High-stability RTK communication link optimization method

Abstract

The invention provides a high-stability RTK (Real-Time Kinematic) communication link optimization method, which is applied to a base station, a main and standby communication link is established between the base station and a moving station in communication binding with the base station, and the method comprises the following steps: periodically receiving a heartbeat data packet sent by the moving station through the main communication link, the heartbeat data packet comprises equipment basic information and link quality parameters; judging whether the communication quality of the main communication link meets the requirement or not based on the link quality parameter; when the communication quality of the main communication link meets the requirement, sending an RTK positioning data packet through the main communication link; when the communication quality of the main communication link does not meet the requirement, a pre-switching process is triggered, and the standby communication link is activated; sending the RTK positioning data packet to a moving station through a main communication link and a standby communication link; and when a switching confirmation signal sent by the moving station is received, disconnecting the original main communication link, and taking the standby communication link as a new main communication link to wait for receiving a heartbeat data packet.

Description

Technical Field

[0001] This invention relates to the field of satellite positioning technology, and more specifically, to a highly stable RTK communication link optimization method. Background Technology

[0002] Because traditional GNSS satellite positioning technology has inherent measurement errors that cannot be eliminated, RTK positioning technology is typically used to achieve centimeter-level (1-10cm) positioning accuracy. An RTK system mainly consists of three parts: a base station, a rover, and a data link. Traditional RTK technology uses a data radio for the data link. This method is simple to implement and inexpensive, but it suffers from distance limitations between the rover and the base station. Increased distance leads to decreased positioning accuracy, and the rover becomes inoperable when the distance exceeds the radio's communication range (typically <20km).

[0003] To overcome the shortcomings of traditional RTK technology, network RTK technology is typically employed. This method usually uses the operator's mobile network as the data transmission channel, requiring the evenly distributed deployment of several base stations over a large area. The distance between base stations can be extended to 50-100 km. Calculations are performed using observations from several base stations surrounding the rover and known station coordinates, allowing users to potentially achieve centimeter-level positioning accuracy. However, this method suffers from a problem when operating in mountainous areas or other regions far from the operator's base stations, where the rover cannot establish a mobile network connection.

[0004] To address this, CN202310311347.7 proposes a method for generating virtual stations to obtain high-quality observation data. This method transmits observation data based on the redundancy of the base station receiver and the transmission network, and determines the observation data used to generate the virtual station by measuring the quality of multiple observation data in the data center, thereby improving the quality of the virtual station observation data.

[0005] However, in the above schemes, the transmission networks are all mobile operator networks. When operating in mountainous areas or other areas far from the operator's base station, there may still be a problem that the mobile station cannot establish any operator's mobile network.

[0006] In order to solve the above problems, people have been seeking an ideal technological solution. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies by providing a highly stable RTK communication link optimization method.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is: a highly stable RTK communication link optimization method, applied to a base station, wherein a data transmission radio communication link and a 4G communication link are established between the base station and the rover bound to it, and the two communication links are configured as a primary and backup communication link or a primary and primary communication link according to the link operation strategy. When using a primary / backup communication link, perform the following steps: The RTK communication link optimization method includes the following steps: The system periodically receives heartbeat data packets sent by the rover via the primary communication link. The heartbeat data packets include basic device information and link quality parameters. Determine whether the communication quality of the primary communication link meets the requirements based on link quality parameters; When the communication quality of the primary communication link meets the requirements, RTK positioning data packets are sent through the primary communication link so that the rover can perform RTK calculations based on the received RTK positioning data. When the communication quality of the primary communication link does not meet the requirements, a pre-switching process is triggered, the backup communication link is activated and a pre-switching signal is sent. At the same time, the RTK positioning data packet is sent to the rover through the primary and backup communication links so that the rover can use the first received RTK positioning data packet to perform RTK calculation. Before receiving a handover confirmation signal from the rover via the backup communication link, the RTK positioning data packet is sent to the rover via the primary and backup communication links each time a heartbeat data packet is received from the rover. Upon receiving the handover confirmation signal from the rover station, the original primary communication link is disconnected, and the backup communication link is used as the new primary communication link, waiting to receive the next heartbeat data packet. The handover confirmation signal is generated by the rover station after receiving the pre-handover signal and confirming that it has received RTK positioning data packets through the backup link N times consecutively, and is sent to the rover station through the backup communication link, where N is a set threshold number of times.

