Data broadcasting method, electronic equipment, storage medium and computer program product

Abstract

The invention discloses a data broadcasting method, electronic equipment, a storage medium and a computer program product, and the method comprises the steps: filtering invalid data and / or data which does not affect the data precision from first data, and obtaining second data; broadcasting the second data or third data through a satellite link and / or a wireless network, wherein the third data is obtained by compressing the second data; the first data represents the SSR correction number needing to be broadcasted to the terminal or the received SSR correction number sent by the base station.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a data broadcasting method, electronic device, storage medium, and computer program product. Background Technology

[0002] Satellite-based augmentation systems acquire raw data from some reference stations, process the raw data to obtain various State-Space Representation (SSR) corrections, and broadcast these SSR corrections to the positioning terminal. The positioning terminal then uses these SSR corrections to perform Precise Point Positioning (PPP-AR) or Precise Point Positioning-Real-Time Kinematic (PPP-RTK) calculations, achieving centimeter-level positioning accuracy. Since SSR correction data is relatively large, most systems currently compress it using data compression algorithms before broadcasting it to the positioning terminal via satellite links. However, even compressed data may exceed the satellite link's propagation bandwidth, leading to data accumulation and poor real-time performance. Summary of the Invention

[0003] To address the related technical issues, embodiments of this application provide a data broadcasting method, an electronic device, a storage medium, and a computer program product.

[0004] The technical solution of this application embodiment is implemented as follows:

[0005] This application provides a data broadcasting method, the method comprising:

[0006] The invalid data and / or data that do not affect the accuracy of the data are filtered out from the first data to obtain the second data; the first data represents the SSR correction number that needs to be broadcast to the terminal or the SSR correction number received from the base station.

[0007] The second or third data is broadcast via a satellite link and / or wireless network, wherein the third data is obtained by compressing the second data.

[0008] In the above scheme, filtering out invalid data and / or data that does not affect data accuracy from the first data includes:

[0009] Based on one or more of the following, invalid data and / or data that does not affect the accuracy of the data are filtered out from the first dataset:

[0010] The matching results of the first data epoch time and broadcast frequency;

[0011] The type of satellite corresponding to the first data is either a non-visible satellite or a visible satellite;

[0012] First data quality;

[0013] The first piece of data is invalid or unavailable.

[0014] The parameters are set to indicate whether the fourth data is filtered or not; the fourth data represents the data in the first data that does not affect the accuracy of the data.

[0015] In the above scheme, filtering out invalid data and / or data that does not affect data accuracy from the first data includes one or more of the following:

[0016] Data with a first value that is not 0 are filtered out from the first data; the first value is obtained by modulo operation based on the epoch time and broadcast frequency of the first data;

[0017] Filter out the data corresponding to the designated satellite from the first data; the designated satellite is an invisible satellite or a satellite whose elevation angle is less than the first threshold.

[0018] Data that exceeds a second threshold or is at a set level is filtered out from the first data; the data quality indicators are used to evaluate the integrity of the data.

[0019] When the parameters are set to filter the fourth data, the fourth data is filtered out from the first data; the fourth data represents data in the first data that does not affect the accuracy of the data.

[0020] In the above scheme, the third data is obtained by adjusting the resolution and / or data bit width of the second data.

[0021] In the above scheme, broadcasting the second or third data via satellite link and / or wireless network includes:

[0022] The second data or the third data is configured to obtain the fifth data; the configuration operation includes encryption and / or splitting.

[0023] The fifth data is broadcast via satellite link and / or wireless network.

[0024] In the above scheme, broadcasting the second or third data via satellite link and / or wireless network includes:

[0025] Encode the second data or the third data, and encrypt the setting part of the encoded data to obtain the sixth data;

[0026] The seventh data is determined based on the sixth data and the remaining part of the encoded data;

[0027] The seventh or eighth data is broadcast via a satellite link and / or a wireless network; the eighth data is obtained by splitting the seventh data based on the maximum bandwidth per second of the satellite link and the epoch time of the seventh data; the eighth data includes one or more data packets.

[0028] In the above scheme, broadcasting the second or third data via satellite link and / or wireless network includes:

[0029] The second data or the third data is encoded, and the encoded data is split based on the bandwidth limit per second of the satellite link and the epoch time of the encoded data to obtain the ninth data; the ninth data includes one or more data packets;

[0030] The transmission order of the data packets included in the ninth data is determined based on the identification information of each data packet included in the ninth data; the identification information includes a time flag and a sequence number flag, the time flag indicating the epoch time of the data packet, and the sequence number flag indicating the order of the data within the data packet;

[0031] The ninth data is broadcast via satellite link and / or wireless network in the order of transmission.

[0032] The method in the above scheme further includes:

[0033] During the broadcast of the ninth data, data packets that have exceeded their expiration time and / or exceeded their maximum delay time are discarded.

[0034] In the above scheme, the data within each data packet belongs to the same type; each type of data corresponds to a priority; the method further includes:

[0035] In cases of insufficient transmission bandwidth and / or data congestion, low-priority data packets are dropped.

[0036] This application embodiment also provides a data broadcasting device, the device comprising:

[0037] The filtering module is used to filter out invalid data and / or data that does not affect the accuracy of the data from the first data to obtain the second data; the first data represents the SSR correction number that needs to be broadcast to the terminal or the SSR correction number received from the base station.

[0038] A broadcast module is used to broadcast the second data or the third data via a satellite link and / or a wireless network, wherein the third data is obtained by compressing the second data.

[0039] This application also provides an electronic device, including a processor and a memory for storing a computer program that can run on the processor, wherein the processor, when running the computer program, performs the steps of the method described in any of the above-described embodiments.

[0040] This application also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method described in any of the above embodiments.

