Split rtK locator, positioning system, positioning method and storage medium

Abstract

The application discloses a separated RTK locator, a positioning system, a positioning method and a storage medium. The separated RTK locator comprises a positioning device and a power supply device, and the positioning device is detachably connected with the power supply device. The positioning device is configured to: in the case of being connected to the power supply device, perform data communication with an external terminal device through a wireless connection mode, and receive power supply from the power supply device; in the case of not being connected to the power supply device, perform data communication with the external terminal device through a wired connection mode, and receive power supply from the terminal device. The application can realize adaptive switching of a single separated RTK locator with portability and long endurance, wired connection reliability and wireless operation flexibility.

Description

Technical Field

[0001] This application relates to the field of positioning technology, specifically to a separate RTK locator, positioning system, positioning method, and storage medium. Background Technology

[0002] In fields such as precision agriculture, land registration, and engineering surveying, it is necessary to quickly and accurately collect geographic coordinate points (i.e., positioning) in the field to delineate the boundaries of elements such as fields, roads, and buildings. Traditional positioning operations mainly rely on large, fixed RTK (Real Time Kinematic) base stations and mobile stations working together, which has problems such as bulky equipment and cumbersome setup processes, making it difficult to meet the needs of rapid and flexible mobile positioning. Summary of the Invention

[0003] This application provides a separate RTK locator, a positioning system, a positioning method, and a storage medium, which can achieve adaptive switching between portability and long battery life, wired connection reliability and wireless operation flexibility for a single separate RTK locator.

[0004] On one hand, this application provides a detachable RTK locator, which includes a positioning device and a power supply device, and the positioning device and the power supply device are detachably connected. The positioning device is configured to: when connected to the power supply device, communicate wirelessly with an external terminal device and receive power from the power supply device; when not connected to the power supply device, communicate wirelessly with an external terminal device and receive power from the terminal device.

[0005] In some embodiments, the positioning device includes: a positioning module, a wireless communication module connected to the positioning module, a communication conversion module connected to the wireless communication module, and a composite interface connected to the communication conversion module. The positioning module is configured to: perform positioning calculations to obtain positioning data, and send the positioning data to the wireless communication module. The wireless communication module is configured to: send the positioning data to the terminal device when the positioning device is connected to the power supply device; and send the positioning data to the communication conversion module when the positioning device is not connected to the power supply device. The communication conversion module is configured to: convert the data format of the positioning data when the positioning device is not connected to the power supply device, and send the converted positioning data to the composite interface. The composite interface is configured to: connect to the power supply device to receive power from the power supply device when the positioning device is connected to the power supply device; and connect to the terminal device to receive power from the terminal device when the positioning device is not connected to the power supply device, and send the converted positioning data to the terminal device.

[0006] In some embodiments, the composite interface is further configured to: receive RTK data from the terminal device and send the RTK data to the communication conversion module when the positioning device is not connected to the power supply device; the communication conversion module is further configured to: convert the data format of the RTK data and send the converted RTK data to the wireless communication module when the positioning device is not connected to the power supply device; the wireless communication module is further configured to: receive the RTK data from the terminal device and send the RTK data to the positioning module when the positioning device is connected to the power supply device; and send the converted RTK data to the positioning module when the positioning device is not connected to the power supply device; the positioning module is further configured to: perform the positioning calculation based on satellite observation data and the RTK data to obtain the positioning data.

[0007] In some embodiments, the power supply device includes: a battery, a charge / discharge management module connected to the battery, and a power supply interface connected to the charge / discharge management module. The charge / discharge management module is configured to manage the charge / discharge of the battery. The power supply interface is configured to supply power to the positioning device based on the control of the charge / discharge management module when the positioning device is connected to the power supply device.

[0008] In some embodiments, the power supply interface is further configured to: supply power to the terminal device based on the control of the charge / discharge management module, or receive power from the terminal device when the terminal device is connected to the power supply device.

[0009] In some embodiments, the power supply device further includes at least one of the following: a power acquisition module, connected to the battery and the power supply interface, configured to: when the positioning device is connected to the power supply device, convert the battery's power into a voltage signal and transmit it to the positioning device through the power supply interface, so that the positioning device can acquire and forward it to the terminal device; a temperature detection module, connected to the battery and the charge / discharge management module, configured to: monitor the temperature of the battery, and when the temperature exceeds a preset temperature range, control the charge / discharge management module to stop charging and discharging the battery; a power supply control module, connected to the charge / discharge management module, configured to: control the working state of the charge / discharge management module in response to user operation commands for target physical controls in the power supply device; and a power indicator module, connected to the charge / discharge management module and the power acquisition module, configured to: control the indication state of the target indicator component in the power supply device according to the working state of the charge / discharge management module and / or the battery's power.