[0009] In one possible embodiment, upon receiving a pre-handover signal from the mobile station, the handover condition determination step is initiated: Receive heartbeat data packets and determine whether the number of times heartbeat data packets are received consecutively through the backup link is N; If it is N, a handover confirmation signal is generated, the original primary communication link is disconnected, the backup communication link is used as the new primary communication link, and the handover confirmation signal is sent to the rover through the new primary communication link; If it is not N, the RTK positioning data packet is sent to the rover simultaneously through the primary communication link and the backup communication link, and waits to receive a new heartbeat data packet. The pre-switching signal is generated by the rover when it determines that the communication quality of the primary communication link does not meet the requirements or that it is about to enter a no-signal area.

[0010] In one possible embodiment, the RTK positioning data packet includes navigation messages and link quality parameters, so that the rover can determine whether the communication quality of the primary communication link meets the requirements based on the link quality parameters, and trigger a pre-switching process and send a backup communication link activation signal when the communication quality of the primary communication link does not meet the requirements.

[0011] In one possible embodiment, a 4G cellular network coverage map is sent to the mobile station so that when the primary communication link is the 4G network communication link, the mobile station can combine the location information obtained by RTK calculation with the 4G cellular network coverage map to predict whether it is about to enter a no-signal area. If so, the backup communication link is activated and a pre-switching signal is sent.

[0012] In one possible embodiment, the operating strategy includes a cost-first strategy and a stability-first strategy; When implementing a cost-first strategy, the primary communication link between the base station and the rover is the data radio communication link. When the stability-first strategy is implemented, the primary communication link between the base station and the rover is a 4G communication link.

[0013] In one possible embodiment, the operation strategy further includes an intelligent hybrid strategy. When the intelligent hybrid strategy is executed, a 4G communication link and a data transmission radio communication link are established simultaneously between the base station and the mobile station. When the intelligent hybrid strategy is executed, it is determined whether the communication quality of the data transmission radio communication link and the 4G communication link are both higher than a preset high quality threshold. If not, then receive heartbeat data packets sent by the rover via the data radio communication link; and send RTK positioning data packets via the 4G communication link and auxiliary data via the data radio communication link; or select the higher quality communication link to send RTK positioning data packets based on the communication quality of the data radio communication link and the 4G communication link. When the communication quality of both the data transmission radio link and the 4G communication link is determined to be higher than the preset high quality threshold, the system enters link aggregation mode or redundant transmission mode.

[0014] In one possible implementation, if the primary communication link is momentarily and completely interrupted, basic fault switching logic is executed to attempt to reconnect the link by sending heartbeat data packets through the backup communication link. If the backup communication link also fails to establish a connection, it enters a dual-path polling probe mode, alternately attempting to connect until either link resumes communication.

[0015] This invention has significant substantive features and remarkable progress compared to existing technologies. Specifically, by introducing mechanisms such as intelligent link quality perception, predictive seamless switching, and link aggregation, this invention possesses the following outstanding advantages: (1) Extreme link stability and operational continuity. This invention achieves a fundamental technological leap from "passive fault switching" to "proactive seamless switching" by establishing a real-time monitoring system based on quality parameters. Its "connect first, disconnect later" switching mechanism can pre-establish and verify backup communication links when the main link deteriorates, and smoothly transition through dual-path parallel transmission, effectively eliminating RTK data interruption, positioning loss, and re-initialization problems caused by link switching, and ensuring the absolute continuity of high-precision positioning operations.

[0016] (2) Intelligent link fusion and efficient resource utilization. This invention goes beyond the traditional redundancy concept of "one primary and one backup" and introduces intelligent link aggregation technology. When both links are available, the system can merge the two physical links into a "super link" with higher logical bandwidth (link aggregation mode) or stronger robustness (redundant transmission mode) according to a preset strategy, thereby maximizing the system's resource utilization efficiency and being able to cope with more complex electromagnetic interference environments.

[0017] (3) High environmental adaptability and strategic flexibility. Combining the low cost and short-range advantages of data radio with the wide-area coverage of 4G network, and endowing the system with different operating strategies (such as cost priority and stability priority) through intelligent scheduling engine, the equipment can not only adapt to various complex geographical environments such as mountainous areas and remote suburbs, but also meet the differentiated needs of different industry applications (such as surveying, precision agriculture and autonomous driving) for cost and stability, and has extremely high application flexibility and market competitiveness.