[0041] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0042] The data broadcasting method, electronic device, storage medium, and computer program product provided in this application embodiment filter out invalid data and / or data that does not affect data accuracy from first data to obtain second data; the first data represents the SSR correction number to be broadcast to the terminal or the SSR correction number received from the base station; the second data or third data is broadcast through a satellite link and / or wireless network, wherein the third data is obtained by compressing the second data. The above scheme can filter out invalid data and / or data that does not affect data accuracy from the first data, reduce the amount of data to be broadcast, alleviate transmission bandwidth pressure, improve transmission bandwidth utilization, avoid the problem of poor real-time data broadcasting due to data accumulation caused by excessive data volume, and ensure the real-time broadcasting of the second or third data. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the data broadcasting method according to an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the broadcast module in an embodiment of this application;

[0045] Figure 3 This is a schematic diagram illustrating the implementation process of the data broadcasting method in an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of the data broadcasting device structure according to an embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the electronic device structure according to an embodiment of this application. Detailed Implementation

[0048] Satellite-Based Augmentation Systems (SBAS) acquire raw data from a subset of base stations. After processing this raw data, various SSR corrections are obtained, including data types such as orbit, clock error, ionospheric delay, and fractional phase deviation. These SSR corrections are then injected into the satellite link, and the satellite broadcasts them to users. Users receive the SSR corrections and use them for PPP-AR or PPP-RTK calculations, achieving centimeter-level positioning accuracy. However, the large data volume of SSR corrections consumes significant transmission bandwidth, placing immense demands on satellite link bandwidth. Given the limited and precious bandwidth resources on satellites, common methods to alleviate bandwidth pressure include controlling the broadcast frequency of SSR corrections, such as updating the broadcast data every 5–10 seconds (s), or using data compression algorithms such as entropy compression to compress the SSR corrections before broadcasting.

[0049] The existing SSR corrections, especially the atmospheric data, are quite large. Reducing the broadcast frequency of SSR corrections will affect data accuracy. Furthermore, compressing SSR corrections using data compression algorithms before broadcasting can lead to data backlog if the compressed data exceeds the satellite link bandwidth, causing the broadcasted SSR corrections to fail to meet real-time requirements.

[0050] Based on this, in various embodiments of this application, invalid data and / or data that does not affect data accuracy are filtered out from the first data to obtain the second data; the first data represents the SSR correction number to be broadcast to the terminal or the SSR correction number received from the base station; the second data or the third data is broadcast through a satellite link and / or a wireless network, wherein the third data is obtained by compressing the second data. The above scheme can filter out invalid data and / or data that does not affect data accuracy from the first data, reduce the amount of data to be broadcast, alleviate transmission bandwidth pressure, improve transmission bandwidth utilization, avoid data accumulation due to excessive data volume leading to poor real-time data broadcasting, and ensure the real-time broadcasting of the second or third data.

[0051] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0052] This application provides a data broadcasting method applied to an electronic device, on which a satellite-based augmentation system runs. For example... Figure 1 As shown, the method includes:

[0053] Step 101: Filter out invalid data and / or data that does not affect the accuracy of the data from the first data to obtain the second data.

[0054] The first data represents the SSR correction number that needs to be broadcast to the terminal or the SSR correction number received from the base station.

[0055] Here, the data type of the first data includes one or more of the following: orbit, clock bias, phase fractional bias, atmosphere, and satellite attitude. The first data is plaintext data. The first data can be obtained via Ntrip (Networked Transport of RTCM via Internet Protocol) or Transmission Control Protocol / Internet Protocol (TCP / IP), or through middleware (such as Redis). It is worth noting that the SSR correction received via Ntrip or TCP / IP is usually binary data and needs to be decoded to obtain the plaintext data, i.e., the first data.

[0056] Invalid data in the first set of data includes data whose epoch time does not match the broadcast frequency, and / or data corresponding to non-visible satellites, and / or data with poor quality, and / or data in an invalid or unavailable state. Data whose data quality index exceeds the second threshold or is at a set level is identified as poor data quality. Data in the first set of data that does not affect data accuracy includes the fourth set of data; the fourth set of data is obtained through testing, meaning that discarding the fourth set of data does not affect data accuracy.

[0057] In one embodiment, filtering out invalid data and / or data that does not affect data accuracy from the first data includes:

[0058] Based on one or more of the following, invalid data and / or data that does not affect the accuracy of the data are filtered out from the first dataset:

[0059] The matching results of the first data epoch time and broadcast frequency;

[0060] The type of satellite corresponding to the first data is either a non-visible satellite or a visible satellite;

[0061] First data quality;

[0062] The first piece of data is invalid or unavailable.

[0063] The parameters are set to indicate whether the fourth data is filtered or not; the fourth data represents the data in the first data that does not affect the accuracy of the data.

[0064] Here, based on the matching results between the epoch time and broadcast frequency of the first data, invalid data and / or data that do not affect the accuracy of the data are filtered out from the first data, including:

[0065] If the first data fails to match the broadcast frequency at the epoch of the first data, discard the first data that failed to match.

[0066] If the first data epoch successfully matches the broadcast frequency, the first data that successfully matches is not discarded.

[0067] Based on the type of satellite corresponding to the first data, invalid data and / or data that do not affect data accuracy are filtered out from the first data, including:

[0068] Discard the first data corresponding to the invisible satellite;

[0069] The first data corresponding to the visible satellite is retained.

[0070] Based on the data quality of the first data, invalid data and / or data that does not affect data accuracy are filtered out from the first data, including discarding first data with poor data quality. The data quality of the first data can be characterized by data quality indicators, such as the integrity of the Global Navigation Satellite System (GNSS) or data error, without specific limitations. First data with data quality indicators exceeding a second threshold or at a set level are identified as first data with poor data quality.

[0071] Based on the premise that the first data is invalid or unavailable, filtering out invalid data and / or data that does not affect data accuracy from the first data includes discarding the first data that is invalid or unavailable. Here, the invalidity or unavailability of the first data can be determined based on its data quality, or it can be determined to be valid or available. Specifically, if the data quality of the first data is poor, it is determined to be invalid or unavailable; otherwise, it is determined to be valid or available.

[0072] Based on the set parameters, invalid data and / or data that do not affect the accuracy of the data are filtered out from the first data, including:

[0073] If the parameters indicate that the fourth data should be filtered, discard the fourth data from the first data.

