Monitoring control method, device, equipment, medium and program product

Abstract

The invention provides a monitoring control method and device, equipment, a medium and a program product, and relates to the technical field of wireless communication, and the method comprises the steps: determining a positioning precision filtering coefficient group which comprises a difference frequency, an autoregression term and a moving average term; sending a positioning system information block to a base station, wherein the positioning system information block comprises differential data, a positioning precision change rate threshold, a positioning precision change rate counter, the positioning precision filter coefficient group and a relaxation long period multiple; wherein the differential data is positioning information data comprising a satellite pseudo-range correction number and carrier phase deviation; the positioning system information block is used for the terminal to judge whether a relaxation monitoring condition is met or not. According to the invention, the receiving frequency can be reduced, and the electric quantity waste of low-frequency users such as static equipment and non-real-time positioning scenes can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless communication, in particular to a listening control method, device, equipment, medium and program product. BACKGROUND

[0002] The existing broadcast high-precision positioning service terminal strictly receives real-time dynamic positioning information according to the scheduling frequency of the positioning system information block to realize high-precision positioning. However, all the subscribed service terminals in the existing network adopt a unified high-frequency mode to receive real-time dynamic positioning differential information. For low-frequency high-precision positioning service users or users without positioning needs, there is a high-frequency reception, which leads to high power consumption. SUMMARY

[0003] Embodiments of the present application provide a listening control method, device, equipment, medium and program product to solve the problem of high-frequency reception leading to high power consumption for low-frequency high-precision positioning service users or users without positioning needs in related technologies.

[0004] To solve the above technical problems, the present application is implemented as follows: In a first aspect, the embodiments of the present application provide a listening control method, which is executed by a first network element, and the method comprises: determining a positioning accuracy filter coefficient set, wherein the positioning accuracy filter coefficient set comprises a differential number, an autoregressive term and a moving average term; sending a positioning system information block to a base station, wherein the positioning system information block comprises differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, the positioning accuracy filter coefficient set and a relaxed long cycle multiple; wherein the differential data is positioning information data comprising satellite pseudo-range correction numbers and carrier phase offsets; and the positioning system information block is used for the terminal to determine whether the relaxed listening condition is met.

[0005] Optionally, the determination of the positioning accuracy filter coefficient set comprises: obtaining the differential data; determining the positioning accuracy filter coefficient set based on the differential data.

[0006] Optionally, the sending of the positioning system information block to the base station comprises: embedding the positioning accuracy change rate threshold, the positioning accuracy change rate counter, the positioning accuracy filter coefficient set and the relaxed long cycle multiple into an observation value field of global navigation satellite system-real-time dynamic positioning data, wherein the global navigation satellite system-real-time dynamic positioning data comprises the differential data; downloading the global navigation satellite system-real-time dynamic positioning data to the base station through the idle segment in the positioning system information block.

[0007] Optionally, the determining the set of positioning accuracy filtering coefficients based on the differential data comprises: constructing a differential autoregressive moving average model according to differential data of previous N periods, N being a positive integer; determining the set of positioning accuracy filtering coefficients based on the differential autoregressive moving average model by Bayesian information criterion.

[0008] In a second aspect, an embodiment of the present application provides a listening control method, executed by a terminal, comprising: listening to a positioning system information block broadcasted by a base station according to a first time period, the positioning system information block comprising differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, a set of positioning accuracy filtering coefficients, and a relaxed long period multiple; determining whether the terminal meets a relaxed listening condition according to the positioning system information block; in a case where the terminal meets the relaxed listening condition, determining that the terminal uses a second time period to listen to the positioning system information block; the second time period being a product of the first time period and the relaxed long period multiple.

[0009] In a third aspect, an embodiment of the present application provides a listening control method, executed by a base station, comprising: receiving a positioning system information block sent by a first network element; processing the positioning system information block according to a multi-segment alignment rule to obtain a processed positioning system information block, the processed positioning system information block being a positioning system information block with consistent segment periods for different satellite systems; broadcasting the processed positioning system information block.

[0010] In a fourth aspect, an embodiment of the present application provides a listening control apparatus, comprising: a first determining module configured to determine a set of positioning accuracy filtering coefficients, the set of positioning accuracy filtering coefficients comprising a differential order, an autoregressive term, and a moving average term; a sending module configured to send a positioning system information block to a base station, the positioning system information block comprising differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, the set of positioning accuracy filtering coefficients, and a relaxed long period multiple; wherein the differential data is positioning information data comprising satellite pseudo-range corrections and carrier phase biases; and the positioning system information block is used by a terminal to determine whether the terminal meets a relaxed listening condition.

[0011] In a fifth aspect, an embodiment of the present application provides a listening control apparatus, comprising: The listening module is configured to listen to a positioning system information block broadcast by a base station according to a first time period, wherein the positioning system information block comprises differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, a positioning accuracy filter coefficient set, and a relaxed long period multiple. The judging module is configured to judge whether the terminal meets a relaxed listening condition according to the positioning system information block. The second determining module is configured to determine that the terminal uses a second time period to listen to the positioning system information block if the terminal meets the relaxed listening condition. The second time period is a product of the first time period and the relaxed long period multiple.

[0012] In a sixth aspect, an embodiment of the present application provides a listening control device, comprising: The receiving module is configured to receive a positioning system information block sent by a first network element. The processing module is configured to process the positioning system information block according to a multi-segment alignment rule, and obtain a processed positioning system information block, wherein the processed positioning system information block is a positioning system information block with consistent segment periods for different satellite systems. The broadcasting module is configured to broadcast the processed positioning system information block.

[0013] In a seventh aspect, an embodiment of the present application provides a listening control device, comprising a transceiver and a processor, wherein the transceiver is configured to: determine a positioning accuracy filter coefficient set, wherein the positioning accuracy filter coefficient set comprises a differential number, an autoregressive term, and a moving average term; send a positioning system information block to a base station, wherein the positioning system information block comprises differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, the positioning accuracy filter coefficient set, and a relaxed long period multiple; The differential data is positioning information data comprising satellite pseudo-range correction numbers and carrier phase biases; and the positioning system information block is used for a terminal to judge whether it meets a relaxed listening condition.

[0014] In an eighth aspect, an embodiment of the present application provides a listening control device, comprising a transceiver and a processor, wherein the transceiver is configured to: listen to a positioning system information block broadcast by a base station according to a first time period, wherein the positioning system information block comprises differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, a positioning accuracy filter coefficient set, and a relaxed long period multiple; judge whether a terminal meets a relaxed listening condition according to the positioning system information block; determine that the terminal uses a second time period to listen to the positioning system information block if the terminal meets the relaxed listening condition. The second time period is a product of the first time period and the relaxation long period multiplier.

[0015] In a ninth aspect, an embodiment of the present application provides a listening control device, the listening control device comprising a transceiver and a processor, the transceiver being configured to: receive a positioning system information block sent by a first network element; process the positioning system information block according to a multi-segment alignment rule to obtain a processed positioning system information block, the processed positioning system information block being a positioning system information block with consistent segment periods for different satellite systems; broadcast the processed positioning system information block.

[0016] In a tenth aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a program stored in the memory and executable on the processor, when the program is executed by the processor, the program implements the steps of the listening control method according to the first aspect, or the program is executed by the processor, the program implements the steps of the listening control method according to the second aspect, or the program is executed by the processor, the program implements the steps of the listening control method according to the third aspect.

[0017] In an eleventh aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, when the computer program is executed by a processor, the computer program implements the steps of the listening control method according to the first aspect, or the computer program is executed by a processor, the computer program implements the steps of the listening control method according to the second aspect, or the computer program is executed by a processor, the computer program implements the steps of the listening control method according to the third aspect.

[0018] In a twelfth aspect, an embodiment of the present application provides a computer program product, comprising computer instructions, when the computer instructions are executed by a processor, the computer instructions implement the steps of the listening control method according to the first aspect, or the computer instructions are executed by a processor, the computer instructions implement the steps of the listening control method according to the second aspect, or the computer instructions are executed by a processor, the computer instructions implement the steps of the listening control method according to the third aspect.