[0018] (4) Enhanced system autonomy and communication efficiency. Through a two-way heartbeat mechanism carrying rich quality parameters, the base station and rover can autonomously perceive the complete end-to-end link status, thereby making optimal switching or aggregation decisions autonomously and quickly, reducing reliance on manual intervention. The intelligent data distribution and redundancy mechanism also improves the effective data transmission rate per unit time, significantly improving overall communication efficiency. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the RTK communication system of the present invention.

[0020] Figure 2 This is a flowchart illustrating the RTK communication link optimization method of the present invention. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below through specific embodiments.

[0022] Example 1 This embodiment provides a highly stable RTK communication link optimization method, which is applied to a base station. The base station and its communication-bound rover establish a primary communication link according to the link operation strategy. The primary communication link is one of the data radio communication link and the 4G communication link, and the remaining link is used as a backup communication link.

[0023] Specifically, the connection relationship between the base station and the rover is as follows: Figure 1 As shown.

[0024] The base station includes a data processing unit, a channel switching unit, a data transmission radio communication unit, and a 4G communication unit. Similarly, the rover includes a data processing unit, a channel switching unit, a data transmission radio communication unit, and a 4G communication unit. The data transmission radio communication unit and the 4G communication unit in the base station operate in parallel. When the rover connects to the base station, the data transmission radio communication unit and the 4G communication unit are initialized in parallel.

[0025] Understandably, mobile stations have multiple built-in operating strategies, including but not limited to: "cost priority strategy" (prioritizing the use of data transmission radios with zero traffic cost) and "stability priority strategy" (pursuing the highest data link continuity).

[0026] Specifically, when the cost-first strategy is implemented, the primary communication link between the base station and the rover is the data radio communication link; when the stability-first strategy is implemented, the primary communication link between the base station and the rover is the 4G communication link.

[0027] Before use, the user pre-configures an operating strategy based on the job requirements, and then enters the corresponding working mode according to the selected strategy. At the same time, the base station's operating strategy changes with the rover. When the rover sends a strategy application or strategy change reminder, the base station should be able to respond proactively and maintain consistency with the rover's data transmission and reception strategy.

[0028] Furthermore, after the base station is started, two communication links are started by default. Subsequently, the primary and secondary communication link mode will be determined according to the rover's selection, or the two communication links will continue to work simultaneously.

[0029] It is understandable that after the base station and the rover establish a communication bond, they enter a continuous communication state.

[0030] like Figure 2 As shown, the RTK communication link optimization method includes the following steps: Step 1: Periodically receive heartbeat data packets sent by the mobile station through the primary communication link. The heartbeat data packets include basic device information and link quality parameters. Specifically, when the primary communication link is a 4G communication link, the link quality parameters include at least the signal strength (RSRP), signal quality (SINR), network latency, and packet loss rate of the link. When the primary communication link is a data radio communication link, the link quality parameters include at least the received signal strength indication (RSSI) and bit error rate (BER) of the link.

[0031] Step 2: Determine whether the communication quality of the primary communication link meets the requirements based on the link quality parameters; Specifically, a communication quality warning threshold is preset. When the communication quality of the primary communication link is lower than the communication quality warning threshold, it is determined that the communication quality of the primary communication link does not meet the requirements; otherwise, it is determined that the communication quality of the primary communication link meets the requirements.

[0032] Specifically, the communication quality warning threshold is a critical parameter for mode switching of relevant quality parameters. The following explanation of the communication quality warning threshold uses the link signal strength (RSRP) and signal quality (SINR) parameters as examples.

[0033] RSRP is a metric measuring the strength of the reference signal received by a 4G module from a base station. The unit is dBm, and it is usually a negative value; the higher the value (closer to 0), the stronger the signal. Its numerical range is defined as follows for reference: Excellent: >-85 dBm, Good: -85 dBm to -95 dBm, Average: -95 dBm to -105 dBm, Poor: -105 dBm to -115 dBm, Very Poor / No Service: <-115 dBm.

[0034] SINR measures the ratio of useful signal to (interference signal + noise signal). The unit is dB; a higher value indicates better signal quality. Its numerical range is defined as follows for reference: Excellent: >20 dB, Good: 13 dB to 20 dB, Fair: 5 dB to 13 dB, Poor: 0 dB to 5 dB, Very Poor / Unusable: <0 dB.

