data packet is sent to the data service push system;

[0047] 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 processed by the last data fusion, then determining that the data information is the latest data packet, using the data packet as a fused data packet, and sending the fused data packet to the data service push system;

[0048] 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 processed by the last data fusion, then data fusion processing is performed 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, then the fused data information is determined to be the latest data packet, and the fused data information is used as a fused data packet, and the fused data packet is sent to the data service push system.

[0049] For example, Figure 3 、 4As shown, the data fusion task thread corresponding to each production line data management system traverses the memory cache of the data fusion site where the production line data management system has acquired data information at 1ms intervals. Based on the latest data fusion site information (i.e., pulling the latest data fusion site information through the data pull service), it determines whether the data fusion site has been removed. If it has been removed, the memory cache corresponding to the data fusion site is released. Otherwise, a data fusion task for the data fusion site is created and placed in a unified data fusion task thread pool for multiple production lines for unified processing. When executing a data fusion task, it first attempts to obtain the data processing task lock for the site (i.e., the data fusion site). If the task lock acquisition fails, it means that the site is already processing other tasks and the current task abandons data processing. If the task lock acquisition succeeds, the data fusion strategy for the site is retrieved from memory and a determination is made whether data fusion is performed packet by packet (for each observed data packet).

[0050] If data fusion is performed packet by packet, the cached data fusion site information in the data fusion site's memory is retrieved. The data is then unpacked and assembled according to the data protocol corresponding to the data fusion site to obtain a complete observation data packet. The data packet's data time is then parsed. The relationship between the last data fusion time and the current data time is determined. If the current data time is greater than the last fusion time, the current data packet is considered the latest data packet, the data fusion time is updated, and the latest fused data packet (i.e., the fused data packet) is sent to the data service push system.

[0051] If data fusion is not performed packet by packet, compare the production line information of the data packet with the production line information of the last fused 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 by the last data fusion) to see if they are the same production line. If they are the same production line, the current data packet is the latest data packet, update the data fusion production line information and data fusion time, and send the latest fused data packet (i.e., fused data packet) to the data service push system; if they are not the same production line, further determine whether the data fusion time exceeds the threshold (such as 2s, configurable). If it does not exceed the threshold, the previous production line is in normal data production, and the current data packet is discarded; if it exceeds the threshold, it may be that the data production of the previous production line was interrupted or the data delay exceeded the business requirements. The current data packet may be the latest data packet, and the data fusion production line information is updated to the current data packet production line information and data fusion time to the current time, and send the latest fused data packet (i.e., fused data packet) to the data service push system.

[0052] It can be seen from the above technical solution that 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 based on the production line information; the data fusion service obtains data information from the production line data management system corresponding to the data fusion service based on 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, so that the data service reliability can be effectively improved to ensure the stable operation of the satellite navigation and positioning system.

[0053] In other words, this satellite navigation positioning base station single-station multi-channel data fusion method has many significant beneficial effects, covering several key aspects such as improving data reliability, optimizing system operation efficiency, enhancing system adaptability, and promoting resource sharing:

[0054] 1. Improve data reliability;

[0055] Redundant backup mechanism: The system transmits data through multiple data production lines, with different production lines acting as backups for each other. If data production on one production line is interrupted due to network failure, hardware issues, or other reasons, other production lines can continue to provide data. During data fusion processing, data time and production line information are compared to select the latest and most accurate data packets for fusion. This avoids positioning errors caused by data delays or errors, ensures the continuity and stability of data services, and effectively improves data reliability.

[0056] Error Data Filtering: During data fusion processing, for non-packet-by-packet fusion, the system effectively identifies and discards potentially problematic packets by assessing the production line information and the data fusion time threshold. If the previous production line was operating normally, but the current packet originates from a different production line and the fusion time does not exceed the threshold, this indicates a possible anomaly. Discarding this packet prevents erroneous data from entering subsequent processing, further ensuring data accuracy and reliability.

[0057] 2. Optimize system operation efficiency;

[0058] Accurate Data Retrieval: The data fusion service accurately retrieves data from the corresponding production line data management system based on production line information and data fusion site information obtained from the service configuration system. This avoids blindly pulling large amounts of useless data, reducing data transmission volume and system resource consumption. The data retrieval service also promptly adjusts its retrieval strategy based on the latest fusion site information, eliminating data pull tasks for no longer needed fusion sites, further improving data acquisition efficiency.

[0059] Efficient task scheduling: The data fusion task thread traverses the fusion site's memory cache at 1ms intervals, quickly identifying tasks requiring processing and placing them into a unified data fusion task thread pool. By acquiring a task lock during task execution, conflicts caused by multiple tasks processing the same data simultaneously are avoided, ensuring orderly data processing. This efficient task scheduling mechanism significantly improves the system's data processing speed, enabling the system to rapidly respond to data fusion needs and enhancing overall operational efficiency.