[0010] On the other hand, embodiments of this application provide a positioning system, which includes a terminal device and a separate RTK locator as described above. The terminal device is configured to: when the positioning device is connected to the power supply device, communicate with the positioning device wirelessly; and when the positioning device is not connected to the power supply device, communicate with the positioning device via a wired connection and supply power to the positioning device.

[0011] In some embodiments, the terminal device is further configured to: receive a voltage signal from the power supply device when the positioning device is connected to the power supply device, and perform a battery level reminder operation for the battery in the power supply device based on the voltage signal.

[0012] On the other hand, embodiments of this application also provide a positioning method applied to the split RTK locator described above. The positioning method includes: when the positioning device is connected to the power supply device, communicating data with the terminal device via the wireless connection and receiving power from the power supply device; when the positioning device is not connected to the power supply device, communicating data with the terminal device via a wired connection and receiving power from the terminal device.

[0013] In some embodiments, when the positioning device is connected to the power supply device, the step of communicating data with the terminal device via the wireless connection includes: receiving RTK data from the terminal device when the positioning device is connected to the power supply device; performing positioning calculations based on satellite observation data and the RTK data to obtain positioning data; and sending the positioning data to the terminal device.

[0014] In some embodiments, the step of communicating data with the terminal device via a wired connection when the positioning device is not connected to the power supply includes: receiving RTK data from the terminal device when the positioning device is not connected to the power supply; converting the RTK data into a data format; performing positioning calculation based on satellite observation data and the RTK data after data format conversion to obtain positioning data; performing the data format conversion on the positioning data; and sending the positioning data after data format conversion to the terminal device.

[0015] On the other hand, embodiments of this application also provide a computer-readable storage medium storing a computer program or instructions thereon, which, when executed by a processor, implements the positioning method as described above.

[0016] In summary, the technical solution provided in this application designes a separate RTK locator as a detachable positioning device and power supply device. The positioning device can selectively operate in two modes according to actual operational needs: when long battery life and wireless operation are required, it is used in combination with the power supply device and wirelessly connected to an external terminal device; when portability and rapid response are required, it is used alone and wiredly connected to an external terminal device. Based on this, this application embodiment achieves adaptive switching between portability and long battery life, wired connection reliability and wireless operation flexibility for a single separate RTK locator. Users can freely choose the working mode according to task duration and environmental conditions, effectively improving scenario adaptability and user work efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0018] Figure 1 This is a schematic diagram of the structure of a split RTK locator provided in an embodiment of this application; Figure 2This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application; Figure 3 This is a circuit diagram of a positioning device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a power supply device provided in an embodiment of this application; Figure 5 This is a circuit diagram of a power supply device provided in an embodiment of this application; Figure 6 This is a schematic diagram of the architecture of a positioning system provided in an embodiment of this application; Figure 7 This is a flowchart illustrating a positioning method provided in an embodiment of this application; Figure 8 This is a flowchart illustrating another positioning method provided in an embodiment of this application; Figure 9 This is a schematic diagram of the working mode of a split RTK locator provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the following description, specific embodiments of this application will be illustrated with reference to steps and symbols performed by one or more computers, unless otherwise stated. Therefore, these steps and operations will be referred to several times as being performed by a computer. Computer performance as referred to in this application includes operations performed by a computer processing unit on electronic signals represented by data in a structured format. This operation transforms the data or maintains it at a location in the computer's memory system, which can be reconfigured or otherwise alter the operation of the computer in a manner well known to those skilled in the art. The data structure maintained by the data is the physical location of the memory, which has specific characteristics defined by the data format. However, the principles of this application are illustrated with specific embodiments and are not intended to be limiting. Those skilled in the art will understand that many of the steps and operations described below can also be implemented in hardware.

[0021] The terms "module" or "unit" as used in this application can be considered as software objects executing on the computing system. The different components, modules, engines, and services described in this application can be considered as implementation objects on the computing system. While the apparatus and methods described in this application are preferably implemented in software, they can also be implemented in hardware, both of which are within the scope of protection of this invention.

[0022] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used in the embodiments of this application may also include plural forms. It should be further understood that the term “comprising” as used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof. It should be understood that when an element is “connected” or “coupled” to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein may include wireless connection or wireless coupling. The term “and / or” as used herein includes all or any combination of one or more of the associated listed items.

[0023] In order to solve the technical problems involved in the background art, as a basic embodiment of this application, a handheld RTK locator with higher integration is provided, mainly including the following two types.

[0024] Firstly, there's the smartphone-internal RTK locator: This uses a separate, small RTK positioning module that connects to a smartphone via a USB OTG (Universal Serial Bus On-The-Go) data cable. The smartphone powers the RTK locator via the OTG cable and receives the high-precision positioning data output by the RTK locator via a serial communication protocol. A dedicated app on the smartphone then parses, displays, stores, and plots the data. The advantages are that the device is lightweight, low-cost, and leverages the powerful computing and display capabilities of a smartphone.