[0035] The communication quality warning threshold is used to trigger a seamless handover process when the network is still usable but shows signs of degradation. This threshold cannot be too high (otherwise, frequent handovers will occur) nor too low (otherwise, the warning will be meaningless). For example, if the communication quality warning threshold is set to trigger a warning when RSRP falls below -105 dBm or SINR falls below 5 dB, the handover logic is as follows: When RSRP drops below -105 dBm or SINR drops below 5 dB, the 4G link, although still "alive," is already very vulnerable. At this time, the packet loss rate of data transmission will increase significantly, latency will also increase, and the stability of the RTK data stream will begin to be threatened. At this point, the backup communication link will be activated immediately.

[0036] Step 3: When the communication quality of the primary communication link meets the requirements, RTK positioning data packets are sent through the primary communication link so that the rover can perform RTK calculation based on the received RTK positioning data.

[0037] Step 4: When the communication quality of the primary communication link does not meet the requirements, a pre-switching process is triggered, the backup communication link is activated, and a pre-switching signal is sent; at the same time, the RTK positioning data packet is sent to the rover through the primary and backup communication links so that the rover can use the first received RTK positioning data packet to perform RTK calculation. Before receiving a handover confirmation signal from the rover via the backup communication link, the RTK positioning data packet is sent to the rover via the primary and backup communication links each time a heartbeat data packet is received from the rover. Upon receiving the handover confirmation signal from the rover station, the original primary communication link is disconnected, and the backup communication link is used as the new primary communication link, waiting to receive the next heartbeat data packet. The handover confirmation signal is generated by the rover station after receiving the pre-handover signal and confirming that it has received RTK positioning data packets through the backup link N times consecutively, and is sent to the rover station through the backup communication link, where N is a set threshold number of times.

[0038] As can be seen, this embodiment does not employ the traditional passive fault-switching mechanism, but instead uses a seamless "connect-then-disconnect" switching mechanism based on quality prediction to complete the link switching. Specifically, when the quality parameters of the primary link are lower than the "warning threshold" but have not yet been interrupted, the system automatically triggers the pre-switching process. At this time, the system does not disconnect the primary link, but activates the backup link in the background. Once the backup link is confirmed to be working, the base station immediately enters a brief "dual-path parallel transmission" phase, that is, the same RTK positioning data packets are sent simultaneously through both the primary and backup communication links.

[0039] Then the rover receives data from both links simultaneously, deduplicates the data packets according to their sequence numbers, and uses the first valid data packet to perform RTK calculation, thereby ensuring the integrity of the data stream.

[0040] Once the rover confirms it can stably receive data from the backup communication link, it sends a handover confirmation signal to the base station. Upon receiving the confirmation, the base station stops transmitting data on the degraded primary link and officially switches the communication link to the new primary link. This seamless handover mechanism, based on quality prediction and a "work-first, then disconnect" approach, fundamentally avoids data interruptions caused by the handover process.

[0041] Furthermore, the backup communication link can also be activated by the rover. The backup communication link is activated when the rover determines that the communication quality of the primary communication link does not meet requirements or is about to enter a no-signal area.

[0042] At this point, after the base station receives the pre-handover signal from the rover, it initiates the handover condition determination step: Receive heartbeat data packets and determine whether the number of times heartbeat data packets are received consecutively through the backup link is N; If it is N, a handover confirmation signal is generated, the original primary communication link is disconnected, the backup communication link is used as the new primary communication link, and the handover confirmation signal is sent to the rover through the new primary communication link; If it is not N, the RTK positioning data packet is sent to the rover simultaneously through the primary communication link and the backup communication link, and waits to receive a new heartbeat data packet. The pre-switching signal is generated by the rover when it determines that the communication quality of the primary communication link does not meet the requirements or that it is about to enter a no-signal area.

[0043] Specifically, in order for the rover to determine whether the communication quality of the primary communication link meets the requirements, the RTK positioning data packet sent by the base station must include navigation messages and link quality parameters. This allows the rover to determine whether the communication quality of the primary communication link meets the requirements based on the link quality parameters after receiving the RTK positioning data packet, and to trigger a pre-switching procedure and send an activation signal for the backup communication link when the communication quality of the primary communication link does not meet the requirements.