[0019] In the embodiments of the present application, the listening control method allows the terminal to extend the listening period to other periods when the conditions are met through the positioning system information block, which can directly reduce the receiving frequency and reduce the waste of power of low-frequency users such as stationary devices and non-real-time positioning scenarios. In addition, when the terminal is stationary or moving at a low speed, the differential data fluctuation is small, and the missing differential data can be extrapolated by using the positioning accuracy filtering coefficient, thereby realizing the cooperation of low-frequency receiving and high-precision positioning. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is one of the flowcharts of a monitoring control method provided in the embodiments of this application; Figure 2 This is a system architecture diagram of a monitoring control method provided in an embodiment of this application; Figure 3 This is a second flowchart of a monitoring control method provided in an embodiment of this application; Figure 4 This is one of the time-domain dimension judgment flowcharts of a monitoring control method provided in this application embodiment; Figure 5 This is the second flowchart of the time-domain dimension judgment of a monitoring control method provided in the embodiments of this application; Figure 6 This is the third flowchart of the time-domain dimension judgment of a monitoring control method provided in this application embodiment; Figure 7 This is an interactive schematic diagram of a monitoring control method provided in an embodiment of this application; Figure 8 This is a schematic diagram illustrating the execution of an action of a monitoring control method provided in an embodiment of this application; Figure 9 This is one of the structural schematic diagrams of a listening control device provided in the embodiments of this application; Figure 10 This is a second schematic diagram of the structure of a listening control device provided in an embodiment of this application; Figure 11 This is the third schematic diagram of a listening control device provided in the embodiments of this application; Figure 12 This is the fourth schematic diagram of a listening control device provided in the embodiments of this application; Figure 13 This is the fifth schematic diagram of a listening control device provided in the embodiments of this application; Figure 14 This is the sixth schematic diagram of a listening control device provided in the embodiments of this application; Figure 15 This is the seventh schematic diagram of a listening control device provided in the embodiments of this application. Detailed Implementation

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0023] In the embodiments of the present application, a monitoring control method, device, equipment, medium and program product are provided to solve the problem of high power consumption caused by high-frequency reception for users of low-frequency high-precision positioning services or users without positioning needs in the related art.

[0024] Referring to Figure 1 , Figure 1 is one of flowcharts of a monitoring control method provided by the embodiments of the present application, and is applied to a first network element, such as Figure 1 As shown in the figure, the method comprises the following steps: Step 101, determining a positioning accuracy filtering coefficient set, the positioning accuracy filtering coefficient set comprising a difference order, an autoregressive term and a moving average term; Specifically, the above positioning accuracy filtering coefficient set can be understood as a parameter group comprising three extrapolation parameters of a difference order d, an autoregressive term p and a moving average term q. d is the difference order: the number of times required to convert time series data into a stationary sequence.

[0025] p is the autoregressive term: indicating the number of past observations used in the model, p determines how the current value depends on the previous values. The higher p is, the greater the dependence of the model on past observations.

[0026] q is the moving average term: indicating the number of past error terms used in the model, q determines how the current value is affected by previous prediction errors. The higher q is, the more the model considers the influence of previous errors.

[0027] The d, p and q fields can each take 4 possibilities (00, 01, 10, 11), so they only occupy 2 bits. The positioning accuracy filtering (Positioning accuracy filtering coefficient) field only needs to occupy 6 bits at the beginning, and a certain number of bits can be reserved for later expansion of extrapolation accuracy.

[0028] The positioning accuracy filter coefficient set includes a difference order, an autoregressive term and a moving average term. How to determine the positioning accuracy filter coefficient set is not limited in the embodiments of the present application. The positioning accuracy filter coefficient set can be dynamically adjusted based on real-time environmental parameters, or can be determined in combination with a machine learning algorithm. For example, a first network element, i.e., a location management unit (LMF), can calculate the positioning accuracy filter coefficient set based on high-frequency difference historical data of a high-precision platform.

[0029] In some optional embodiments, the existing continuously operating reference station (CORS) reference station network is moved. For example, the existing 4400+ CORS reference stations are distributed in a nationwide area. The reference stations periodically collect Beidou, global positioning system (GPS), global navigation satellite system (GLONASS), Galileo, and satellite-based augmentation system (SBAS) satellite information. According to the site location, the entire country is virtually divided into 210,000 geographic grid units by VRS. The satellite information difference information corresponding to each geographic grid unit is different in real time.

[0030] For reference Figure 2The CORS reference station collects multi-satellite multi-frequency information, and periodically transmits the information to the CORS reference station platform (about 4400 groups of Radio Technical Commission For Maritime Services (RTCM) messages are transmitted to the CORS reference station platform per second). Each specific message includes 1005, 1074, 1084, 1094, 1114, 1124 RTCM messages. The 1074, 1084, 1094, 1114, 1124 RTCM messages respectively transmit GPS, GLONASS, GALILEO, Quasi-Zenith Satellite System (QZSS), Beidou Navigation Satellite System (BDS) pseudorange, carrier phase and carrier-to-noise ratio data. Hereinafter, only the 1074 message is taken as an example. Specifically, the CORS reference station platform grids the national geographic network according to the existing CORS reference station geographic location (4400 station geographic locations) (the national geographic network is divided into about 210,000 geographic grids), each geographic grid corrects the message content based on the CORS reference station geographic location (the correction process is completed on the CORS reference station platform side), and the corrected message (21,000 groups of satellite real-time information per second) is transmitted to the LMF in the CS mode according to the Networked Transport of RTCM via Internet Protocol (NTRIP) southbound data transmission protocol.

[0031] Further, the LMF network element can unpack and pack the received RTCM message. The 1005 message is mapped to Type1-5, and the MSM4 message (1074, 1084, 1094, 1114, 1124) is unpacked and mapped to Type1-6 and Type2-12 Position System Information Block (posSIB) respectively, according to the 3rd Generation Partnership Project (3GPP) 37.355 LTE Positioning Protocol (LPP) encapsulation. The messages of different satellite systems cannot be mapped to the same posSI.

[0032] Step 102, sending a positioning system information block to the base station, the positioning system information block including differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, the positioning accuracy filter coefficient group and a relaxed long period multiple; The differential data is positioning information data including satellite pseudo-range correction and carrier phase bias; and the positioning system information block is used for the terminal to determine whether the relaxed monitoring condition is met.

[0033] Specifically, the positioning system information block can be understood as an information unit containing positioning-related key parameters, and the terminal can optimize the positioning process or adjust the power consumption strategy according to the information unit.

[0034] The positioning accuracy change rate threshold can be understood as a “judgment scale”. The terminal compares the change rate of the positioning accuracy with the threshold by real-time calculation. If the change rate exceeds the threshold, it indicates that the positioning environment may change greatly, such as from an open area to a high-rise area, and the positioning strategy needs to be adjusted, such as increasing the data update frequency; if it does not exceed, the power consumption can be appropriately reduced.

[0035] The positioning accuracy change rate counter can be understood as recording the number of times when the positioning accuracy change rate exceeds or is lower than the threshold. For example, when the threshold is exceeded for 3 consecutive times, the terminal can determine that the current positioning environment is complex and needs to maintain high-frequency positioning; when it is lower than the threshold for many times, it can gradually enter the energy-saving mode.

[0036] The relaxed long cycle multiple can be understood as a “regulator of energy-saving mode” of the terminal. Under certain conditions, for example, when the positioning accuracy change rate is lower than the threshold for a long time, the terminal can extend the cycle of monitoring the positioning information according to the multiple. For example, if the original monitoring cycle is 1280 ms, and the multiple is set to 2, the monitoring cycle is extended to 2560 ms, thereby reducing the power consumption.

[0037] Specifically, the LMF can receive high-precision positioning platform side real-time dynamic positioning (RTK) differential data, and increase four new indication parameters of positioning accuracy change rate threshold, positioning accuracy change rate counter, positioning accuracy filter coefficient group, and relaxed long cycle multiple, which can be sent to the base station GNB (Next Generation Node B, GNB) side with the RTK differential data (NSS-RTK-Observations field).

[0038] In some optional embodiments, the LMF side can map the content of Beidou 1124 to 2-12 according to the RTCM message issued by the high-precision positioning platform every 1280 ms, for example, taking Beidou 1124 as an example, and add four auxiliary fields of positioning accuracy change rate threshold, positioning accuracy change rate counter, positioning accuracy filter coefficient group, and relaxed long cycle multiple.

[0039] Where the LMF-to-Access and Mobility Management Function (AMF)-to-GBS side conduction message can be conducted through the original signaling conduction: Namf_Communication_NonUeN2MessageTransfer, DOWNLINK NON UE ASSOCIATED NRPPA TRANSPORT.

[0040] In the embodiments of the present application, the above-mentioned monitoring control method allows the terminal to extend the monitoring period to other periods when the conditions are met through the positioning system information block, which can directly reduce the receiving frequency and reduce the waste of power for low-frequency users such as stationary devices and non-real-time positioning scenarios. In addition, when the terminal is stationary or moving at low speed, the differential data fluctuation is small, and the missing differential data can be extrapolated by using the positioning accuracy filtering coefficient set, realizing the coordination of low-frequency reception and high-precision positioning.

[0041] Optionally, the determination of the positioning accuracy filtering coefficient set comprises: Obtaining the differential data; Based on the differential data, determining the positioning accuracy filtering coefficient set.

[0042] Specifically, the satellite pseudorange correction number in the differential data can be understood as an important parameter for correcting the satellite pseudorange measurement value in satellite positioning technology. The satellite pseudorange refers to the distance measurement value from the satellite to the receiver. Due to various errors in the measurement process, such as satellite clock error, receiver clock error, atmospheric delay, etc., the measured pseudorange is not the true geometric distance from the satellite to the receiver. The satellite pseudorange correction number is the value obtained by estimating and calculating these errors to correct the pseudorange measurement value. By adding the satellite pseudorange correction number, the pseudorange measurement value can be closer to the true distance, such as ionospheric delay correction, tropospheric delay correction, etc., with a unit of meters (m). For example, the pseudorange correction number of a certain GPS satellite is -0.32 m, indicating that the measured pseudorange needs to be reduced by 0.32 meters to approach the true distance. The above-mentioned carrier phase bias can be understood as the integer ambiguity solution of the carrier phase measurement, which is used for RTK technology to achieve centimeter-level positioning.