[0025] Secondly, there are integrated handheld terminal devices with built-in batteries: these integrate the RTK positioning module, battery, and other components into a single rugged casing, forming a single unit. They typically communicate with a dedicated app on a smartphone via Bluetooth or Wi-Fi (Wireless Fidelity). The advantages include a large-capacity built-in battery for long battery life, wireless connectivity, and greater operational freedom.

[0026] The following shortcomings may exist for smartphone-connected RTK locators: (1) Power supply and battery life conflict. The RTK locator is completely powered by the built-in battery of the smartphone. The RTK locator, especially its GNSS (Global Navigation Satellite System) radio frequency and computing part, has high power consumption, which will consume the terminal power rapidly. When working in the field for a long time, the smartphone and RTK locator may stop working at the same time due to power depletion, affecting the efficiency and continuity of the operation; (2) Connection stability and compatibility issues: OTG connection has high requirements for cable quality, physical state of mobile phone interface and compatibility of operating system driver. When bumpy in the field, frequently plugged and unplugged or on different brand terminal devices, connection interruption and communication failure are likely to occur, resulting in insufficient reliability.

[0027] For integrated handheld terminal devices with built-in batteries, the following shortcomings may exist: (1) The device is bulky and costly: RTK modules, ultra-large lithium batteries, MCUs (Microcontroller Units) and other components increase the size and weight of the device, which can easily cause fatigue during long-term handheld operation. At the same time, its manufacturing cost is much higher than that of external RTK positioners; (2) Heat dissipation and maintenance are difficult: high-power components and batteries are concentrated in a closed space, which poses a great challenge to heat dissipation design, and any damage to any part may require the entire device to be repaired.

[0028] In conclusion, handheld RTK trackers struggle to achieve a good balance between portability, battery life, connectivity reliability, and overall cost. External RTK trackers for smartphones sacrifice battery life and stability for portability and low cost; while integrated handheld devices with built-in batteries trade greater weight, cost, and less flexibility for longer battery life and wireless convenience.

[0029] In view of this, embodiments of this application provide a separate RTK locator, a positioning system, a positioning method, and a storage medium. This application provides a low-cost, separate handheld RTK locator that effectively combines the advantages of the two types of devices mentioned above. The separate RTK locator in this application mainly includes two parts: one part is the positioning device, which mainly includes a positioning module (such as a high-precision RTK module covering all galaxies and frequency bands) and a wireless communication module (such as a low-power Bluetooth module that supports secondary development); the other part is the power supply device, which mainly includes a battery (such as a 3.6V nominal lithium battery) and a charge / discharge management module (such as a charge / discharge management chip). The operating mode can be selected according to the user's application scenario requirements. When lightweight and easy to use are the goals, the positioning device can be powered and communicate with a terminal device (such as a smartphone) via a wired connection (such as a Type-C cable), thereby opening a dedicated app on the terminal device to perform positioning operations. When the goal is to achieve long battery life, wireless connectivity, and operational freedom, the positioning device and power supply are powered by plugging in their own TYPEC interface, and communicate with the terminal device via Bluetooth or other means to open a dedicated app on the terminal device to perform positioning operations.

[0030] The power supply equipment can feature automatic TYPEC detection and light-load standby functionality. When the positioning device and power supply equipment are plugged in, the power supply equipment recognizes the load and automatically supplies power to the positioning device. The power supply equipment can also be equipped with a power indicator light; for example, a solid light indicates power output, a solid off light indicates no power output, and a 1Hz flashing light indicates approximately 15% battery remaining. When the positioning device is unplugged, the power supply equipment detects no load, and the power indicator light may remain on for approximately 30 seconds before turning off, indicating no power output. The power supply equipment can also independently provide emergency charging for terminal devices (such as smartphones) for unforeseen circumstances. The power supply equipment itself can also be equipped with a mechanical button, which can be pressed to control whether power is output.

[0031] The following is a detailed description of the separate RTK locator, positioning system, positioning method, and storage medium provided in the embodiments of this application.

[0032] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a split RTK positioner provided in an embodiment of this application. Figure 1 As shown, the split RTK locator 100 may include a positioning device 110 and a power supply device 120.

[0033] The positioning device 110, also known as an RTK device, is the core component of the separate RTK positioner 100. It is responsible for receiving satellite observation signals, performing positioning calculations, and communicating with external terminal devices 200. The positioning device 110 can adopt a compact design, integrating a high-precision RTK positioning core, a wireless communication core, and a communication controller, making it small and lightweight when used alone, facilitating long-term handheld operation. The positioning device 110 can be equipped with a composite interface, which allows for the multiplexing of power supply and communication, simplifying the structural design while improving the dust and water resistance of the positioning device 110.

[0034] The power supply device 120, also known as an MPP (Mobile Power Pack) device, is an auxiliary component of the separate RTK locator 100, primarily providing a continuous and stable power supply to the positioning device 110. The power supply device 120 can have a built-in high-capacity lithium battery and an intelligent charge / discharge management chip, capable of automatically identifying the type of connected device and switching charging / discharging modes. The power supply device 120 can have an external power interface, which can directly connect to the composite interface of the positioning device 110, or connect to an external terminal device 200 or charger, enabling multiple functions such as supplying power to the positioning device 110, providing emergency charging to the terminal device 200, or receiving external charging.