[0074] If the parameters are set to indicate that the fourth data is not filtered, the fourth data in the first data will not be discarded.

[0075] In this embodiment, the conditions and factors for filtering out invalid data and / or data that do not affect the accuracy of the first data are clearly defined. Invalid data and / or data that do not affect the accuracy of the first data are determined from multiple aspects, thereby further ensuring that the amount of data in the second data is reduced without affecting the accuracy of the second data.

[0076] In one embodiment, filtering out invalid data and / or data that does not affect data accuracy from the first data includes one or more of the following:

[0077] Data with a first value that is not 0 are filtered out from the first data; the first value is obtained by modulo operation based on the epoch time and broadcast frequency of the first data;

[0078] Filter out the data corresponding to the designated satellite from the first data; the designated satellite is an invisible satellite or a satellite whose elevation angle is less than the first threshold.

[0079] Data that exceeds a second threshold or is at a set level is filtered out from the first data; the data quality indicators are used to evaluate the integrity of the data.

[0080] When the parameters are set to filter the fourth data, the fourth data is filtered out from the first data; the fourth data represents data in the first data that does not affect the accuracy of the data.

[0081] Specifically, a MOD operation is performed based on the epoch time and broadcast frequency of the first data to obtain a first value; if the first value is 0, it is determined that the epoch time and broadcast frequency of the first data are successfully matched; if the first value is not 0, it is determined that the epoch time and broadcast frequency of the first data are not matched.

[0082] The designated satellite for the broadcast area is determined, and the data corresponding to the designated satellite is filtered out from the first data; the broadcast area represents the area where the terminal is located; the method for determining the designated satellite for the broadcast area can be as follows:

[0083] The broadcast area is divided into N grid points according to latitude and longitude, and the size of each grid point is 1 degree (°) × 1°;

[0084] The center of each grid point is taken as the station point, and the X coordinates of the station point are used. C (X c ,Y c Z c Establish a station-centered rectangular coordinate system with the origin as the origin, and the Earth-fixed coordinates are the coordinates in the Earth-fixed coordinate system; the Earth-fixed coordinates X of the satellite are obtained using the following formula. S (X s ,Y s Z sConvert to satellite station center coordinates X in the station-centered rectangular coordinate system. J (E,N,U):

[0085] X J =R(X) S -X c ) T ,

[0086] Where R is the rotation matrix. B is the geodetic latitude of the station in the Earth-fixed coordinate system, and L is the geodetic longitude of the station in the Earth-fixed coordinate system.

[0087] The satellite station center coordinates are converted to satellite station center polar coordinates using the following formula:

[0088]

[0089] Where r is the satellite's radial direction, A is the satellite's azimuth angle, and h is the satellite's elevation angle;

[0090] Satellites with an elevation angle greater than or equal to a first threshold at any grid point are considered visible satellites; satellites with an elevation angle less than the first threshold at all grid points are considered invisible satellites. The first threshold can be set according to actual needs.

[0091] Determine the data quality index of the first set of data, and filter out data whose data quality index exceeds the second threshold or is at a set level from the first set of data; the second threshold and the set level can be set according to actual needs.

[0092] Specifically, GNSS integrity is used to characterize data quality indicators, and GNSS integrity can be obtained from data errors.

[0093] The parameter setting determines whether the fourth data point should be filtered out from the first data point. For example, setting the parameter to 1 indicates that the fourth data point should be filtered; setting the parameter to 0 indicates that the fourth data point should not be filtered.

[0094] In this embodiment, invalid data and / or data that do not affect the accuracy of the first data are identified and filtered to improve the efficiency and accuracy of obtaining the second data.

[0095] Step 102: Broadcast the second or third data via satellite link and / or wireless network.

[0096] The third data is obtained by compressing the second data.

[0097] Here, the third data can be obtained by adjusting the resolution and / or data bit width of the second data, or by compressing the second data using a compression algorithm. In practical applications, the third data is obtained by adjusting the resolution and / or data bit width of the second data.

[0098] In one embodiment, the third data is obtained by adjusting the resolution and / or data bit width of the second data. It is worth noting that the resolution and data bit width of the second data influence each other.

[0099] Specifically, within a certain resolution range, i.e., within the data accuracy range acceptable to the terminal, the resolution of the second data is adjusted to minimize the data bit width, thereby reducing the data bandwidth.

[0100] In this embodiment, the second data is compressed to obtain the third data, which can further reduce the bandwidth occupied by the data, thereby better meeting the real-time requirements of data broadcasting.

[0101] It should be understood that in application scenarios with smooth network connectivity, in order to pursue higher positioning accuracy, it is possible to choose to broadcast the full amount of unfiltered compressed data, that is, to broadcast the first data through the wireless network, and let the terminal determine whether the first data is valid or available, and whether to use it.

[0102] In one embodiment, broadcasting the second or third data via a satellite link and / or wireless network includes:

[0103] The second data or the third data is configured to obtain the fifth data; the configuration operation includes encryption and / or splitting.

[0104] The fifth data is broadcast via satellite link and / or wireless network.

[0105] Here, the second or third data is encrypted to obtain the fifth data; or, the second or third data is split to obtain the fifth data; or, the second or third data is encrypted and then split to obtain the fifth data. It is worth noting that the fifth data includes one or more of the following: the seventh data, the eighth data, and the ninth data.

[0106] In this embodiment, encrypting the second or third data can ensure the security of the fifth data, and splitting the second or third data makes it easier to broadcast the fifth data.

[0107] In one embodiment, broadcasting the second or third data via a satellite link and / or wireless network includes:

[0108] Encode the second data or the third data, and encrypt the setting part of the encoded data to obtain the sixth data;

[0109] The seventh data is determined based on the sixth data and the remaining part of the encoded data;

[0110] The seventh or eighth data is broadcast via a satellite link and / or a wireless network; the eighth data is obtained by splitting the seventh data based on the maximum bandwidth per second of the satellite link and the epoch time of the seventh data; the eighth data includes one or more data packets.