[0043] In some optional embodiments, the process of generating the above-mentioned positioning accuracy filtering coefficient set on the LMF side is as follows: LMF high-frequency receives (1280 ms) high-precision platform-side full-difference data, and generates a positioning accuracy filter coefficient set (including d, p, q, and three extrapolation parameters) based on the previous N (temporarily take 100) period difference data, which is used to be sent to the terminal side to ensure that the terminal can use the positioning accuracy filter coefficient set to extrapolate to obtain approximately accurate difference data (pseudo-range correction value) in the relaxed monitoring period.

[0044] Since the difference data has strong time series characteristics, a difference autoregressive moving average model can be used to derive the difference data in the scheduling period using the previous 100 difference data.

[0045] The difference autoregressive moving average model describes the dynamic characteristics of time series data by combining the autoregressive (AR) part, integral (I) part, and moving average (MA) part. Among them, the autoregressive part (AR) captures the dependence relationship in the sequence by associating the past values with the current value; the integral part (I) removes non-stationarity by differencing the data; and the moving average part (MA) smooths the data by considering the linear combination of error terms.

[0046] Autoregressive model (AR): describes the relationship between the current value and the historical value, predicts itself using its own historical data, and must satisfy the stationarity requirement, p is the autoregressive term, and the mathematical expression of the above autoregressive model is as follows:

[0047] where represents the variable value at the current time t, represents the constant term, represents the error term, represents the linear combination of the past p time points, represents the influence degree of different historical time data on the current value, so it can be known that "predicting itself using its own historical data".

[0048] Moving average model (MA): describes the accumulation of error terms in the autoregressive model, which can effectively eliminate random fluctuations in prediction, and q is the number of moving average terms.

[0049]

[0050] Time series data stationarization: the meaning of sequence stationarization is to remove the trend and seasonal components in the time series, so that its statistical characteristics (such as mean and variance) remain stable over time. By differencing operation, i.e. calculating the difference between adjacent observations, long-term trends or periodic fluctuations can be eliminated, thereby obtaining a sequence with relatively stable mean and variance. B is the lag operator, d is the difference number, and the mathematical expression of the above moving average model is as follows:

[0051] wherein, denotes the time series value after stationary treatment at time t, is the observation value of the original time series at time t, i.e. the original data without stationary treatment, B is a lag operator that can move the time series back by one time unit, d denotes the difference order, which is used to control the degree of difference of the original time series.

[0052] Autoregressive Moving Average Model (ARMA): When the sequence is converted into a stationary sequence, i.e. the difference order d is determined, the model can be simplified into an ARMA model. The mathematical expression of the autoregressive moving average model is as follows:

[0053] wherein, denotes the time series value after stationary treatment at time t; denotes the long-term mean of the sequence, which is a constant term; denotes the influence degree of data at different historical times on the current value, denotes the linear combination of the past p times; denotes the error term; q denotes the moving average order; denotes the moving average coefficient, which is used to measure the correction degree of historical errors on the current prediction. In the above mathematical model, p and q together determine the complexity of the model.

[0054] As can be seen from the formula derivation, when the values of d, p and q are determined, the next difference data can be extrapolated by the first N (100) difference data.

[0055] In this embodiment, by generating filter coefficients based on real difference data, the terminal can dynamically adjust the extrapolation model parameters according to the signal stability of the current area, improve the extrapolation accuracy of difference data, and the terminal can use the filter coefficients to extrapolate the missing difference data in the relaxed monitoring mode without high-frequency reception, so as to maintain high-precision positioning, reduce the reception frequency, and adapt to the needs of low-frequency positioning users to save terminal power.

[0056] Optionally, the sending of the positioning system information block to the base station comprises: embedding the positioning accuracy change rate threshold, the positioning accuracy change rate counter, the positioning accuracy filter coefficient set and the relaxed long cycle multiple into an observation value field of global navigation satellite system-real-time kinematic data, the global navigation satellite system-real-time kinematic data comprising the difference data; downlink the global navigation satellite system-real-time kinematic data to the base station through the idle segment in the positioning system information block.

[0057] Specifically, the LMF receives high-precision positioning platform side differential data, increases four new indication parameters of a positioning accuracy change rate threshold, a positioning accuracy change rate counter, a positioning accuracy filter coefficient set, and a relaxed long period multiple, and sends the global navigation satellite system-real-time dynamic positioning data (NSS-RTK-Observations field) to the GNB side. Exemplarily, the data can be sent to the GNB side by encapsulating a new radio positioning protocol A (NRPPA) protocol. The above idle segment can be understood as when the amount of data contained in a single PosSIB exceeds the maximum supported size of a single system information (SystemInformation, SI), it needs to be split into multiple segments, each segment containing part of the data. According to the description of PosSIB segment mapping in 3GPP 38.455, multiple segments of the same type are sent in multiple consecutive periods of a SI, and each specific transmission carries a segment.

[0058] In this embodiment, by embedding the control parameters into the GNSS-RTK observation value field and using the idle segment transmission of the positioning system information block, the personalized monitoring control parameters are delivered to the terminal without adding independent signaling, which is compatible with the 3GPP protocol to reduce the air interface load, and supports the terminal to dynamically adjust the monitoring strategy based on the parameters, reduces the terminal power consumption while ensuring high-precision positioning.

[0059] Optionally, the positioning accuracy filter coefficient set is determined based on the differential data, including: constructing a differential autoregressive moving average model according to differential data of previous N periods, N being a positive integer; determining the positioning accuracy filter coefficient set based on the differential autoregressive moving average model by Bayesian information criterion.

[0060] Specifically, since the intervals of the three coefficients of the differential order d, the autoregressive term p and the moving average term q are generally located between [0, 3], the Bayesian information criterion (BIC) can be used to determine the best parameter combination.

[0061] The Bayesian information criterion is as follows:

[0062] where k is the number of model parameters, n is the number of samples, and L is the likelihood function.

[0063] Differentiate the time series with different orders, try multiple d values to ensure data stationarity.

[0064] Try different p (autoregressive order) and q (moving average order) combinations respectively with a fixed d value, and fit an ARIMA model for each combination. For each model, calculate its BIC value. The smaller the BIC value, the better the model fitting effect and the lower the complexity.

[0065] Further, select the d, p, q combination with the smallest BIC value as the optimal parameters of the model, thereby obtaining an optimal ARIMA model that balances model fitting quality and complexity.

[0066] After obtaining the optimal parameter combination, the coefficients of the next period can be obtained through the ARIMA formula, and the value of the coefficients is added to the sequence for recursion to obtain the values of the next N periods.

[0067] The LMF side sorts the difference data in 100 time periods in chronological order, and uses the BIC method to obtain the values of d, p, and q to generate a positioning accuracy filter coefficient group (including three parameter groups d, p, and q) and sends the values to the base station for final broadcast to the terminal side.

[0068] In this embodiment, a difference autoregressive moving average model is constructed according to the difference data of the first N periods, and the Bayesian information criterion is used to determine the positioning accuracy filter coefficient group, which optimizes the filter coefficient according to the characteristics of the historical data, enables the terminal to more accurately extrapolate the difference data in the relaxed monitoring mode, effectively balances the positioning accuracy and terminal power consumption, and enhances the adaptability and stability of the positioning system.

[0069] Exemplarily, Figure 3 is a flowchart of a listening control method provided by an embodiment of the present application, as shown in Figure 3 The method comprises the following processes: Step 301: Listen to the positioning system information block broadcast by the base station according to a first time period, wherein the positioning system information block comprises difference data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, a positioning accuracy filter coefficient group, and a relaxed long period multiplier; Step 302: Determine whether the terminal meets the relaxed listening condition according to the positioning system information block; Step 303: If the terminal meets the relaxed listening condition, determine that the terminal uses a second time period to listen to the positioning system information block; The second time period is the product of the first time period and the relaxed long period multiplier.

[0070] Specifically, the first time period can be understood as the time interval at which the terminal initially listens to the positioning system information block broadcast by the base station. For example, the RTK message period issued by the LMF to the GNB side in the existing network is 1280 ms. If the terminal listens to the positioning system information block at this period, then 1280 ms is the first time period. This period is the listening frequency set by the terminal to obtain positioning related information under normal circumstances. The terminal starts receiving function according to the pre-set first time period, and listens to the positioning system information block broadcast by the base station through wireless signal. When each first time period arrives, the terminal will try to receive the positioning related information sent by the base station, so as to obtain the latest positioning data and parameters.

[0071] The terminal obtains four groups of data of the threshold of the rate of change of positioning accuracy, the rate of change of positioning accuracy counter, the positioning accuracy filter coefficient group (including three parameters d, p and q), and the relaxed long cycle multiple through listening.