[0035] In this embodiment, the positioning device 110 and the power supply device 120 are detachably connected. For example, the composite interface of the positioning device 110 and the power supply interface of the power supply device 120 can use a matching Type-C male-female connector design, allowing direct plug-and-play connection. When the positioning device 110 and the power supply device 120 are connected, the power supply device 120 automatically identifies the load and starts power output, providing the positioning device 110 with the necessary power. When the two are separated, the positioning device 110 can independently work with the terminal device 200 via a wired connection, and the power supply device 120 can also independently function as a power source to provide emergency charging for the terminal device 200.

[0036] Based on this, the aforementioned positioning device 110 can be configured to: when connected to the power supply device 120, communicate with an external terminal device 200 via a wireless connection and receive power from the power supply device 120; when not connected to the power supply device 120, communicate with an external terminal device 200 via a wired connection and receive power from the terminal device 200.

[0037] When the positioning device 110 is plugged into the power supply device 120, the power supply device 120 can provide power to the positioning device 110 through its power interface and composite interface, such as 5V DC power. The wireless communication module inside the positioning device 110 (such as a low-power Bluetooth module) can then be powered on and establish a wireless communication connection with the terminal device 200. The positioning device 110 can wirelessly transmit positioning data to the terminal device 200 in real time and can also receive RTK data sent by the terminal device 200. In the wireless working mode based on the wireless connection, since the positioning device 110 is independently powered by the power supply device 120, the terminal device 200 only needs to maintain low power consumption for wireless communication, thus extending the overall system's battery life. At the same time, users can be freed from the physical constraints of data cables in wired connections, allowing for more free and flexible operation, suitable for long-term field operations.

[0038] When the positioning device 110 is used independently, it can be connected to the terminal device 200 via a composite interface and data cable (such as an OTG cable), for example, by connecting to the TYPEC interface of the terminal device 200. The terminal device 200 can provide power to the positioning device 110, such as 5V DC power, and simultaneously communicate with the positioning device 110 via a USB bus. The communication conversion module inside the positioning device 110 (such as a USB-to-serial chip) converts USB protocol data into serial data, enabling data interaction with the internal wireless communication module, thereby completing the transmission of positioning data and RTK data. In wired operation mode based on wired connection, the positioning device 110 does not require an additional power supply device 120, minimizing its overall size and weight, making it suitable for short-duration, lightweight, rapid positioning operations.

[0039] In summary, the technical solution provided in this application designes a separate RTK locator as a detachable positioning device and power supply device. The positioning device can selectively operate in two modes according to actual operational needs: when long battery life and wireless operation are required, it is used in combination with the power supply device and wirelessly connected to an external terminal device; when portability and rapid response are required, it is used alone and wiredly connected to an external terminal device. Based on this, this application embodiment achieves adaptive switching between portability and long battery life, wired connection reliability and wireless operation flexibility for a single separate RTK locator. Users can freely choose the working mode according to task duration and environmental conditions, effectively improving scenario adaptability and user work efficiency.

[0040] In some embodiments, such as Figure 2 As shown, the positioning device 110 may include: a positioning module 111, a wireless communication module 112 connected to the positioning module 111, a communication conversion module 113 connected to the wireless communication module 112, and a composite interface 114 connected to the communication conversion module 113.

[0041] The positioning module 111 is the core functional unit of the positioning device 110. It can be configured to perform positioning calculations, obtain positioning data, and send the positioning data to the wireless communication module 112. The positioning module 111 may include a GNSS antenna and a multi-constellation satellite receiver module (such as the LG290P), responsible for receiving navigation signals from multiple satellite systems, acquiring and processing raw satellite observation signals to obtain initial position information. In RTK mode, the positioning module 111 can also receive RTK data from the terminal device 200, fuse its own initial position information with the RTK data, and output centimeter-level high-precision positioning data. The positioning module 111 can connect to the wireless communication module 112 via a serial interface, such as a UART (Universal Asynchronous Receiver / Transmitter), to send the calculated positioning data to the wireless communication module 112.