[0111] Here, the second or third data is encoded, and the setting part of the encoded data is encrypted to obtain the sixth data, which includes:

[0112] The second or third data is binary encoded, and the main body of the binary encoded data is encrypted using an encryption algorithm such as the symmetric encryption algorithm SM4 or the AES (Advanced Encryption Standard) algorithm to obtain the sixth data.

[0113] Here, the eighth data is broadcast via satellite link and / or wireless network, including:

[0114] The seventh data is split based on the bandwidth limit per second of the satellite link and the epoch time of the seventh data to obtain the eighth data; the eighth data includes one or more data packets; the data in each data packet belongs to the same type; each type of data corresponds to a priority.

[0115] The transmission order of the data packets included in the eighth data is determined based on the identification information of each data packet included in the eighth data; the identification information includes a time stamp and a sequence number stamp, the time stamp indicating the epoch time of the data packet, and the sequence number stamp indicating the order of the data within the data packet;

[0116] The eighth data is broadcast via satellite link and / or wireless network in the order of transmission;

[0117] During the broadcast of the eighth data, data packets that have exceeded their expiration time and / or have exceeded their maximum delay time are discarded;

[0118] In cases of insufficient transmission bandwidth and / or data congestion, low-priority data packets are dropped.

[0119] In this embodiment, broadcasting the seventh or eighth data via satellite link and / or wireless network can ensure data security.

[0120] In one embodiment, broadcasting the second or third data via a satellite link and / or wireless network includes:

[0121] The second data or the third data is encoded, and the encoded data is split based on the bandwidth limit per second of the satellite link and the epoch time of the encoded data to obtain the ninth data; the ninth data includes one or more data packets;

[0122] The transmission order of the data packets included in the ninth data is determined based on the identification information of each data packet included in the ninth data; the identification information includes a time flag and a sequence number flag, the time flag indicating the epoch time of the data packet, and the sequence number flag indicating the order of the data within the data packet;

[0123] The ninth data is broadcast via satellite link and / or wireless network in the order of transmission.

[0124] Here, the second or third data is encoded, and the encoded data is split based on the satellite link's bandwidth limit per second and the epoch time of the encoded data to obtain the ninth data, which includes:

[0125] The second or third data is binary encoded, and the binary-encoded data is then split to obtain the ninth data, which includes one or more data packets. The data in each data packet of the ninth data consists of data from the same second and belongs to the same type. The number of data packets in each data packet of the ninth data is determined based on the maximum bandwidth per second of the satellite link. For example, one data packet in the ninth data may contain 10 clock bias data points, and another data packet may contain 10 phase fractional offset data points.

[0126] Based on the identifier information of each data packet included in the ninth data, the transmission order of the data packets included in the ninth data is determined. According to the transmission order, the ninth data is broadcast via satellite link and / or wireless network. That is, the data packets included in the ninth data are sorted from earliest to latest according to their time stamps and broadcast sequentially. For example, if the time stamp of a data packet represents 16:23:04 on a given date (year, month, day), then the data in that data packet consists entirely of data from 16:23:03 on a given date (year, month, day) to 16:23:04 on a given date (year, month, day), or all data from 16:23:04 on a given date (year, month, day) to 16:23:05 on a given date (year, month, day). Data within one second; when the time stamps of the data packets included in the ninth data segment are the same, they are sorted from front to back according to their sequence numbers and broadcast sequentially. For example, within the second from 16:23:03 on [Date] to 16:23:04 on [Date], there are 80 clock difference data points from 1 to 80. Since each data packet can only contain 10 data points, the 80 clock difference data points are split into 8 data packets. The data packet with sequence number 1 includes clock difference data points 1 to 10, the data packet with sequence number 2 includes clock difference data points 11 to 20, and so on, with the data packet with sequence number 8 including clock difference data points 71 to 80. It should be understood that the form of the time stamp and sequence number is not limited and can be numbers.

[0127] In this embodiment, the transmission order of the data packets included in the ninth data is determined based on the identification information of each data packet included in the ninth data. The ninth data is broadcast through satellite link and / or wireless network in the transmission order, which can ensure the real-time transmission of the ninth data and avoid confusion.

[0128] In one embodiment, the data broadcasting method further includes:

[0129] During the broadcast of the ninth data, data packets that have exceeded their expiration time and / or exceeded their maximum delay time are discarded.

[0130] The expiration time can be set according to actual needs. For example, if the epoch time of a certain atmospheric data is 16:23 on a certain day of a certain year, month, and year, and the atmospheric data is set to expire after 10 minutes, then the expiration time of this atmospheric data is 16:33 on a certain day of a certain year, month, and year. The maximum delay time can also be set according to actual needs. For example, if the expiration time of a certain phase decimal deviation data is 16:33 on a certain day of a certain year, month, and year, and the data transmission time of this phase decimal deviation data is 1 minute, then the maximum delay time of this phase decimal deviation is 16:32 on a certain day of a certain year, month, and year.

[0131] In practical applications, when broadcasting each data packet included in the ninth data, it can be checked whether the data packet has exceeded the maximum delay time, and the data packet that has exceeded the maximum delay time can be discarded; after obtaining the ninth data, a timer can be set to detect all data packets in the ninth data, and the data packets that have exceeded the expiration time can be discarded.

[0132] In this embodiment, discarding data packets that have exceeded their expiration time and / or their maximum delay time can effectively alleviate the pressure on transmission bandwidth and avoid wasting transmission resources.

[0133] In one embodiment, the data within each data packet belongs to the same type; each type of data corresponds to a priority; the data broadcasting method further includes:

[0134] In cases of insufficient transmission bandwidth and / or data congestion, low-priority data packets are dropped.

[0135] Here, the priority for each data type can be set based on actual needs. If the transmission bandwidth is less than the third threshold, it is determined that the transmission bandwidth is insufficient. Low-priority data packets are dropped in ascending order of priority, ensuring that the highest-priority data packets are sent first.

[0136] In practical applications, data with data types of orbit and clock bias have the highest priority, followed by data with data types of phase fractional deviation and satellite attitude, and data with data type of atmosphere has the lowest priority.