[0072] The terminal can be understood as a device for positioning in a mobile communication network, including a smart phone, a vehicle-mounted positioning terminal, an Internet of Things positioning module, etc. The terminal receives the positioning system information block broadcast by the base station, and performs positioning calculation and related operations according to the information therein, so as to realize high-precision positioning function.

[0073] The relaxed listening condition can be understood as a judgment rule. The terminal can determine whether the current positioning condition meets the requirement of reducing the listening frequency to save power consumption according to the positioning accuracy filter coefficient group and other related information (such as the threshold of the rate of change of positioning accuracy, the rate of change of positioning accuracy counter, etc.). For example, when the rate of change of positioning accuracy is lower than the threshold of the rate of change of positioning accuracy for many times in succession, and the positioning accuracy filter coefficient group shows that the current positioning environment is relatively stable, it can be considered that the relaxed listening condition is met. For example, after the terminal receives the positioning accuracy filter coefficient group in the positioning system information block, it combines the current positioning state and other related information of the terminal, such as the value of the rate of change of positioning accuracy and the rate of change of positioning accuracy counter, and determines whether the requirement of relaxed listening is met according to the pre-set judgment rule. If the condition is met, the terminal can enter the relaxed listening mode to reduce the listening frequency and save power consumption; if the condition is not met, the terminal continues to listen according to the first time period.

[0074] The aforementioned second time period can be understood as the time interval between new listening and positioning system information blocks after the terminal determines that the relaxation listening conditions are met. It is the product of the first time period and a multiple of the relaxation long period. For example, if the first time period is 1280ms and the relaxation long period multiple is 5, then the second time period is 1280ms × 5 = 6400ms. Using a second time period for listening can reduce the frequency at which the terminal receives information, thereby reducing power consumption.

[0075] In the monitoring control method of this application, the terminal determines whether the conditions for relaxing monitoring are met and adjusts the monitoring cycle based on various parameters in the positioning system information block broadcast by the base station. This enables the terminal to flexibly adjust the monitoring strategy according to its own positioning needs and positioning stability, thereby reducing terminal power consumption and improving the terminal's battery life and user experience while ensuring positioning accuracy.

[0076] Optionally, the positioning system information block that listens to the base station broadcast according to the first time period includes: By using the location scheduling information list, and listening to the location system information blocks broadcast by the base station according to the first time period, real-time dynamic positioning data of the Global Navigation Satellite System is obtained. The differential data, positioning accuracy change rate threshold, positioning accuracy change rate counter, positioning accuracy filter coefficient group, and relaxation long period multiple are parsed from the observation field in the Global Navigation Satellite System - Real-time Dynamic Positioning Data.

[0077] Specifically, the aforementioned location scheduling information list can be understood as a set of scheduling instructions issued by the LMF to the GNB through the core network (Access and Mobility Management Function, AMF), and then broadcast by the GNB to the terminal through the air interface. It contains key parameters for the terminal to listen for location information. In the initial stage, the terminal needs to obtain complete differential data through high-frequency reception (such as a 1280ms cycle) to ensure high-precision positioning initialization and accumulate historical data for subsequent judgment.

[0078] The aforementioned Global Navigation Satellite System - Real-time Dynamic Positioning Data is a standard field defined by the 3GPP protocol. It is used to store the core observation data of RTK positioning, as well as four newly added parameters: positioning accuracy change rate threshold, positioning accuracy change rate counter, the positioning accuracy filter coefficient group, and relaxation long period multiple.

[0079] The differential data in the above posSIBs may include: Raw satellite observations (pseudorange, carrier phase, carrier-to-noise ratio); Exemplarily, after the terminal is initially registered, the terminal receives RTK data in a high frequency (according to LMF side setting, generally 1280 ms) scheduled by the positioning scheduling information list posSchedulingInfoList in the SIB. The above-mentioned parsing of the positioning precision filtering coefficient group from the global navigation satellite system-real-time dynamic positioning observation value field can be understood as extracting the original positioning data (used for solving the current coordinates) and the filtering coefficient group from the global navigation satellite system-real-time dynamic positioning data GNSS-RTK-Observations field. The filtering coefficient group is used for the terminal to extrapolate the missing differential data (such as pseudorange correction) in the relaxed monitoring mode through the ARIMA model; extracting the filtering coefficient group from the RTK data field can provide core parameters for subsequent "judging whether to enter the relaxed monitoring mode" and "extrapolating the differential data".

[0080] In this embodiment, by monitoring according to the positioning scheduling information list in the first time period and parsing the related fields in the global navigation satellite system-real-time dynamic positioning data, the terminal can accurately obtain the differential data and key control parameters required for positioning, which provides an accurate basis for subsequent judgment of whether to enter the relaxed monitoring mode, so that the terminal can flexibly adjust the monitoring strategy to reduce power consumption on the basis of ensuring the positioning accuracy.

[0081] Optionally, the determining whether the terminal meets the relaxed monitoring condition according to the positioning system information block comprises: determining a positioning precision change rate and a moving speed based on the differential data obtained by the parsing; determining whether the terminal meets the relaxed monitoring condition according to the positioning precision change rate, the moving speed, and a positioning precision change rate threshold; The relaxed monitoring condition comprises at least one of the following: The moving speed is less than or equal to a first numerical value; The number of times that the positioning precision change rate is less than or equal to a positioning precision change rate threshold reaches a preset number of times.

[0082] In this embodiment, the above-mentioned preset number of times can be the number of times recorded in the positioning precision change rate counter, or can be specified according to other ways or methods.

[0083] The terminal determines whether the terminal meets the relaxed monitoring condition based on the high-frequency high-precision positioning result, and there are three calculation modes for the specific determination method.

[0084] There are three methods for GNSS velocity determination: the first method is based on the high-precision positioning results of GNSS, and the velocity is obtained by position difference; the second method is to directly calculate the velocity by using the original GNSS Doppler observation value; and the third method is to calculate the velocity by using the Doppler observation value obtained by carrier phase center difference. The three methods are all derived from the mathematical definition formula of velocity, but due to different calculation ideas and different observation values, different degrees of approximation assumptions are made, so the final velocity accuracy determined by the three methods will be different.

[0085] The data processing difficulty of the position center difference method is the largest. In order to determine the high-precision velocity by using the position center difference method, the high-precision positioning result based on the carrier phase is required, and the data processing of the carrier phase positioning is relatively complex. The data processing difficulty of the original Doppler frequency shift method is the smallest, and the high-precision velocity can be obtained by using the original Doppler frequency shift and pseudorange observation value. The data processing difficulty of the carrier phase center difference method is similar to that of the original Doppler frequency shift method, and only the step of calculating the Doppler frequency shift by using the carrier phase center difference is added. However, it should be noted that in actual measurement application, if the high-precision position has been determined by using the carrier phase, then as a byproduct of the position parameter, the velocity calculation based on the position center difference is the simplest.

[0086] The original Doppler frequency shift method is a relatively accurate method, and the velocity accuracy mainly depends on the accuracy of the Doppler frequency shift observation value, and is basically not affected by the motion state of the carrier. Generally, the accuracy of the carrier phase observation value is better than that of the Doppler frequency shift observation value in numerical value, and if the carrier is in uniform motion, the velocity accuracy determined by the position center difference method and the carrier phase center difference method will be higher than that determined by the original Doppler frequency shift method. However, if the velocity of the carrier changes greatly, the velocity accuracy determined by the original Doppler frequency shift method will be better than that determined by the position center difference method and the carrier phase center difference method.

[0087] In some optional embodiments, the terminal can already know the high-precision positioning position every 1280 ms, so the velocity determination can be completed by simply using the high-precision positioning result based on GNSS, and the terminal determined to be in a stationary state can be further determined whether it can enter the relaxed monitoring mode.

[0088] In some optional embodiments, the reference station can observe all satellites, and the real distance of each satellite to the reference station at each time can be obtained according to the accurate coordinates of the reference station and the coordinates of each satellite. Then, by comparing the real distance with the measured pseudorange, the pseudorange correction number can be obtained, which is transmitted to the mobile station receiver to correct the measured pseudorange and improve the positioning accuracy.

[0089] GNSS satellite emits modulated signals, the reference station receiver receives the signal can be analyzed to get the signal propagation time, multiplied by the speed of light to get the propagation distance, the distance is not accurate due to various interference factors in the process of propagation, called "pseudo-range", the formula for calculating the pseudo-range can be expressed as follows: ; The pseudo-range from the reference station to the first satellite I is represented, based on DF397, DF398, DF400 in RTCM1074 message; The accurate distance from the reference station to the first satellite I is represented; The reference station clock error is represented; The first satellite clock error is represented; The ephemeris error is represented; The ionospheric error is represented; The tropospheric error is represented.