[0042] The wireless communication module 112 is the communication control center of the positioning device 110. It can be configured to: send positioning data to the terminal device 200 when the positioning device 110 is connected to the power supply device 120; and send positioning data to the communication conversion module 113 when the positioning device 110 is not connected to the power supply device 120. The wireless communication module 112 can be a low-power Bluetooth module (such as HCM320Z) that supports secondary development, integrating a Bluetooth communication protocol stack, running device firmware, and controlling the overall logic operation of the positioning device 110. Of course, in practical applications, the wireless communication module 112 can also be implemented as a Wi-Fi communication module, etc., and this embodiment does not limit this implementation. When the positioning device 110 is plugged into the power supply device 120, the positioning device 110 is connected to the power supply device 120. The wireless communication module 112 is powered on and starts its wireless communication function, establishing a wireless connection with the terminal device 200, such as Bluetooth SPP (Serial Port Profile) or BLE (Bluetooth Low Energy). The positioning data sent by the positioning module 111 is transmitted to the terminal device 200 in real time via the wireless link. When the positioning device 110 is used alone and is not connected to the power supply device 120, the positioning data calculated by the positioning module 111 is first sent to the wireless communication module 112. The wireless communication module 112 forwards the positioning data to the communication conversion module 113 through the serial interface.

[0043] The communication conversion module 113 is a protocol conversion unit for the positioning device 110 in wired operation mode. It can be configured to convert the positioning data format when the positioning device 110 is not connected to the power supply device 120, and then send the converted positioning data to the composite interface 114. The communication conversion module 113 can use a USB bus to serial interface chip (such as CH340) to achieve bidirectional conversion between USB and UART protocols. When the positioning device 110 is wired to the terminal device 200, the positioning data (serial format) sent by the wireless communication module 112 is converted into USB protocol data by the communication conversion module 113 and sent to the composite interface 114.

[0044] The composite interface 114 is the only external physical interface of the positioning device 110. It can be configured to: when the positioning device 110 is connected to the power supply device 120, connect to the power supply device 120 to receive power from it; when the positioning device 110 is not connected to the power supply device 120, connect to the terminal device 200 to receive power from it and send positioning data (after data format conversion) to the terminal device 200. The composite interface 114 can use a Type-C male connector, supporting reversible insertion. When the positioning device 110 is connected to the power supply device 120, the power supply pins of the composite interface 114 interface with the power supply interface of the power supply device 120, receiving power from the power supply device 120, such as 5V DC power, to power the various modules inside the positioning device 110. The data pins do not participate in operation in this mode. When the positioning device 110 is not connected to the power supply device 120, the composite interface 114 is connected to the TYPEC interface of the terminal device 200 via a data cable. It receives power from the terminal device 200, such as 5V DC power, and communicates with the terminal device 200 in full-duplex mode via data pins (such as USB D+ / D- pins).

[0045] As can be seen from the above embodiments, when the positioning module 111 performs positioning calculations, it can refer to RTK data from the terminal device 200. Based on this, in some embodiments, the composite interface 114 can also be configured to: receive RTK data from the terminal device 200 and send RTK data to the communication conversion module 113 when the positioning device 110 is not connected to the power supply device 120; the communication conversion module 113 can also be configured to: convert the data format of the RTK data and send the converted RTK data to the wireless communication module 112 when the positioning device 110 is not connected to the power supply device 120; the wireless communication module 112 can also be configured to: receive RTK data from the terminal device 200 and send RTK data to the positioning module 111 when the positioning device 110 is connected to the power supply device 120, and send the converted RTK data to the positioning module 111 when the positioning device 110 is not connected to the power supply device 120; the positioning module 111 can also be configured to: perform positioning calculations based on satellite observation data and RTK data to obtain positioning data.

[0046] In wired operation mode, positioning device 110 is connected to terminal device 200. Terminal device 200 obtains RTK data from RTK base station via network, and then sends it to communication conversion module 113 via USB bus and composite interface 114. Communication conversion module 113 converts USB format RTK data into serial data format and sends it to wireless communication module 112 via UART interface, and then forwards it to positioning module 111 by wireless communication module 112.

[0047] In wireless operating mode, the positioning device 110 is connected to the power supply device 120, and the terminal device 200 sends RTK data directly to the wireless communication module 112 through the wireless link. After receiving the data, the wireless communication module 112 forwards it to the positioning module 111 through UART.

[0048] The positioning module 111 can receive satellite observation signals through a GNSS antenna to obtain raw observations such as pseudorange and carrier phase. Combined with ephemeris data, it calculates initial position information, typically with meter-level accuracy. Simultaneously, the positioning module 111 can receive RTK data relayed from the wireless communication module 112, using differential techniques to eliminate common errors (such as satellite clock bias and atmospheric delay), and resolving carrier phase integer ambiguity to ultimately output centimeter-level high-precision positioning data. This positioning data is then transmitted to the terminal device 200 via the wireless communication module 112 (wireless operation mode), or via the communication conversion module 113 and composite interface 114 (wired operation mode), for display and application in a dedicated app on the terminal device 200.

[0049] Please see Figure 3 , Figure 3 This is a circuit diagram of a positioning device provided in an embodiment of this application. Figure 3 As shown, the positioning module 111 can be implemented as an LG290P module, the wireless communication module 112 can be implemented as an HCM320Z Bluetooth module, the communication conversion module 113 can be implemented as a CH340 chip, and the composite interface 114 can be implemented as a TYPEC male connector.