[0060] 3. Enhance system adaptability;

[0061] Flexible Configuration Options: The data fusion time threshold is configurable, allowing users or system administrators to adjust it based on different business scenarios and requirements. In scenarios with extremely high data real-time requirements, such as aviation navigation and autonomous driving, the threshold can be set lower to ensure timely access to the latest data. In scenarios with relatively low real-time requirements but high data stability requirements, such as geological monitoring and weather forecasting, the threshold can be appropriately increased to reduce system overhead caused by frequent switching of production lines, thereby enhancing the system's adaptability and flexibility.

[0062] Multi-network and multi-line support: The system supports multiple base stations transmitting data to multiple production line data management systems via proprietary networks of different network service providers. This multi-network and multi-line architecture allows the system to adapt to different network environments and data sources, ensuring stable data transmission and processing, whether in remote areas with unstable network signals or in urban environments with complex networks.

[0063] 4. Promote resource sharing;

[0064] Unified Data Service Push: The data fusion service pushes fused data packets to the data service push system, providing a unified data interface for multiple users or applications. This eliminates the need for different users and applications to build their own complex data acquisition and processing systems, reducing costs and improving data sharing and utilization. Whether conducting geographic research at a scientific research institution or providing location-based services at an enterprise, this system allows for convenient access to accurate satellite navigation and positioning data.

[0065] Standardized data processing: From observation data generated by base stations to data processing by production line data management systems and then to data fusion services, the entire process follows unified rules and protocols. This standardized data processing process ensures the effective integration of data from different sources, laying a solid foundation for the widespread sharing of data resources and promoting the application and development of satellite navigation and positioning data in various fields.

[0066] like Figure 5 As shown, a specific embodiment of a single-station multi-channel data fusion device for a satellite navigation positioning base station provided by the present application. The device described in this embodiment is a physical device for executing the method described in the above embodiment. Its technical solution is essentially consistent with the above embodiment, and the corresponding description in the above embodiment is also applicable to this embodiment. The device is applied to a data fusion switching system, which includes multiple 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 includes multiple production line data management systems, and the data fusion service cluster includes multiple data fusion services. The device described in this embodiment includes:

[0067] The first unit 501 is used for the data fusion service cluster to obtain 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;

[0068] 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;

[0069] The third unit 503 is configured for the data fusion service to obtain data information from the production line data management system corresponding to the data fusion service based on 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;

[0070] The fourth unit 504 is configured for the data fusion service to perform data fusion processing on the data information to obtain a fused data packet, and to send the fused data packet to the data service push system.

[0071] Optionally, the system further includes: a fifth unit configured to, after the data fusion service cluster successfully registers in the service configuration system and before the data fusion service cluster obtains production line information and data fusion site information from the service configuration system, perform the following steps:

[0072] After the data fusion service cluster is started, the data fusion service cluster registers its cluster information with the service configuration system, and the data fusion service cluster periodically reports heartbeat data to the service configuration system to maintain the connection status between the data fusion service cluster and the service configuration system;

[0073] Accordingly, after the data fusion service cluster successfully registers 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:

[0074] After the data fusion service cluster is successfully registered in the service configuration system, the data fusion service cluster periodically obtains production line information and data fusion site information from the service configuration system.

[0075] Optionally, the data fusion service in the data fusion service cluster determines, based on the production line information, a production line data management system corresponding to the data fusion service, including:

[0076] 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;

[0077] 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 adjusted production line information in the memory of the data fusion service;

[0078] 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.

[0079] Optionally, the data fusion service obtains data information from a production line data management system corresponding to the data fusion service according to the data fusion site information, including:

[0080] The data fusion service updates the data fusion site information into the memory of the data fusion service;

[0081] The data fusion service utilizes 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.

[0082] Optionally, 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, including:

[0083] The data fusion task thread corresponding to each production line data management system traverses the memory cache of the data fusion site that obtains data information from the production line data management system at preset time intervals, and determines whether the data fusion site is eliminated based on the latest data fusion site information;

[0084] If the data fusion site has been eliminated, release its memory cache;

[0085] If the data fusion site is not eliminated, creating a data fusion task for the data fusion site and putting it into a unified thread pool;

[0086] If 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, the processing is abandoned.

[0087] Optionally, performing data fusion processing on the data information according to the data fusion strategy to obtain a fused data packet, and sending the fused data packet to the data service push system includes:

[0088] If the data fusion strategy is packet-by-packet fusion, the data information is unpacked and assembled to obtain a data packet, and the data information is decoded to obtain a data time; if the data time is later than the last data fusion processing time, it is determined that the data packet is the latest data packet, the data packet is used as a fused data packet, and the fused data packet is sent to the data service push system;

[0089] 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 processed by the last data fusion, then determining that the data information is the latest data packet, using the data packet as a fused data packet, and sending the fused data packet to the data service push system;

[0090] 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 processed by the last data fusion, then data fusion processing is performed 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, then the fused data information is determined to be the latest data packet, and the fused data information is used as a fused data packet, and the fused data packet is sent to the data service push system.