[0090] Based on the above difference data, the reference station pseudo-range value and the satellite clock error are known items, the ionospheric and tropospheric effects can be estimated by mathematical model, and the random error can be ignored. For the observation equation of n satellites at the same epoch, the receiver clock error is the same, so the unknowns have a total of 4 (receiver rectangular coordinates x, y, z and receiver clock error), and the equations have a total of n, which can solve the values of all unknowns. Generally, 4 satellite pseudo-range information is needed to calculate the coordinates using pseudo-range, and the positioning accuracy is about 10 meters. The specific principle is as follows: the pseudo-range from the reference station to the first satellite I is based on DF397, DF398, DF400 in RTCM1074 message; The accurate distance from the reference station to the first satellite I; the reference station clock error; the first satellite clock error; the ephemeris error; the ionospheric error; the tropospheric error.

[0091] Based on the above difference data, the reference station pseudo-range value and the satellite clock error are known items, the ionospheric and tropospheric effects can be estimated by mathematical model, and the random error can be ignored. For the observation equation of n satellites at the same epoch, the receiver clock error is the same, so the unknowns have a total of 4 (receiver rectangular coordinates x, y, z and receiver clock error), and the equations have a total of n, which can solve the values of all unknowns. Generally, 4 satellite pseudo-range information is needed to calculate the coordinates using pseudo-range, and the positioning accuracy is about 10 meters. The specific principle is as follows:

[0092] wherein, is the pseudo-range between the terminal side receiver and the target satellite i, is the geometric distance between the terminal side receiver and the target satellite i, is the clock error influence of the terminal side receiver, is the clock error impact of the target satellite i, is the ionospheric impact between the terminal-side receiver and the target satellite i, is the tropospheric impact between the terminal-side receiver and the target satellite i, is the pseudo-range random error between the terminal-side receiver and the target satellite i; similarly, is the pseudo-range between the ground-based augmentation reference station-side receiver located in the same geographical grid as the terminal and the target satellite i, is the geometric distance between the ground-based augmentation reference station-side receiver and the target satellite i, is the clock error impact of the ground-based augmentation reference station-side receiver, is the ionospheric impact between the ground-based augmentation reference station-side receiver and the target satellite i, is the tropospheric impact between the ground-based augmentation reference station-side receiver and the target satellite i, is the pseudo-range random error between the ground-based augmentation reference station-side receiver and the target satellite i, , are the coefficients of the corresponding items, respectively; Since the terminal and the ground-based augmentation reference station are located in the same geographical grid, the distances between the terminal-side receiver and the ground-based augmentation reference station-side receiver are very close, and it can be considered that the ionospheric impact, the tropospheric impact, and the random error are the same, i.e. Therefore, by using formula (1-1) minus formula (1-2), we can obtain:

[0093] wherein,

[0094] wherein, is the coordinate of the target satellite, is the coordinate of the terminal-side receiver, is the coordinate of the ground-based augmentation reference station-side receiver, and by using formula (1-4) and formula (1-5) to linearly transform formula (1-3), we obtain: (1-6) In formula (1-6), , , and can be obtained through RTK differential data, and therefore, by using the least square method, we can obtain , thereby completing the high-precision positioning of the terminal.

[0095] The pseudo-range correction number actually transmitted by the network side can be expressed as: The pseudorange correction number of the CORS reference station corresponding to the current geographic position.

[0096] In some optional embodiments, the terminal can be configured to Figure 4 After the terminal is initially registered, the terminal can calculate the first derivative change rate of each set of pseudorange correction numbers in the RTK differential data according to the posSchedulingInfoList scheduling of the network side and high-frequency reception of the RTK differential data.

[0097] The first derivative is a term in calculus, which represents the rate of change of a function. The most intuitive manifestation is in the monotonicity theorem of the function.

[0098] The original definition of the first derivative: Let y = f(x) be a function with a domain and a value in the real number field. If f(x) is defined in a neighborhood of point x0, then when the independent variable x takes an increment at x0 (point x0 +△x is still in the neighborhood), the corresponding y takes an increment△y = f(x0 +△x) - f(x0); if the limit of the ratio of△y to△x exists when△x approaches 0, then the function y = f(x) is said to be derivable at point x0, and this limit is called the derivative of the function y = f(x) at point x0, denoted as f'(x0): ; After the terminal completes SPS (single point positioning), the actual acquisition of the pseudorange correction number directly determines the high-precision positioning accuracy, and the change rate of the pseudorange correction number determines the change rate of the positioning deviation. The terminal calculates the change rate of the pseudorange correction number according to the reception frequency, and uses the first derivative as a prototype. Since the differential information is transmitted once every 1280 ms in the actual network,△x cannot approach 0 and is relatively fixed, so the first derivative is modified to obtain the change rate at each time point compared to the previous time point. The change rate of the pseudorange correction number per period is as follows: ; The terminal compares the change rate of the pseudorange correction number with the positioning accuracy change rate threshold (network experience value) sent by the network side. When the continuous period is less than the positioning accuracy change rate counter, the terminal side determines that the change rate of the pseudorange correction number in the current stage is low, and enters the relaxed monitoring mode, i.e. it meets the relaxed monitoring condition.

[0099] In this embodiment, the positioning accuracy change rate and the moving speed are determined based on the differential data, and the positioning accuracy change rate threshold is used for judgment. The terminal can flexibly adjust the monitoring strategy according to its own state and positioning stability, reduce unnecessary monitoring power consumption, and at the same time ensure the positioning accuracy.

[0100] Optionally, after determining that the terminal uses the second time period to monitor the positioning system information block, the method further comprises: acquiring differential data of the missing period; based on the positioning accuracy filtering coefficient group, performing extrapolation processing through a differential autoregressive moving average model; continuously acquiring the positioning accuracy change rate and the moving speed during the extrapolation processing; resuming to use the first time period to monitor the positioning system information block in the case that any of the following conditions is met: the positioning accuracy change rate is greater than the positioning accuracy change rate threshold; the moving speed is detected to be greater than a first value; a positioning service request is received.

[0101] In this embodiment, it can be understood that after the terminal enters the relaxed monitoring mode, the terminal monitors and receives the posSIB at a frequency of posSchedulingInfoList scheduling period * relaxed long period multiplier, wherein the pseudorange correction number in the relaxed long period is based on the data obtained by the previous monitoring or extrapolation result, and the extrapolation calculation is obtained through the positioning accuracy filtering coefficient group (including three parameter groups d, p and q).

[0102] Specifically, after the terminal enters the relaxed monitoring mode, the terminal monitors and receives the posSIB at a frequency of posSchedulingInfoList scheduling period * relaxed long period multiplier, and does not actively monitor the posSIB in the posSchedulingInfoList scheduling period * relaxed long period time period, and the differential data (pseudorange correction number) of each posSchedulingInfoList scheduling period is obtained by extrapolation based on the continuous N differential data and the positioning accuracy filtering coefficient group (including three parameter groups d, p and q) previously issued by the network side. The specific extrapolation formula is as follows: After the terminal side receives the values of d, q and p issued by the network side, the values of the continuous 10 (which can be issued by the network side or fixed and trained by the terminal side) periods recorded by the terminal side are substituted into the differential autoregressive moving average model (AutoRegressive Integrated Moving Average, ARIMR) for calculation to obtain the value at the next moment, and the generated value at the next moment is used as historical data, so that the differential data in the next N periods (all differential values in the relaxed monitoring period are generated in the extrapolation mode) can be recursively obtained. The following mathematical model can be used in the prediction process of the terminal side: ; wherein, denotes the time series value at time t after smoothing processing; denotes the long-term mean of the sequence, which is a constant term; denotes the influence degree of data at different historical time on the current value, denotes the linear combination of the past p time points; denotes the error term; q denotes the moving average order; denotes the moving average coefficient, which is used to measure the correction degree of historical errors on the current prediction. The model complexity is jointly determined by p and q in the above mathematical model.

[0103] In the relaxed monitoring mode interval, the terminal still maintains the calculation of the positioning accuracy change rate per cycle according to the extrapolation result, and the specific formula is the same as the high-frequency monitoring mode, as follows: ; The terminal still maintains the comparison process of the positioning accuracy change rate based on the extrapolation result with the positioning accuracy change rate threshold issued by the network side. In the time domain dimension, the terminal side judgment process can refer to Figure 5 .

[0104] In some optional embodiments, the terminal enters the high-frequency monitoring mode according to both the position state or the positioning accuracy change rate in the relaxed monitoring mode, which can be referred to as Figure 6 .

[0105] The terminal can obtain high-precision speed according to the original Doppler frequency shift and pseudo-range observation value. Once the terminal is out of the stationary state, it immediately exits the relaxed monitoring mode and enters the high-frequency monitoring PosSIB according to the previous posSchedulingInfoList scheduling period.

[0106] The terminal simultaneously compares the positioning accuracy change rate based on the extrapolation result with the positioning accuracy change rate threshold issued by the network side. Once it is greater than the threshold, it immediately exits the relaxed monitoring mode and enters the high-frequency monitoring PosSIB according to the previous posSchedulingInfoList scheduling period. For example, the overall process can be referred to as Figure 7 , and the specific judgment process can be referred to as Figure 8 .