[0137] In this embodiment, in the event of insufficient transmission bandwidth and / or data congestion, low-priority data packets are discarded and high-priority data packets are sent first, according to the priority of the data packets, to ensure that the terminal can receive the indispensable SSR correction data.

[0138] The following section provides a more detailed description of this application with reference to application examples.

[0139] The data broadcasting method provided in this application is as follows: Figure 2 The diagram shown illustrates the data broadcasting module. Figure 2 It includes a data receiving module, a data processing module, a data encoding module, a data transmission waiting module, and a management module. Data can be broadcast via a wireless network without going through the data transmission waiting module.

[0140] The data receiving module is used to receive the first data, which is the SSR correction number calculated by the upstream calculation module.

[0141] Specifically, there are two ways to receive the first data: one is to receive the encapsulated SSR correction number via Ntrip or TCP / IP protocol, and the other is to receive the first data via middleware. It should be understood that the method for receiving the first data can be configured based on the terminal's supported methods.

[0142] The data types of SSR corrections include orbit, clock bias, phase fractional bias, atmosphere, and satellite attitude. For atmospheric data, atmospheric regions can be divided based on latitude and longitude to obtain atmospheric zones, and the atmospheric data for each atmospheric zone is independent.

[0143] The data processing module is used to decode the encapsulated SSR correction data received via Ntrip or TCP / IP protocol to obtain the first data; and to filter out invalid data and / or data that does not affect the data accuracy from the first data to obtain the second data.

[0144] The data encoding module is used to encode the second or third data, where the third data is obtained by adjusting the resolution and / or bit width of the second data. It can convert the third data obtained by adjusting the resolution and / or bit width of the second data into a specified format, such as an integer. The data encoding module can also use an encryption algorithm to encrypt the specified portion of the encoded data.

[0145] To further reduce the bandwidth requirements of the satellite link, the SSR correction number is usually not generated at 1 Hz (HZ). However, the satellite broadcasts data continuously every second. In order to maximize the use of satellite bandwidth, the data transmission waiting module is used to split and package the data output by the data encoding module.

[0146] Specifically, the data output by the data encoding module is split and packaged based on the bandwidth limit per second of the satellite link and the epoch of the data. Each data packet carries a flag information, and the sending order of the data packets is determined based on the flag information of each data packet. The data packets are placed into the queue to be sent according to the sending order. The expiration time and maximum delay time of each data packet are determined. During the data broadcasting process, data packets that have exceeded the expiration time and / or the maximum delay time are discarded. Priorities are also set. In the case of data packets with the same remaining expiration time and / or insufficient transmission bandwidth and / or data congestion, low-priority data packets are discarded.

[0147] The management module manages connections to the upstream solution module and manages data broadcasting. Connections to the upstream solution module can be defined as left connections, and connections related to downstream broadcasting can be defined as right connections. Specifically, for left connections, a timer is used to periodically check the connection to ensure that the first data can be received normally. For right connections, data broadcasting is controlled through the wireless network. There are multiple mount points, each with a corresponding terminal list. A thread pool manages the tasks of these right connections. When a new terminal initiates a connection request, the new terminal is added to the terminal list corresponding to that mount point. When a mount point generates data that needs to be broadcast, the data sending thread corresponding to that mount point is awakened, and the data is broadcast to all terminals in the terminal list corresponding to that mount point. When a terminal disconnects, the disconnected terminal is removed from the corresponding terminal list. For data broadcasting, management involves broadcasting data via satellite links and / or wireless networks. When broadcasting data to terminals via wireless networks, each atmospheric zone corresponds to a linked list queue, and the data to be broadcast is stored in the corresponding linked list queue and broadcast sequentially. When broadcasting data to terminals via satellite links, the data to be broadcast is stored in separate linked list queues according to data type and sent to the relevant satellite link modules for broadcasting.

[0148] Taking the reception of SSR corrections via the Ntrip protocol and the broadcasting of data via a satellite link as an example, the implementation flow diagram of the data broadcasting method of this application is as follows: Figure 3 As shown, it includes:

[0149] Step 1: Select the data reception method. Select to receive SSR corrections via the Ntrip protocol.

[0150] Specifically, the system sets the login information required by the Ntrip protocol, such as Internet Protocol address (IP address), port, username, and password, and initiates a login request. Once the login request passes server authentication, the newly established Ntrip connection is added to the connection management list for maintenance, and a timer is started to check whether all connections in the connection management list remain logged in. If a connection is logged out or disconnected, it is removed or released from the connection management list, and the server corresponding to that connection resends the login or connection request to re-establish the connection and add it back to the connection management list. Upon successful login or connection, the system receives binary data sent by the upstream processing module of the server, and decodes or unpacks the binary data according to the negotiated encoding or packaging protocol to obtain the first data.

[0151] Step 2: Filtering based on broadcast frequency.

[0152] Specifically, a modulo operation is performed based on the epoch time and broadcast frequency of the first data to obtain a first value; if the first value is not 0, it is determined that the epoch time and broadcast frequency of the first data have failed to match, and data with a first value of not 0 are filtered out from the first data; if the first value is 0, it is determined that the epoch time and broadcast frequency of the first data have successfully matched, and this is used as the input for step 3.

[0153] Step 3: Filter based on the type of satellite corresponding to the first data.

[0154] Specifically, the elevation angle of the satellites in the broadcast area is calculated, the invisible satellites are identified, and the first data corresponding to the invisible satellites is filtered out as the input for step 4.

[0155] Step 4: Filter based on data quality indicators of the first data.

[0156] Specifically, data whose quality indicators exceed the second threshold or are at a set level are filtered out from the input data and used as input for step 5.

[0157] Step 5: Filtering and resolution compression based on set parameters.

[0158] Specifically, the input data is filtered based on set parameters to obtain the second data; the resolution and / or data bit width of the second data are adjusted to obtain the third data, and the third data is stored in the satellite link to be encoded linked list.

[0159] It should be understood that steps 2 to 5 are performed in the data processing module.

[0160] Step 6: Encode and encrypt the third data using the data encoding module.