[0091] Optionally, the production line data management system and each reference station in the data production line are communicatively connected via a plurality of different dedicated lines.

[0092] 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.

[0093] Figure 6 This is a schematic diagram of the structure of an electronic device provided in 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 internal memory, such as high-speed random access memory (RAM), and may also include non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0094] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0095] Memory is used to store execution instructions. Specifically, execution instructions are computer programs that can be executed. Memory can include internal memory and non-volatile memory, and provides execution instructions and data to the processor.

[0096] In one possible implementation, a processor reads corresponding execution instructions from a non-volatile memory into a memory and then executes them. Alternatively, the processor may obtain corresponding execution instructions from other devices to logically form a single-station, multi-channel data fusion device for a satellite navigation and positioning reference station. The processor executes the execution 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 execution of the execution instructions.

[0097] The above application Figure 1 The method performed by the satellite navigation positioning base station single-station multi-channel data fusion device provided in the illustrated embodiment can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor or by software instructions. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can 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, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0098] The steps of the method disclosed in the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0099] An embodiment of the present application also proposes a readable medium, which stores execution instructions. When the stored execution instructions are executed by the processor of an electronic device, the electronic device can execute the satellite navigation positioning base station single-station multi-channel data fusion method provided in any embodiment of the present application, and is specifically used to execute the above-mentioned evaluation method.

[0100] The electronic device described in each of the aforementioned embodiments may be a computer.

[0101] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods or computer program products. Therefore, the present application may adopt a completely hardware embodiment, a completely software embodiment, or a combination of software and hardware.

[0102] The various embodiments in this application are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the partial description of the method embodiments.

[0103] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0104] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for fusion of multi-channel data from a single satellite navigation positioning reference station, 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. 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 successfully registers with 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 based on 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; 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 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; 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, including: The data fusion task thread corresponding to each production line data management system traverses the memory cache of the data fusion site that obtains data information from the production line data management system at preset time intervals, and determines whether the data fusion site is eliminated based on the latest data fusion site information; If the data fusion site has been eliminated, release its memory cache; If the data fusion site is not eliminated, creating a data fusion task for the data fusion site and putting it into a unified thread pool; If 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, the processing is abandoned.

2. The method according to claim 1, characterized in that After the data fusion service cluster successfully registers with the service configuration system, before the step of the data fusion service cluster acquiring 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 its cluster information with the service configuration system, and the data fusion service cluster periodically reports heartbeat data to the service configuration system to maintain the connection status between the data fusion service cluster and the service configuration system; Accordingly, after the data fusion service cluster successfully registers 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 in the service configuration system, the data fusion service cluster periodically obtains production line information and data fusion site information from the service configuration system.

3. The method according to claim 1, characterized in that The data fusion service in the data fusion service cluster determines, based on the production line information, a production line data management system corresponding to the data fusion service, 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 to obtain 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, wherein The performing data fusion processing on the data information according to the data fusion strategy to obtain a fused data packet, and sending the fused data packet to the data service push system includes: If the data fusion strategy is packet-by-packet fusion, the data information is unpacked and assembled to obtain a data packet, and the data information is decoded to obtain a data time; if the data time is later than the last data fusion processing time, it is determined that the data packet is the latest data packet, the data packet is used as a fused data packet, and the fused data packet is sent 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 processed by the last data fusion, then determining that the data information is the latest data packet, using the data packet as a fused data packet, and sending the fused 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 processed by the last data fusion, then data fusion processing is performed 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, then the fused data information is determined to be the latest data packet, and the fused data information is used as a fused data packet, and the fused data packet is sent to the data service push system.

5. The method according to claim 1, wherein The production line data management system in the data production line and each reference station are connected to each other through multiple different dedicated lines.

6. A satellite navigation positioning reference station single station multi-channel data fusion device, characterized in that: 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. 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: The first unit is configured to, after the data fusion service cluster successfully registers with the service configuration system, obtain production line information and data fusion site information from the service configuration system by the data fusion service cluster; The second unit 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; A third unit is configured for the data fusion service to obtain data information from a production line data management system corresponding to the data fusion service based on 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; A fourth unit is configured to perform data fusion processing on the data information by the data fusion service to obtain a fused data packet, and to send the fused data packet to the data service push system; 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 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; 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, including: The data fusion task thread corresponding to each production line data management system traverses the memory cache of the data fusion site that obtains data information from the production line data management system at preset time intervals, and determines whether the data fusion site is eliminated based on the latest data fusion site information; If the data fusion site has been eliminated, release its memory cache; If the data fusion site is not eliminated, creating a data fusion task for the data fusion site and putting it into a unified thread pool; If 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, the processing is abandoned.

7. A readable medium, characterized in that The readable medium includes execution instructions. When a processor of an electronic device executes the execution instructions, the electronic device executes the method according to any one of claims 1 to 5.

8. 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 to 5.

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