[0107] In this embodiment, the missing differential data is obtained and extrapolated during the relaxed monitoring period, and the positioning accuracy change rate and the moving speed are continuously monitored. The high-frequency monitoring is restored according to the related conditions, which realizes the flexible adjustment of the monitoring strategy of the terminal under the premise of ensuring the positioning accuracy, reduces the power consumption, and can respond in time according to the positioning demand and environmental changes, and improves the reliability and adaptability of the positioning.

[0108] For example, Figure 9is a flowchart of a third listening control method provided by an embodiment of the present application, as shown in the figure, the method comprises the following steps: Figure 9 Step 901: receiving a positioning system information block sent by a first network element; Step 902: processing the positioning system information block according to a multi-segment alignment rule to obtain a processed positioning system information block, wherein the processed positioning system information block is a positioning system information block with consistent segment periods of different satellite systems; Step 903: broadcasting the processed positioning system information block.

[0109] In this embodiment, the first network element integrates various types of information required for positioning into the positioning system information block, and then transmits the positioning system information block to a receiver (usually a base station) through a network interface. The receiver needs to receive and store the information for subsequent processing.

[0110] Since there are multiple satellite systems (such as GPS, Beidou, GLONASS, etc.), each satellite system may have a different data segment period. The multi-segment alignment rule can be understood as a set of criteria for coordinating the segment periods of different satellite systems, and the purpose is to make the data segment periods of different satellite systems consistent, which is convenient for subsequent processing and use.

[0111] Each satellite system segments the positioning data at a certain time interval when transmitting the positioning data. This time interval is the segment period. Different satellite systems may have different segment periods due to design or technical reasons. For example, the segment period of a satellite system is 100 ms, and the segment period of another satellite system is 200 ms. The new information block obtained by processing the original positioning system information block according to the multi-segment alignment rule. In this new information block, the data segment periods of different satellite systems are consistent, which helps to improve the processing efficiency and accuracy of the positioning system.

[0112] The processed positioning system information block with consistent segment periods of different satellite systems is sent out through broadcasting. The specific method of broadcasting is not limited in the embodiment of the present application, and the base station can use a specific broadcast channel to send the information block to its coverage area. After receiving the broadcasted information block, the terminal can extract the required positioning information from it to realize high-precision positioning and adjust the listening strategy according to its own situation.

[0113] ​In the embodiment, by receiving the positioning system information block of the first network element, the different satellite system segment periods are aligned according to the multi-segment alignment rule, and the processed information block is broadcasted, so that the coordination and efficient propagation of positioning information among different satellite systems are realized, the terminal can more accurately and conveniently obtain positioning data, and the overall performance and service quality of the positioning system can be further improved.

[0114] Optionally, the multi-segment alignment rule comprises: In the case that the number of segments of the positioning system information block of different satellite systems is different, the number of segments of the satellite system with the most segments is taken as the reference period; The insufficient segments of the satellite system with insufficient segments are set to null; The non-segment data of the satellite system is repeatedly broadcasted within the reference period.

[0115] In the embodiment, the posSIB (such as Beidou Type2-12, GPS Type1-6) of each satellite system is split into different numbers of segments (Segment) due to the difference in data volume. For example: The Beidou 1124 message is split into 3 segments (segment-0, segment-1, segment-2); The GPS 1074 message is split into 2 segments (segment-0, segment-1).

[0116] The above-mentioned number of segments of the satellite system with the most segments as the reference period can be understood as selecting the maximum number of segments in all satellite systems as the unified broadcast period. For example, if Beidou is divided into 3 segments, GPS is divided into 2 segments, and Galileo is divided into 3 segments, the reference period is 3. When the number of segments of a satellite system (such as 2 segments of GPS) is less than the reference period (such as 3), the "empty segment" needs to be filled to match the reference period, so as to avoid misalignment of terminal reception. The above-mentioned insufficient segments set to null can be understood as sending null data (such as filling 0x00 or invalid value specified by the protocol) in the insufficient segment position, rather than valid differential data. For example, GPS sends segment-0 in the first period, segment-1 in the second period, and segment-2 set to null (no valid data) in the third period. It should be noted that the null segment can carry necessary header information (such as segment identifier), but the data body is empty, and the terminal parses it as an invalid segment and ignores it.

[0117] The repetition of the non-segmented data of the satellite system in the reference period can be understood as that when the posSIB of a satellite system does not need to be split (the number of segments is 1, such as a system with small data volume), the same segment needs to be repeatedly sent in the reference period, so as to ensure that the terminal can receive valid data in each period. Exemplarily, if the reference period is 3, the non-segmented system sends the same segment-0 (the only segment) in the 1st, 2nd and 3rd periods.

[0118] Exemplarily, if a certain posSIB has multiple segments, one segment is sent by one air interface SI in each period, and the process is repeated. In the process of broadcasting the posSIB by the high-precision positioning platform, the type2-12 GNSS-RTK-Observations data of Beidou needs to be segmented into three segments, and the type2-12 GNSS-RTK-Observations data of GNOSS needs to be segmented into two segments. If the multi-segment alignment is performed, the GNSS-RTK-Observations of all satellite systems need to be aligned according to the maximum number of segments; the non-segmented satellite observation information is repeatedly broadcasted in three periods with the same set of observation information, the Beidou satellite observation information is broadcasted in three periods with three segments, and the GNOSS observation information is broadcasted in the first two broadcast periods with two sets of segmented information, and the third segment is temporarily empty.

[0119] In some optional embodiments, the third period of SI-5 can carry a positioning accuracy change rate threshold, a positioning accuracy change rate counter, a positioning accuracy filtering coefficient, and specific data of relaxing long-period multiples (segment maximum support size is the same as the size of one SI, that is, 350B, and meets the sum of the four groups of field data of Positioning accuracy change rate threshold, Positioning accuracy change rate counter, Positioning accuracy filtering coefficient, and relaxing long-period multiples). Among them, the three groups of data of positioning accuracy change rate threshold, positioning accuracy change rate counter, and relaxing long-period multiples are relatively fixed, and the positioning accuracy filtering coefficient group (including three parameter groups of d, p, and q) is calculated and issued by the LMF side based on the previous differential data, which is a dynamic value.

[0120] In this embodiment, by means of reference period unification, insufficient segmentation nullification, and non-segmentation repetition, the problem of broadcast asynchronization caused by the difference in the number of segments of the multi-satellite system is solved, and it is ensured that the terminal receives differential data of all systems at a unified period, which is the key mechanism for efficient air transmission of multi-system RTK data. This rule simplifies the terminal processing logic while ensuring the integrity of high-precision positioning data, and is an important technical support for the proposal of "network-side intelligent scheduling + terminal-side efficient reception".

[0121] Referring to Figure 10 , Figure 10 is a structural schematic diagram of a listening control device provided by an embodiment of the present application, as shown in Figure 10 , the terminal 1000 includes: A first determination module 1001 is configured to determine a positioning accuracy filtering coefficient group, wherein the positioning accuracy filtering coefficient group includes a differential number, an autoregressive term, and a moving average term. A sending module 1002 is configured to send a positioning system information block to a base station, wherein the positioning system information block includes differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, the positioning accuracy filtering coefficient group, and relaxing long-period multiples. The differential data is positioning information data including satellite pseudo-range correction and carrier phase bias; and the positioning system information block is used for the terminal to determine whether the relaxed monitoring condition is met.

[0122] Optionally, the determination of the positioning accuracy filter coefficient set comprises: acquiring the differential data; determining the positioning accuracy filter coefficient set based on the differential data.

[0123] Optionally, the apparatus can be further used for: embedding the positioning accuracy change rate threshold, the positioning accuracy change rate counter, the positioning accuracy filter coefficient set and the relaxed long cycle multiple into an observation value field of global navigation satellite system-real-time kinematic data, wherein the global navigation satellite system-real-time kinematic data comprises the differential data; downloading the global navigation satellite system-real-time kinematic data to a base station through a free segment in the positioning system information block.

[0124] Optionally, the apparatus can be further used for: constructing a differential autoregressive moving average model according to differential data of previous N cycles, wherein N is a positive integer; determining the positioning accuracy filter coefficient set based on the differential autoregressive moving average model through a Bayesian information criterion.

[0125] Referring to Figure 11 , Figure 11 is another structure diagram of a monitoring control apparatus provided by the embodiments of the present application, as shown in Figure 11 the monitoring control apparatus 1100 comprises: a monitoring module 1101 configured to monitor a positioning system information block broadcast by a base station according to a first time period, wherein the positioning system information block comprises differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, a positioning accuracy filter coefficient set and a relaxed long cycle multiple; a determination module 1102 configured to determine whether a terminal meets a relaxed monitoring condition according to the positioning system information block; a second determination module 1103 configured to determine that the terminal uses a second time period to monitor the positioning system information block in a case where the relaxed monitoring condition is met; the second time period is a product of the first time period and the relaxed long cycle multiple.

[0126] Optionally, the apparatus can be further used for: monitoring the positioning system information block broadcast by the base station according to the first time period through a positioning scheduling information list to acquire global navigation satellite system-real-time kinematic data. The differential data, positioning accuracy change rate threshold, positioning accuracy change rate counter, positioning accuracy filter coefficient group, and relaxation long period multiple are parsed from the observation field in the Global Navigation Satellite System - Real-time Dynamic Positioning Data.