[0050] In wired operation mode, the terminal device communicates with and supplies power to the positioning device via a TYPEC data cable and a TYPEC male connector. The power supply can be 5V, which is converted to BT_3V3 by an LDO (Low Dropout Regulator) module to power the HCM320Z Bluetooth module, and to GNSS_3V3 to power the LG290P and CH340 chip. At the same time, BT_3V3 can also be used as an auxiliary power supply for the LG290P.

[0051] The CH340 chip serves as a USB 2.0 to serial communication chip, used for data communication between terminal devices and the HCM320Z Bluetooth module. The HCM320Z Bluetooth module and the LG290P module communicate via serial port. The HCM320Z Bluetooth module transmits RTK data obtained from the network to the LG290P module. The LG290P module uses its initial position information and RTK data to perform positioning calculations, outputting centimeter-level positioning data, which is then transmitted to the terminal device via the HCM320Z Bluetooth module and the CH340 chip. Finally, the positioning data is displayed in the app.

[0052] GNSS_RST and GNSS_WAKUP are redundant design features for the LG290P module, ensuring compatibility with the concurrently packaged LC29H module. RESET_N is the reset signal for the HCM320Z Bluetooth module, used for programming. POWER_GNSS_EN is the control signal for the LDO module (SGM2028-3.3YNSG(TR)) that powers the LG290P module, serving as a redundant design for controlling the power-on sequence of the LG290P module. ADC_BATTERY serves as the power acquisition signal for the power supply device, acquired via ADC (Analog to Digital Converter) data acquisition by the HCM320Z Bluetooth module.

[0053] In summary, the technical solution provided in this application achieves dual-mode data communication through the coordinated operation of various modules within the positioning device. In wireless mode, the wireless communication module directly serves as the communication core and data forwarding hub, enabling bidirectional wireless data interaction with the terminal device. In wired mode, the communication conversion module acts as a bridge between USB and serial port protocols, working with the composite interface to achieve wired communication. Based on this, the embodiments of this application enable the positioning device to efficiently and stably complete the acquisition and transmission of high-precision positioning data in both operating modes. Furthermore, by replacing the traditional MCU main controller with the secondary development capability of the wireless communication module, device costs and system power consumption are reduced, and the positioning operation time is extended.

[0054] In some embodiments, such as Figure 4 As shown, the power supply device 120 may include: a battery 121, a charge / discharge management module 122 connected to the battery 121, and a power supply interface 123 connected to the charge / discharge management module 122.

[0055] Battery 121 is the energy storage unit of power supply device 120 and can be configured to store electrical energy. Battery 121 can be a high-performance lithium polymer battery with a nominal voltage of 3.6V and a capacity of 5000mAh, which has advantages such as high energy density, low self-discharge rate, and long cycle life. In addition, battery 121 can be charged and discharged normally in a wide temperature range of -40℃ to 60℃, and can have multiple safety mechanisms such as overcurrent protection, overvoltage protection, short circuit protection, and undervoltage protection, as well as physical protection capabilities such as resistance to extrusion, drop resistance, and seawater immersion, ensuring safety and reliability under various extreme working conditions in the field.

[0056] The charge / discharge management module 122 is the core control unit of the power supply device 120, and can be configured to manage the charge and discharge of the battery 121. The charge / discharge management module 122 can employ an intelligent charge / discharge management chip (such as IP5218) with integrated TYPEC protocol. Specifically, the charge / discharge management module 122 can integrate multiple functions such as charging management, discharging management, TYPEC DRP (Dual-Role Power) protocol, insertion / removal detection, light-load standby, and power indicator drive. By monitoring parameters such as voltage, current, and temperature of the battery 121, the charge / discharge management module 122 intelligently adjusts the charging current and discharging output to protect the battery 121 and ensure it operates within a safe range.

[0057] Power supply interface 123 is the only external physical interface of power supply device 120. It can be configured to supply power to positioning device 110 under the control of charging and discharging management module 122 when positioning device 110 is connected to power supply device 120. Power supply interface 123 can be a TYPEC female connector, mating and plugging with the composite interface 114 (TYPEC male connector) of positioning device 110. When the composite interface 114 of positioning device 110 is inserted into power supply interface 123, charging and discharging management module 122 can recognize that the connected device needs power and automatically start the discharging function, such as outputting 5V DC power to positioning device 110 through power supply interface 123.

[0058] In some embodiments, the power supply interface 123 is further configured to: supply power to the terminal device 200 or receive power from the terminal device 200 when the terminal device 200 is connected to the power supply device 120, based on the control of the charge / discharge management module 122. When the terminal device 200 (such as a smartphone) is connected to the power supply interface 123, the charge / discharge management module 122 can identify the role of the terminal device 200: if the terminal device 200 needs power (e.g., as a UFP (Upstream Facing Port) device), the charge / discharge management module 122 can control the battery 121 to output 5V power to the terminal device 200 to achieve emergency charging; if the terminal device 200 is a charger (e.g., as a DFP (Downstream Facing Port) device), the charge / discharge management module 122 can control the battery 121 to receive 5V power from the terminal device 200 to charge the battery 121. This automatic identification mechanism based on the DRP protocol allows the power supply interface 123 to function without distinguishing between input / output directions, enabling single-port multiplexing.