[0161] Specifically, the third data is retrieved from the satellite link to be encoded list, encoded, and the main body of the encoded data is encrypted using an encryption algorithm to obtain the sixth data; the seventh data is determined based on the sixth data and the remaining data of the encoded data.

[0162] Step 7: Split the seventh data and set the expiration time and maximum delay time.

[0163] Specifically, the seventh data is split based on the satellite link's bandwidth limit per second and the epoch of the seventh data to obtain the eighth data. The eighth data includes one or more data packets. The data in each data packet of the eighth data consists of data from the same second and belongs to the same type. The number of data packets in each data packet of the eighth data is determined based on the satellite link's bandwidth limit per second. A timestamp and a sequence number are used as the key value for each data packet to determine the transmission order of each data packet. Data packets are placed into the corresponding queue to be transmitted according to the transmission order. The expiration time and maximum delay time of each data packet are also determined.

[0164] Step 8: Set priority.

[0165] Specifically, data with data types set as orbit and clock bias has the highest priority, followed by data with data types set as phase fractional deviation and satellite attitude, and data with data type set as atmosphere has the lowest priority.

[0166] It should be understood that steps 7 and 8 are performed in the data transmission waiting module.

[0167] Step 9: Broadcast the eighth data via satellite link.

[0168] Specifically, when broadcasting each data packet included in the eighth data, check whether the data packet has exceeded the maximum delay time and discard the data packet that has exceeded the maximum delay time; after obtaining the eighth data, use a timer to set a timer to detect all data packets in the eighth data and discard the data packets that have exceeded the expiration time; in the case of insufficient transmission bandwidth and / or data congestion, discard low-priority data packets.

[0169] Taking receiving the first data through middleware and broadcasting the data through a wireless network as an example, the implementation steps of the data broadcasting method of this application are as follows:

[0170] Step 1: Configure the type of middleware to be used, such as using Redis to receive the first data, i.e., receiving the first data by subscribing to notifications; and start a timer to check the connection with the middleware every minute to ensure it is normal. If the connection with the middleware is lost, immediately start the reconnection mechanism.

[0171] Step 2: When the data type of the first data is orbit and clock bias, cache the first data until all orbit and clock bias data for that epoch are available. This means the received orbit and clock bias data have not changed before or after the epoch. Count the satellite systems to which the received orbit and clock bias data belong and record the number of satellite systems. Continue this process until all satellite systems' orbit and clock bias data are available for that epoch. It should be understood that even if the received orbit and clock bias data have changed before or after the epoch, it is assumed that all satellite systems' orbit and clock bias data are available, even if not all satellite systems' orbit and clock bias data are available, to avoid indefinite caching.

[0172] Step 3: For atmospheric data, divide the region based on latitude and longitude, for example, the entire country, to obtain M atmospheric zones. After modeling each atmospheric zone, broadcast the corresponding atmospheric data. Create a linked list queue for each atmospheric zone, and store the orbital data, clock bias data, phase fractional deviation data, satellite attitude data, and atmospheric data at the same epoch in the corresponding linked list queue according to the atmospheric zone number, and in order according to the epoch time.

[0173] Step 4: Traverse the linked list queues of each atmospheric partition, retrieve the corresponding data according to the broadcast order, convert the corresponding data into the set format based on the set resolution, perform binary encoding, and store the binary encoded data in the cache corresponding to different mount points. Each atmospheric partition corresponds to one mount point.

[0174] Step 5: When a terminal requests a connection, add the terminal information to the terminal list maintained by the corresponding mount point and establish a connection. If the connection is successfully established, when the mount point generates data that needs to be broadcast, wake up the data sending thread corresponding to the mount point, traverse all terminals in the terminal list corresponding to the mount point, and broadcast the data in the pending transmission list of the mount point. When a terminal disconnects, remove the terminal information from the terminal list of the mount point.

[0175] The data broadcasting method provided in this application supports two data reception and broadcasting methods. Data reception can be via Ntrip or TCP / IP protocols, and broadcasting can be a combination of wireless network broadcasting and satellite link broadcasting. When data is broadcast via a wireless network, full, unfiltered, and compressed data can be broadcast. When data is broadcast via a satellite link, invalid data and / or data that does not affect data accuracy are filtered from the first data stream. This reduces the bandwidth required for data transmission while ensuring accuracy meets user needs. Furthermore, the data to be broadcast is split and marked according to the satellite link's bandwidth limit per second and epoch time. Data priority, expiration time, and maximum delay time are also set to ensure that broadcast data is within its available validity period. This ensures that in the event of data accumulation, the user terminal can receive the necessary SSR correction data for simple positioning operations, avoiding situations where no usable data is available during broadcasting anomalies. These data broadcasting methods, while ensuring accuracy meets end-user needs, reduce transmission bandwidth and costs, flexibly adapt to different application scenarios, and meet the real-time requirements of data broadcasting.

[0176] To implement the data broadcasting method of this application embodiment, this application embodiment also provides a data broadcasting device, which is installed on an electronic device, such as... Figure 4 As shown, the device includes:

[0177] The filtering module 401 is used to filter out invalid data and / or data that does not affect the accuracy of the data from the first data to obtain the second data; the first data represents the SSR correction number that needs to be broadcast to the terminal or the SSR correction number received from the base station.

[0178] The broadcasting module 402 is used to broadcast the second data or the third data via a satellite link and / or a wireless network, wherein the third data is obtained by compressing the second data.

[0179] In one embodiment, the filtering module 401 is specifically used to filter out invalid data and / or data that does not affect the accuracy of the data from the first data based on one or more of the following:

[0180] The matching results of the first data epoch time and broadcast frequency;

[0181] The type of satellite corresponding to the first data is either a non-visible satellite or a visible satellite;

[0182] First data quality;

[0183] The first piece of data is invalid or unavailable.

[0184] The parameters are set to indicate whether the fourth data is filtered or not; the fourth data represents the data in the first data that does not affect the accuracy of the data.