[0127] Optionally, the device can also be used for: The rate of change in positioning accuracy and the moving speed are determined based on the differential data obtained from the analysis. Determine whether the relaxed monitoring condition is met based on the rate of change of positioning accuracy, the movement speed, and the threshold of the rate of change of positioning accuracy. The relaxed listening conditions include at least one of the following: The moving speed is less than or equal to a first value; The number of times the positioning accuracy change rate is less than or equal to the positioning accuracy change rate threshold reaches a preset number.

[0128] Optionally, the device further includes: The second acquisition module is used to acquire the differential data of the missing period; The extrapolation module is used to perform extrapolation processing based on the positioning accuracy filtering coefficient group using a differential autoregressive moving average model. The third acquisition module is used to continuously acquire the rate of change of positioning accuracy and the movement speed during the extrapolation process; The recovery module is configured to resume monitoring the positioning system information block using the first time period if any of the following conditions are met: The rate of change of positioning accuracy is greater than the threshold for the rate of change of positioning accuracy. The movement speed was detected to be greater than the first value; A location service request has been received.

[0129] See Figure 12 , Figure 12 This is a schematic diagram of another monitoring control device provided in an embodiment of this application, as shown below. Figure 12 As shown, the monitoring control device 1200 includes: Receiver module 1201 is used to receive positioning system information blocks sent by the first network element; Processing module 1202 is used to process the positioning system information block according to the multi-segment alignment rule to obtain the processed positioning system information block, wherein the processed positioning system information block is a positioning system information block with the same segmentation period for different satellite systems; The broadcast module 1203 is used to broadcast the processed positioning system information block.

[0130] Optionally, the multi-segment alignment rule includes: In the case that the segment numbers of the positioning system information blocks of different satellite systems are different, the segment number of the satellite system with the largest segment number is taken as a reference period; The insufficient segments of the satellite system with the segment number less than the reference period are set as null; The data without segments of the satellite system is repeatedly broadcast in the reference period.

[0131] It should be noted that the server provided by the embodiments of the present application is a device capable of executing the above-mentioned monitoring control method, and all implementation manners in the above-mentioned monitoring control method embodiments are applicable to the device, and all can achieve the same or similar beneficial effects. To avoid repetition, the embodiments will not be described again.

[0132] Specifically, referring to Figure 13 The embodiments of the present application also provide a monitoring control device, which comprises a bus 1301, a transceiver 1302, an antenna 1303, a bus interface 1304, a processor 1305 and a memory 1306.

[0133] The transceiver 1302 is configured to: determine a positioning accuracy filter coefficient set, the positioning accuracy filter coefficient set comprising a difference order, an autoregressive term and a moving average term; send a positioning system information block to a base station, the positioning system information block comprising differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, the positioning accuracy filter coefficient set and a relaxed long period multiple; The differential data is positioning information data comprising satellite pseudo-range correction numbers and carrier phase offsets; and the positioning system information block is used for a terminal to determine whether a relaxed monitoring condition is met.

[0134] In Figure 13 the bus architecture (represented by the bus 1301), the bus 1301 can include any number of interconnecting buses and bridges, and the bus 1301 links various circuits such as one or more processors represented by the processor 1305 and a memory represented by the memory 1306. The bus 1301 can also link various other circuits such as peripheral devices, voltage stabilizers and power management circuits, which are well known in the art, and therefore, will not be described further herein. The bus interface 1304 provides an interface between the bus 1301 and the transceiver 1302. The transceiver 1302 can be one element or multiple elements, such as multiple receivers and transmitters, which provide a unit for communicating with various other devices on a transmission medium. The data processed by the processor 1305 is transmitted on a wireless medium through the antenna 1303, and further, the antenna 1303 also receives data and transmits the data to the processor 1305.

[0135] The processor 1305 is responsible for managing the bus 1301 and general processing, and can also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. The memory 1306 can be used to store data used by the processor 1305 in performing operations.

[0136] Optionally, the processor 1305 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or a complex programmable logic device (CPLD).

[0137] Optionally, the determining the positioning accuracy filter coefficient set comprises: obtaining the differential data; determining the positioning accuracy filter coefficient set based on the differential data.

[0138] Optionally, the sending the positioning system information block to the base station comprises: embedding the positioning accuracy change rate threshold, the positioning accuracy change rate counter, the positioning accuracy filter coefficient set and the relaxed long cycle multiple into an observation value field of global navigation satellite system-real-time kinematic data, the global navigation satellite system-real-time kinematic data comprising the differential data; downlink the global navigation satellite system-real-time kinematic data to the base station through the idle segment in the positioning system information block.

[0139] Optionally, the determining the positioning accuracy filter coefficient set based on the differential data comprises: constructing a differential autoregressive moving average model according to differential data of the first N periods, N being a positive integer; determining the positioning accuracy filter coefficient set through the Bayesian information criterion based on the differential autoregressive moving average model.

[0140] It should be noted that the listening control device provided by the embodiments of the present application is a device capable of executing the above-mentioned listening control method, and all implementation manners in the above-mentioned listening control method embodiments are applicable to the electronic device, and can achieve the same or similar beneficial effects. To avoid repetition, this embodiment will not be described again.

[0141] Specifically, referring to Figure 14As shown, the embodiments of the present application further provide a listening control device, comprising a bus 1401, a transceiver 1402, an antenna 1403, a bus interface 1404, a processor 1405 and a memory 1406.

[0142] The transceiver 1402 is configured to: listen to a positioning system information block broadcasted by a base station according to a first time period, the positioning system information block comprising differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, a positioning accuracy filter coefficient set and a relaxed long cycle multiple; determine whether the terminal meets a relaxed listening condition according to the positioning system information block; determine that the terminal uses a second time period to listen to the positioning system information block in the case of meeting the relaxed listening condition; The second time period is a product of the first time period and the relaxed long cycle multiple.

[0143] In Figure 14 In the bus architecture (represented by the bus 1401), the bus 1401 can include any number of interconnecting buses and bridges, the bus 1401 links various circuits including one or more processors represented by the processor 1405 and the memory represented by the memory 1406. The bus 1401 can also link various other circuits such as peripheral devices, voltage stabilizers and power management circuits, which are well known in the art, and therefore, will not be further described herein. The bus interface 1404 provides an interface between the bus 1401 and the transceiver 1402. The transceiver 1402 can be one element or multiple elements, such as multiple receivers and transmitters, which provide a unit for communicating with various other devices on a transmission medium. The data processed by the processor 1405 is transmitted on a wireless medium through the antenna 1403, and further, the antenna 1403 also receives data and transmits the data to the processor 1405.

[0144] The processor 1405 is responsible for managing the bus 1401 and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management and other control functions. The memory 1406 can be used to store data used by the processor 1405 in performing operations.

[0145] Optionally, the processor 1405 can be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or a Complex Programmable Logic Device (CPLD).

[0146] Optionally, the method further comprises: listening to the positioning system information block broadcasted by the base station according to a first time period through the positioning scheduling information list; analyzing the differential data, the positioning accuracy change rate threshold, the positioning accuracy change rate counter, the set of positioning accuracy filter coefficients and the relaxed long period multiple according to an observation value field in the GNSS-RTK data.

[0147] Optionally, the method further comprises: determining a positioning accuracy change rate and a moving speed based on the differential data; determining whether the terminal meets the relaxed listening condition according to the positioning accuracy change rate, the moving speed and the positioning accuracy change rate threshold; the relaxed listening condition comprises at least one of: the moving speed is less than or equal to a first value; the number of times that the positioning accuracy change rate is less than or equal to the positioning accuracy change rate threshold reaches a preset number of times.

[0148] Optionally, after determining that the terminal uses a second time period to listen to the positioning system information block, the method further comprises: acquiring differential data of a missing period; performing extrapolation processing through a differential autoregressive moving average model based on the set of positioning accuracy filter coefficients; continuously acquiring the positioning accuracy change rate and the moving speed during the extrapolation processing; resuming to use the first time period to listen to the positioning system information block when any of the following conditions is met: the positioning accuracy change rate is greater than the positioning accuracy change rate threshold; the moving speed is greater than a first value is detected; a positioning service request is received.

[0149] It should be noted that the listening control device provided by the embodiments of the present application is a device capable of executing the listening control method described above, and all implementation manners in the listening control method embodiments are applicable to the electronic device, and can achieve the same or similar beneficial effects. To avoid repeated description, the embodiments will not be described again.

[0150] Specifically, referring to FIG. 1, Figure 15 The embodiments of the present application also provide a listening control device, which comprises a bus 1501, a transceiver 1502, an antenna 1503, a bus interface 1504, a processor 1505 and a memory 1506.

[0151] The transceiver 1502 is configured to: receive a positioning system information block sent by a first network element; process the positioning system information block according to a multi-segment alignment rule to obtain a processed positioning system information block, the processed positioning system information block being a positioning system information block with consistent segment periods for different satellite systems; broadcast the processed positioning system information block.