[0059] In some embodiments, such as Figure 4 As shown, the power supply device 120 may also include at least one of the following: power acquisition module 124, temperature detection module 125, power supply control module 126, target physical control 127, power indicator module 128, and target indicator component 129.

[0060] The power acquisition module 124, connected to the battery 121 and the power supply interface 123, can be configured to: when the positioning device 110 is connected to the power supply device 120, convert the battery power of 121 into a voltage signal and transmit it to the positioning device 110 via the power supply interface 123, so that the positioning device 110 can collect and forward it to the terminal device 200. The power acquisition module 124 can employ a resistor voltage divider circuit to proportionally attenuate the real-time voltage of the battery 121 to a voltage signal suitable for ADC acquisition (e.g., 0 to 3.3V range). This voltage signal is connected to a specific pin of the power supply interface 123. When the positioning device 110 and the power supply device 120 are connected, this voltage signal is transmitted through the composite interface 114 to the wireless communication module 112 inside the positioning device 110. The ADC function built into the wireless communication module 112 samples the signal and converts it into a digital power value. The wireless communication module 112 then sends this power value to the terminal device 200 via a wireless link, displaying the remaining power percentage of the power supply device 120 on the main page of a dedicated app, allowing the user to monitor the real-time battery status of the power supply device 120.

[0061] A temperature detection module 125, connected to the battery 121 and the charge / discharge management module 122, can be configured to monitor the temperature of the battery 121 and, when the temperature exceeds a preset temperature range, control the charge / discharge management module 122 to stop charging and discharging the battery 121. The temperature detection module 125 can employ an NTC (Negative Temperature Coefficient) thermistor, mounted on the surface of the battery 121, to sense real-time temperature changes. The resistance of the NTC thermistor changes with temperature, and the charge / discharge management module 122 calculates the real-time temperature of the battery 121 by detecting this resistance change. For example, when charging, if the temperature is below 0°C or above 45°C, the charge / discharge management module 122 automatically stops charging; when discharging, if the temperature is below -20°C or above 60°C, the charge / discharge management module 122 automatically stops discharging. This temperature protection mechanism effectively prevents performance degradation and safety risks of the battery 121 under extreme temperatures.

[0062] The power supply control module 126, connected to the charge / discharge management module 122, can be configured to control the operating state of the charge / discharge management module 122 in response to user operation commands to a target physical control 127 in the power supply device 120. The target physical control 127 can be implemented as a mechanical button and installed on the casing of the power supply device 120. The power supply control module 126 detects the operation commands of the target physical control 127. For example, when the user presses it briefly once (e.g., for a duration greater than 100 milliseconds and less than 2 seconds), the power supply control module 126 can send a power-on command to the charge / discharge management module 122 to start power output; when the user presses it twice consecutively within 1 second, the power supply control module 126 can send a power-off command to the charge / discharge management module 122 to stop power output.

[0063] The power indicator module 128, connected to the charge / discharge management module 122 and the power acquisition module 124, can be configured to control the indication state of the target indicator component 129 in the power supply device 120 based on the operating state of the charge / discharge management module 122 and / or the power level of the battery 121. The target indicator component 129 can be implemented as a light component, a voice component, and / or a display screen, etc., and this embodiment does not limit this. The power indicator module 128 can drive the target indicator component 129 to present different indication states according to different operating states and power levels, such as different light display states, voice broadcast content, text or image display content, etc. Taking the target indicator component 129 as an example, when the power supply device 120 is charging, the light component can flash at a frequency of 0.5Hz to indicate that it is charging; when the battery 121 is fully charged, the light component can remain on; when the power supply device 120 is discharging (supplying power to the positioning device 110 or the terminal device 200), the light component can also remain on; when the remaining power of the battery 121 is less than 15%, the light component can flash at a frequency of 1Hz to remind the user to charge it in time; when the power supply device 120 has no power output, the light component turns off. Through this intuitive power indication method, users can quickly determine the working status and remaining power of the power supply device 120 without relying on the terminal device.

[0064] Please see Figure 5 , Figure 5 This is a circuit diagram of a power supply device provided in an embodiment of this application. Figure 5 As shown, the battery 121 can be implemented as a 3.6V nominal lithium battery, the charge and discharge management module 122 can be implemented as a charge and discharge management chip IP5218, the power supply interface 123 can be implemented as a TYPEC female connector, the power acquisition module 124 can be implemented as a battery power acquisition circuit, the target physical control 127 can be implemented as a mechanical button, and the target indicator component 129 can be implemented as an LED power indicator circuit.