[0185] In one embodiment, the filtering module 401 is specifically used for one or more of the following:

[0186] Data with a first value that is not 0 are filtered out from the first data; the first value is obtained by modulo operation based on the epoch time and broadcast frequency of the first data;

[0187] Filter out the data corresponding to the designated satellite from the first data; the designated satellite is an invisible satellite or a satellite whose elevation angle is less than the first threshold.

[0188] Data that exceeds a second threshold or is at a set level is filtered out from the first data; the data quality indicators are used to evaluate the integrity of the data.

[0189] When the parameters are set to filter the fourth data, the fourth data is filtered out from the first data; the fourth data represents data in the first data that does not affect the accuracy of the data.

[0190] In one embodiment, the third data is obtained by adjusting the resolution and / or data bit width of the second data.

[0191] In one embodiment, the broadcast module 402 is further configured to perform a setting operation on the second data or the third data to obtain fifth data; the setting operation includes encryption and / or splitting;

[0192] The fifth data is broadcast via satellite link and / or wireless network.

[0193] In one embodiment, the broadcasting module 402 is further configured to encode the second data or the third data, and encrypt the setting portion of the encoded data to obtain the sixth data;

[0194] The seventh data is determined based on the sixth data and the remaining part of the encoded data;

[0195] The seventh or eighth data is broadcast via a satellite link and / or a wireless network; the eighth data is obtained by splitting the seventh data based on the maximum bandwidth per second of the satellite link and the epoch time of the seventh data; the eighth data includes one or more data packets.

[0196] In one embodiment, the broadcast module 402 is further configured to encode the second data or the third data, and to split the encoded data based on the upper limit of the satellite link's bandwidth per second and the epoch time of the encoded data to obtain the ninth data; the ninth data includes one or more data packets;

[0197] The transmission order of the data packets included in the ninth data is determined based on the identification information of each data packet included in the ninth data; the identification information includes a time flag and a sequence number flag, the time flag indicating the epoch time of the data packet, and the sequence number flag indicating the order of the data within the data packet;

[0198] The ninth data is broadcast via satellite link and / or wireless network in the order of transmission.

[0199] In one embodiment, the device further includes:

[0200] The first discarding module is used to discard data packets that have exceeded their expiration time and / or have exceeded their maximum delay time during the broadcasting of the ninth data.

[0201] In one embodiment, the data within each data packet belongs to the same type; each type of data corresponds to a priority; the device further includes:

[0202] The second discard module is used to discard low-priority data packets in the event of insufficient transmission bandwidth and / or data congestion.

[0203] In practical applications, the aforementioned filtering module 401, broadcasting module 402, first discarding module, and second discarding module can be implemented by the processor of the data broadcasting device in conjunction with the communication interface.

[0204] It should be noted that the data broadcasting device provided in the above embodiments is only illustrated by the division of the above program modules. In practical applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the data broadcasting device and the data broadcasting method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0205] Based on the hardware implementation of the above program modules, and in order to implement the data broadcasting method of this application embodiment, this application embodiment also provides an electronic device, such as... Figure 5 As shown, the electronic device 500 includes:

[0206] Communication interface 501 enables information exchange with other network nodes;

[0207] The processor 502 is connected to the communication interface 501 to enable information interaction with other network nodes and to execute the methods provided by one or more of the above-described technical solutions when running a computer program. The computer program is stored in the memory 503.

[0208] Specifically, the processor 502 is used to filter out invalid data and / or data that does not affect the accuracy of the data from the first data to obtain the second data; the first data represents the SSR correction number that needs to be broadcast to the terminal or the SSR correction number received from the base station.

[0209] The communication interface 501 is used to broadcast the second data or the third data via a satellite link and / or a wireless network, wherein the third data is obtained by compressing the second data.

[0210] In one embodiment, the processor 502 is specifically configured to filter out invalid data and / or data that does not affect data accuracy from the first data based on one or more of the following:

[0211] The matching results of the first data epoch time and broadcast frequency;

[0212] The type of satellite corresponding to the first data is either a non-visible satellite or a visible satellite;

[0213] First data quality;

[0214] The first piece of data is invalid or unavailable.

[0215] The parameters are set to indicate whether the fourth data is filtered or not; the fourth data represents the data in the first data that does not affect the accuracy of the data.

[0216] In one embodiment, the processor 502 is specifically used for one or more of the following:

[0217] Data with a first value that is not 0 are filtered out from the first data; the first value is obtained by modulo operation based on the epoch time and broadcast frequency of the first data;

[0218] Filter out the data corresponding to the designated satellite from the first data; the designated satellite is an invisible satellite or a satellite whose elevation angle is less than the first threshold.

[0219] Data that exceeds a second threshold or is at a set level is filtered out from the first data; the data quality indicators are used to evaluate the integrity of the data.

[0220] When the parameters are set to filter the fourth data, the fourth data is filtered out from the first data; the fourth data represents data in the first data that does not affect the accuracy of the data.

[0221] In one embodiment, the third data is obtained by adjusting the resolution and / or data bit width of the second data.

[0222] In one embodiment, the processor 502 is further configured to perform a setting operation on the second data or the third data to obtain fifth data; the setting operation includes encryption and / or splitting;

[0223] The communication interface 501 is also used to broadcast the fifth data via a satellite link and / or wireless network.

[0224] In one embodiment, the processor 502 is further configured to encode the second data or the third data, and encrypt the setting portion of the encoded data to obtain the sixth data;

[0225] The seventh data is determined based on the sixth data and the remaining part of the encoded data;

[0226] The communication interface 501 is also used to broadcast the seventh data or the eighth data via a satellite link and / or a wireless network; the eighth data is obtained by splitting the seventh data based on the upper limit of the bandwidth per second of the satellite link and the epoch time of the seventh data; the eighth data includes one or more data packets.

[0227] In one embodiment, the processor 502 is further configured to encode the second data or the third data, and to split the encoded data based on the upper limit of the bandwidth per second of the satellite link and the epoch time of the encoded data to obtain the ninth data; the ninth data includes one or more data packets;

[0228] The transmission order of the data packets included in the ninth data is determined based on the identification information of each data packet included in the ninth data; the identification information includes a time flag and a sequence number flag, the time flag indicating the epoch time of the data packet, and the sequence number flag indicating the order of the data within the data packet;

[0229] The communication interface 501 is also used to broadcast the ninth data via a satellite link and / or wireless network in accordance with the transmission order.