[0152] In the Figure 15 bus architecture (represented by the bus 1501), the bus 1501 can include any number of interconnecting buses and bridges, and the bus 1501 links various circuits including one or more processors represented by the processor 1505 and the memory represented by the memory 1506. The bus 1501 can also link various other circuits such as peripheral devices, voltage stabilizers and power management circuits, which are well known in the art, and therefore, will not be further described herein. The bus interface 1504 provides an interface between the bus 1501 and the transceiver 1502. The transceiver 1502 can be one element or multiple elements, such as multiple receivers and transmitters, which provide a unit for communicating with various other devices on a transmission medium. The data processed by the processor 1505 is transmitted on a wireless medium through the antenna 1503, and further, the antenna 1503 also receives data and transmits the data to the processor 1505.

[0153] The processor 1505 is responsible for managing the bus 1501 and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management and other control functions. The memory 1506 can be used to store data used by the processor 1505 in performing operations.

[0154] Optionally, the processor 1505 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or a complex programmable logic device (CPLD).

[0155] Optionally, the multi-segment alignment rule comprises: In the case that the segment numbers of the positioning system information blocks of different satellite systems are different, the segment number of the satellite system with the largest segment number is taken as a reference period; The insufficient segments of the satellite system with the insufficient segments are set to null in the reference period; The segment-free data of the satellite system is repeatedly broadcast in the reference period.

[0156] Embodiments of the present application further provide an electronic device, comprising a processor, a memory, and a program stored in the memory and executable in the processor, wherein the program is executed by the processor to implement each process of the above-mentioned monitoring control method embodiments and achieve the same technical effects. To avoid repetition, no further description is given here.

[0157] Embodiments of the present application further provide a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement each process of the above-mentioned monitoring control method embodiments and achieve the same technical effects. To avoid repetition, no further description is given here. The computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0158] Embodiments of the present application further provide a computer program product, comprising computer instructions, which are executed by a processor to implement each process of the above-mentioned monitoring control method embodiments and achieve the same technical effects. To avoid repetition, no further description is given here.

[0159] It should be noted that, in the present document, the terms "comprises / comprising" or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0160] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the form of a part of the prior art that makes a contribution. The computer software product is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for causing a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0161] The embodiments of the present application are described above in combination with the accompanying drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope of protection of the claims.

Claims

1. A monitoring and control method, characterized in that, The method, executed by the first network element, includes: Determine the positioning accuracy filtering coefficient set, which includes the difference order, autoregressive term, and moving average term; A positioning system information block is sent to the base station. The positioning system information block includes differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, the positioning accuracy filter coefficient group, and a relaxation long period factor. The differential data includes positioning information data comprising satellite pseudorange corrections and carrier phase deviations; the positioning system information block is used by the terminal to determine whether the conditions for relaxed monitoring are met.

2. The method according to claim 1, characterized in that, The set of filtering coefficients for determining positioning accuracy includes: Obtain the differential data; Based on the differential data, the positioning accuracy filtering coefficient set is determined.

3. The method according to claim 1, characterized in that, The step of sending the positioning system information block to the base station includes: The positioning accuracy change rate threshold, the positioning accuracy change rate counter, the positioning accuracy filter coefficient group, and the relaxation long period multiple are embedded into the observation field of the Global Navigation Satellite System - Real-time Dynamic Positioning Data, which includes the differential data. The real-time dynamic positioning data of the Global Navigation Satellite System is transmitted to the base station through the idle segments in the positioning system information block.

4. The method according to claim 2, characterized in that, The step of determining the positioning accuracy filter coefficient set based on the differential data includes: A differential autoregressive moving average model is constructed based on the differential data of the previous N periods, where N is a positive integer; The positioning accuracy filtering coefficient set is determined based on the differential autoregressive moving average model using the Bayesian information criterion.

5. A monitoring control method, characterized in that, The method, executed by a terminal, includes: According to the positioning system information block broadcast by the base station in the first time period, the positioning system information block includes differential data, positioning accuracy change rate threshold, positioning accuracy change rate counter, positioning accuracy filter coefficient group and relaxation long period multiple. Based on the positioning system information block, determine whether the terminal meets the conditions for relaxed eavesdropping; If the terminal meets the relaxed listening conditions, it is determined that the terminal uses the second time period to listen to the positioning system information block; The second time period is the product of the first time period and the multiple of the relaxation long period.

6. The method according to claim 5, characterized in that, The positioning system information block that listens to base station broadcasts according to the first time period includes: By using the location scheduling information list, and listening to the location system information blocks broadcast by the base station according to the first time period, real-time dynamic positioning data of the Global Navigation Satellite System is obtained. The differential data, positioning accuracy change rate threshold, positioning accuracy change rate counter, positioning accuracy filter coefficient group, and relaxation long period multiple are parsed from the observation field in the Global Navigation Satellite System - Real-time Dynamic Positioning Data.

7. The method according to claim 6, characterized in that, The step of determining whether the terminal meets the relaxed monitoring conditions based on the positioning system information block includes: The rate of change in positioning accuracy and the moving speed are determined based on the differential data obtained from the analysis. Determine whether the relaxed monitoring condition is met based on the rate of change of positioning accuracy, the movement speed, and the threshold of the rate of change of positioning accuracy. The relaxed listening conditions include at least one of the following: The moving speed is less than or equal to a first value; The number of times the positioning accuracy change rate is less than or equal to the positioning accuracy change rate threshold reaches a preset number.

8. The method according to claim 5 or 6, characterized in that, After determining that the terminal is using a second time period to listen to the positioning system information block, the method further includes: Obtain the difference data for the missing period; Based on the aforementioned positioning accuracy filtering coefficient set, extrapolation is performed using a differential autoregressive moving average model. The rate of change of positioning accuracy and the movement speed are continuously acquired during the extrapolation process; The use of the first time period to listen to the positioning system information block shall be resumed if any of the following conditions are met: The rate of change of positioning accuracy is greater than the threshold for the rate of change of positioning accuracy. The movement speed was detected to be greater than the first value; A location service request has been received.

9. A monitoring control method, characterized in that, Performed by the base station, the method includes: Receive the positioning system information block sent by the first network element; The positioning system information block is processed according to the multi-segment alignment rule to obtain the processed positioning system information block, wherein the processed positioning system information block is a positioning system information block with the same segmentation period for different satellite systems; The processed positioning system information block is broadcast.

10. The method according to claim 9, characterized in that, The multi-segment alignment rules include: When the number of segments in the positioning system information block varies among different satellite systems, the number of segments in the satellite system with the most segments shall be used as the reference period. For satellite systems where the number of segments is less than the reference period, the insufficient segments are cleared. The satellite system repeatedly broadcasts unsegmented data within the reference period.

11. A monitoring control device, characterized in that, include: The first determining module is used to determine the positioning accuracy filtering coefficient set, which includes the difference order, autoregressive term and moving average term. The transmitting module is used to send a positioning system information block to the base station. The positioning system information block includes differential data, a positioning accuracy change rate threshold, a positioning accuracy change rate counter, the positioning accuracy filter coefficient group, and a relaxation long period multiple. The differential data includes positioning information data comprising satellite pseudorange corrections and carrier phase deviations; the positioning system information block is used by the terminal to determine whether the conditions for relaxed monitoring are met.

12. A monitoring control device, characterized in that, include: The monitoring module is used to monitor the positioning system information block broadcast by the base station according to the first time period. The positioning system information block includes differential data, positioning accuracy change rate threshold, positioning accuracy change rate counter, positioning accuracy filter coefficient group and relaxation long period multiple. The judgment module is used to determine whether the terminal meets the relaxed monitoring conditions based on the positioning system information block; The second determining module is used to determine, under the condition of relaxed listening, that the terminal uses the second time period to listen to the positioning system information block; The second time period is the product of the first time period and the multiple of the relaxation long period.

13. A monitoring control device, characterized in that, include: The receiving module is used to receive the positioning system information block sent by the first network element; The processing module is used to process the positioning system information block according to the multi-segment alignment rule to obtain the processed positioning system information block, wherein the processed positioning system information block is a positioning system information block with the same segmentation period for different satellite systems; The broadcast module is used to broadcast the processed positioning system information block.

14. An electronic device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the monitoring control method as described in any one of claims 1 to 4; or, the program, when executed by the processor, implements the steps of the monitoring control method as described in any one of claims 5 to 8; or, the program, when executed by the processor, implements the steps of the monitoring control method as described in any one of claims 9 to 10.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the monitoring control method as described in any one of claims 1 to 4; or, when executed by a processor, the computer program implements the steps of the monitoring control method as described in any one of claims 5 to 8; or, when executed by a processor, the computer program implements the steps of the monitoring control method as described in any one of claims 9 to 10.

16. A computer program product, characterized in that, The method includes computer instructions that, when executed by a processor, implement the steps of the monitoring control method as described in any one of claims 1 to 4; or, when executed by a processor, the computer instructions implement the steps of the monitoring control method as described in any one of claims 5 to 8; or, when executed by a processor, the computer instructions implement the steps of the monitoring control method as described in any one of claims 9 to 10.

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