[0044] Understandably, this approach establishes a two-way, real-time link quality awareness system between the base station and the rover.

[0045] In addition, for mobile scenarios where data transmission is carried out via 4G networks, in one possible embodiment, a 4G cellular network coverage map is sent to the mobile station. When the primary communication link is the 4G network communication link, the mobile station can combine the positioning information obtained by RTK calculation with the 4G cellular network coverage map to predict whether it is about to enter a no-signal area. If so, the backup communication link, i.e., the data transmission radio communication link, is activated, and a handshake signal is sent to confirm its availability and communication quality, so as to avoid data interruption.

[0046] Specifically, the steps to predict whether you are about to enter a no-signal area are as follows: Electronic fences are set up based on 4G cellular network coverage maps. When the location information obtained by RTK calculation is within the electronic fence and the distance from the electronic fence boundary is less than the preset alarm distance threshold, it is determined that the area is about to enter a no-signal area.

[0047] Example 2 The difference between this embodiment and Embodiment 1 is that the operating strategy also includes an intelligent hybrid strategy.

[0048] When executing a smart hybrid strategy, such as Figure 2 As shown, a 4G communication link and a data transmission radio communication link are established simultaneously between the base station and the rover.

[0049] At this point, perform the following steps: Determine whether the communication quality of both the data radio communication link and the 4G communication link is higher than the preset high quality threshold. If not, then receive heartbeat data packets sent by the rover via the data radio communication link; and send RTK positioning data packets via the 4G communication link and auxiliary data via the data radio communication link; or select the higher quality communication link to send RTK positioning data packets based on the communication quality of the data radio communication link and the 4G communication link. When the communication quality of both the data transmission radio link and the 4G communication link is determined to be higher than the preset high quality threshold, the system enters link aggregation mode or redundant transmission mode.

[0050] Specifically, in link aggregation mode: the base station intelligently splits the RTK data stream, for example, sending data packets with odd sequence numbers via a data radio and sending data packets with even sequence numbers via a 4G link. The rover receives the data, buffers and reorders it, restoring it to a complete data stream. This mode can improve effective data throughput.

[0051] Redundant transmission mode: To cope with high-precision and high-reliability scenarios (such as drone or machine swarm control), the base station copies each RTK data packet and sends it simultaneously through two links. The rover uses the first arriving data packet, greatly reducing the probability of packet loss due to momentary interference in a single path and achieving extreme link robustness.

[0052] As can be seen, this embodiment provides an alternative communication method besides the primary and backup communication links. It uses two communication links to send and receive data simultaneously. When the communication quality of both the data transmission radio and the 4G link is detected to be in good condition, a more advanced link fusion mode is activated to provide higher connection reliability.

[0053] Example 3 The difference between this embodiment and Embodiment 1 or Embodiment 2 is that it further provides an exception handling and final protection mechanism.

[0054] Specifically, such as Figure 2 As shown, if a momentary complete interruption of the primary communication link occurs, or if the aforementioned seamless handover or link aggregation fails to execute for any reason, the basic fault switching logic will be executed: Specifically, if the base station or the rover does not receive any data from the other party after the set maximum waiting time, the current link is determined to be completely interrupted. At this point, an attempt is made to send a heartbeat data packet through the backup communication link to reconnect the link; If the backup communication link also fails to establish a connection, it enters a dual-path polling probe mode, alternately attempting to connect until either link resumes communication.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A highly stable RTK communication link optimization method is applied to a base station. The base station establishes a data transmission radio communication link and a 4G communication link with the rover it is bound to. The two communication links are configured as a primary and backup communication link or a primary and primary communication link according to the link operation strategy. Its features are, When using a primary / backup communication link, perform the following steps: The system periodically receives heartbeat data packets sent by the rover via the primary communication link. The heartbeat data packets include basic device information and link quality parameters. Determine whether the communication quality of the primary communication link meets the requirements based on link quality parameters; When the communication quality of the primary communication link meets the requirements, RTK positioning data packets are sent through the primary communication link so that the rover can perform RTK calculations based on the received RTK positioning data. When the communication quality of the primary communication link does not meet the requirements, a pre-switching process is triggered, the backup communication link is activated and a pre-switching signal is sent. At the same time, the RTK positioning data packet is sent to the rover through the primary and backup communication links so that the rover can use the first received RTK positioning data packet to perform RTK calculation. Before receiving a handover confirmation signal from the rover via the backup communication link, the RTK positioning data packet is sent to the rover via the primary and backup communication links each time a heartbeat data packet is received from the rover. Upon receiving the handover confirmation signal from the rover station, the original primary communication link is disconnected, and the backup communication link is used as the new primary communication link, waiting to receive the next heartbeat data packet. The handover confirmation signal is generated by the rover station after receiving the pre-handover signal and confirming that it has received RTK positioning data packets through the backup link N times consecutively, and is sent to the rover station through the backup communication link, where N is a set threshold number of times.