[0230] In one embodiment, the processor 502 is further configured to discard data packets that have exceeded their expiration time and / or their maximum delay time during the broadcasting of the ninth data.

[0231] In one embodiment, the data in each data packet belongs to the same type; each type of data corresponds to a priority; the processor 502 is also configured to discard low-priority data packets in the event of insufficient transmission bandwidth and / or data congestion.

[0232] It should be noted that the specific processing procedure of processor 502 can be understood by referring to the above method.

[0233] Of course, in practical applications, the various components in electronic device 500 are coupled together through bus system 504. It can be understood that bus system 504 is used to realize the connection and communication between these components. In addition to a data bus, bus system 504 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in... Figure 5 The general designated all buses as Bus System 504.

[0234] The memory 503 in this embodiment is used to store various types of data to support the operation of the electronic device 500. Examples of such data include any computer program used to operate on the electronic device 500.

[0235] The methods disclosed in the embodiments of this application can be applied to the processor 502, or implemented by the processor 502. The processor 502 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 502 or by instructions in the form of software. The processor 502 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 502 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in the memory 503. The processor 502 reads the information in the memory 503 and combines its hardware to complete the steps of the aforementioned method.

[0236] In an exemplary embodiment, the electronic device 500 may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0237] It is understood that the memory 503 in this embodiment can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 503 described in the embodiments of this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0238] In an exemplary embodiment, this application also provides an electronic device, including a processor and a memory for storing a computer program capable of running on the processor, wherein the processor, when running the computer program, performs the steps of any of the methods described above.

[0239] This application embodiment also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 503 that stores a computer program. The computer program can be executed by the processor 502 of the electronic device 500 to complete the steps described in the preceding method. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0240] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above methods.

[0241] It should be noted that terms such as "first" and "second" are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. The term "and / or" in this article merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, the term "one or more" in this article refers to any combination of at least two of any one or more items from a set of A, B, and C. For example, "one or more of A, B, and C" can represent any one or at least two or more elements selected from the set of A, B, and C.

[0242] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0243] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application.

Claims

1. A data broadcasting method, characterized in that, The method includes: The invalid data and / or data that do not affect the accuracy of the data are filtered out from the first data to obtain the second data; the first data represents the state domain parameter SSR correction number that needs to be broadcast to the terminal or the SSR correction number received from the base station; The second or third data is broadcast via a satellite link and / or wireless network, wherein the third data is obtained by compressing the second data.

2. The method according to claim 1, characterized in that, The step of filtering out invalid data and / or data that does not affect data accuracy from the first data includes: Based on one or more of the following, invalid data and / or data that does not affect the accuracy of the data are filtered out from the first dataset: The matching results of the first data epoch time and broadcast frequency; The type of satellite corresponding to the first data is either a non-visible satellite or a visible satellite; First, the data quality of the data; The first piece of data is invalid or unavailable. The parameters are set to indicate whether the fourth data is filtered or not; the fourth data represents the data in the first data that does not affect the accuracy of the data.

3. The method according to claim 1 or 2, characterized in that, The filtering out of invalid data and / or data that does not affect the accuracy of the first data includes one or more of the following: Data with a first value that is not 0 are filtered out from the first data; the first value is obtained by modulo operation based on the epoch time and broadcast frequency of the first data; Filter out the data corresponding to the designated satellite from the first data; the designated satellite is an invisible satellite or a satellite whose elevation angle is less than the first threshold. Data that exceeds a second threshold or is at a set level is filtered out from the first data; the data quality indicators are used to evaluate the integrity of the data. When the parameters are set to filter the fourth data, the fourth data is filtered out from the first data; the fourth data represents data in the first data that does not affect the accuracy of the data.

4. The method according to claim 1 or 2, characterized in that, The third data is obtained by adjusting the resolution and / or data bit width of the second data.

5. The method according to claim 1 or 2, characterized in that, The broadcasting of the second or third data via satellite link and / or wireless network includes: The second data or the third data is configured to obtain the fifth data; the configuration operation includes encryption and / or splitting. The fifth data is broadcast via satellite link and / or wireless network.

6. The method according to claim 1 or 2, characterized in that, The broadcasting of the second or third data via satellite link and / or wireless network includes: Encode the second data or the third data, and encrypt the setting part of the encoded data to obtain the sixth data; The seventh data is determined based on the sixth data and the remaining part of the encoded data; The seventh or eighth data is broadcast via a satellite link and / or a wireless network; the eighth data is obtained by splitting the seventh data based on the maximum bandwidth per second of the satellite link and the epoch time of the seventh data; the eighth data includes one or more data packets.

7. The method according to claim 1 or 2, characterized in that, The broadcasting of the second or third data via satellite link and / or wireless network includes: The second data or the third data is encoded, and the encoded data is split based on the bandwidth limit per second of the satellite link and the epoch time of the encoded data to obtain the ninth data; the ninth data includes one or more data packets; The transmission order of the data packets included in the ninth data is determined based on the identification information of each data packet included in the ninth data; the identification information includes a time flag and a sequence number flag, the time flag indicating the epoch time of the data packet, and the sequence number flag indicating the order of the data within the data packet; The ninth data is broadcast via satellite link and / or wireless network in the order of transmission.

8. The method according to claim 7, characterized in that, The method further includes: During the broadcast of the ninth data, data packets that have exceeded their expiration time and / or have exceeded their maximum delay time are discarded.

9. The method according to claim 7, characterized in that, The data within each data packet belongs to the same type; each data type corresponds to a priority level; the method further includes: In cases of insufficient transmission bandwidth and / or data congestion, low-priority data packets are dropped.

10. An electronic device, characterized in that, This includes a processor and memory for storing computer programs that can run on the processor. When the processor is used to run the computer program, it performs the steps of the method according to any one of claims 1 to 9.

11. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

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