2. The highly stable RTK communication link optimization method according to claim 1, characterized in that: Upon receiving the pre-handover signal from the rover, the handover condition determination process is initiated: Receive heartbeat data packets and determine whether the number of times heartbeat data packets are received consecutively through the backup link is N; If it is N, a handover confirmation signal is generated, the original primary communication link is disconnected, the backup communication link is used as the new primary communication link, and the handover confirmation signal is sent to the rover through the new primary communication link; If it is not N, the RTK positioning data packet is sent to the rover simultaneously through the primary communication link and the backup communication link, and waits to receive a new heartbeat data packet. The pre-switching signal is generated by the rover when it determines that the communication quality of the primary communication link does not meet the requirements or that it is about to enter a no-signal area.

3. The highly stable RTK communication link optimization method according to claim 2, characterized in that: The RTK positioning data packet includes navigation messages and link quality parameters, which allow the rover to determine whether the communication quality of the primary communication link meets the requirements based on the link quality parameters. If the communication quality of the primary communication link does not meet the requirements, a pre-switching process is triggered, and a backup communication link activation signal is sent.

4. The highly stable RTK communication link optimization method according to claim 2, characterized in that: The 4G cellular network coverage map is sent to the mobile station so that when the primary communication link is the 4G network communication link, the mobile station can combine the location information obtained by RTK calculation with the 4G cellular network coverage map to predict whether it is about to enter a no-signal area. If so, the backup communication link is activated and a pre-switching signal is sent.

5. A highly stable RTK communication link optimization method according to any one of claims 1-4, characterized in that: The operational strategies include a cost-first strategy and a stability-first strategy; When implementing a cost-first strategy, the primary communication link between the base station and the rover is the data radio communication link. When the stability-first strategy is implemented, the primary communication link between the base station and the rover is a 4G communication link.

6. The highly stable RTK communication link optimization method according to claim 5, characterized in that: The operation strategy also includes an intelligent hybrid strategy. When the intelligent hybrid strategy is executed, a 4G communication link and a data transmission radio communication link are established simultaneously between the base station and the mobile station. When the intelligent hybrid strategy is executed, it is determined whether the communication quality of the data transmission radio communication link and the 4G link are both higher than a preset high quality threshold. If not, then the heartbeat data packets sent by the rover are received via the data transmission radio communication link; In addition, RTK positioning data packets are sent through the 4G communication link, and auxiliary data is sent through the data transmission radio communication link; Alternatively, based on the communication quality of the data transmission radio communication link and the 4G communication link, the higher-quality communication link can be selected to send RTK positioning data packets; When the communication quality of both the data transmission radio link and the 4G communication link is determined to be higher than the preset high quality threshold, the system enters link aggregation mode or redundant transmission mode.

7. The highly stable RTK communication link optimization method according to claim 6, characterized in that: Link aggregation mode: The RTK data stream is alternately split, with odd-numbered data packets sent through the data radio communication link and even-numbered data packets sent through the 4G communication link; the rover receives the data packets sent through the data radio communication link and the 4G communication link, buffers and reorders them, and restores them into a complete RTK data stream; Redundant transmission mode: The base station copies each RTK data packet and sends it simultaneously through the data radio communication link and the 4G communication link, so that the rover can use the first data packet to arrive for RTK settlement.

8. A highly stable RTK communication link optimization method according to any one of claims 1-4, characterized in that: If the primary communication link is momentarily and completely interrupted, the basic fault switching logic is executed to attempt to reconnect the link by sending heartbeat data packets through the backup communication link. If the backup communication link also fails to establish a connection, it enters a dual-path polling probe mode, alternately attempting to connect until either link resumes communication.

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