[0065] The TYPEC female connector is used to mate with the TYPEC male connector of the positioning device. The battery power acquisition circuit can represent the battery power as a voltage signal and transmit it to the HCM320Z of the positioning device for ADC acquisition via the BATTERY_ADC data channel and the TYPEC interface. The IP5218 charge / discharge management chip is an intelligent charge / discharge management chip integrating TYPEC protocol 1A charge / discharge. The LED power indicator circuit uses LEDs to indicate the charge / discharge status and power level: when charging, the LED flashes at 0.5Hz; when fully charged, it remains constantly lit; when discharging, the LED remains constantly lit; when 15% of the power remains, the LED flashes at 1Hz.

[0066] CC1 and CC2 are the detection pins of the TYPEC chip, used to identify the charging and discharging attributes of the inserted device: when the connected device is a DRP (such as a terminal device or positioning device), it can output 5V for power supply; when the connected device is a DFP (such as a charger), it can charge through the 5V output of the connected device. NTC is the battery temperature detection signal, used for battery temperature protection. For example, charging will automatically stop when the temperature is below 0°C or above 45°C during charging, and discharging will stop when the temperature is below -20°C or above 60°C during discharging. SW is the detection mechanical button signal, controlling the battery power supply function: a short press (e.g., duration greater than 100 milliseconds and less than 2 seconds) turns on the power supply function, and the LED indicator light will remain on (yellow-green); two short presses (e.g., two consecutive short presses within 1 second) turn off the power supply function, and the LED indicator light will turn off.

[0067] In summary, the technical solution provided in this application achieves intelligent, safe, and convenient power management through the integrated design of various modules within the power supply equipment. Specifically, the adoption of a single-chip charge / discharge management scheme replaces the traditional separate charging and discharging chip scheme, coupled with a single-port input / output power supply interface design, reducing hardware costs and system complexity. The collaborative work between the power acquisition module and the positioning device enables real-time uploading and display of power information. The temperature detection module ensures safe battery use in various environments. The power supply control module and the target physical control provide convenient human-machine interaction. The power indicator module provides intuitive feedback on device information by controlling various indicator states of the target indicator component. Based on this, the embodiments of this application enable the power supply equipment not only to provide continuous and stable power support for the positioning device but also to serve as an independent mobile power source for emergency charging of terminal devices, further enhancing the overall practicality and scenario adaptability of the separate RTK locator.

[0068] Please see Figure 6 , Figure 6 This is a schematic diagram of the architecture of a positioning system provided in an embodiment of this application. Figure 6As shown, the positioning system may include a terminal device 200 and a separate RTK locator 100. The separate RTK locator 100 can be any of the separate RTK locators described in the above embodiments. For a description of the structure and beneficial effects of the separate RTK locator 100, please refer to the above embodiments; further details will not be provided here.

[0069] Terminal device 200 is the core of the human-computer interaction of the positioning system. It can be equipped with a dedicated positioning app to provide functions such as map display, data storage, job management, and RTK data acquisition. Terminal device 200 may include smartphones, tablets, smart wearable devices, laptops, or other portable smart terminals with wireless and wired communication capabilities.

[0070] The terminal device 200 can be configured to: communicate with the positioning device 110 wirelessly when the positioning device 110 is connected to the power supply device 120; and communicate with the positioning device 110 via a wired connection and supply power to the positioning device 110 when the positioning device 110 is not connected to the power supply device 120.

[0071] In wireless operating mode, terminal device 200 can activate wireless network search function (such as Bluetooth or Wi-Fi) to search for and pair with the wireless communication module 112 of positioning device 110 to establish a wireless link with positioning device 110. At this time, terminal device 200 obtains RTK data from RTK base station through network (such as 4G / 5G mobile network or Wi-Fi) and sends the RTK data to positioning module 111 of positioning device 110 through wireless link. At the same time, terminal device 200 can receive centimeter-level high-precision positioning data returned by positioning device 110 to display positioning status (such as "fixed" status indicating that it has entered RTK fixed solution), coordinate information, accuracy indicators, etc. in real time in dedicated App. In addition, it can also support data acquisition, storage and management of various positioning operation modes such as AB line, acreage, and obstacle marking.

[0072] In wired operation mode, terminal device 200 can connect to the composite interface 114 of positioning device 110 via a data cable, supplying power to positioning device 110. Simultaneously, terminal device 200 can automatically recognize the USB serial port device and display a prompt window guiding the user to open the dedicated app. Within the dedicated app, terminal device 200 can communicate with positioning device 110 via the USB bus: sending RTK data acquired through the network to positioning device 110 via the USB link and receiving high-precision positioning data returned by positioning device 110. In wired operation mode, the display interface, usage methods, and functions of terminal device 200 are consistent with those in wireless operation mode, requiring no additional learning of operating procedures.

[0073] In some embodiments, the terminal device 200 may also be configured to: receive a voltage signal from the power supply device 120 when the positioning device 110 is connected to the power supply device 120, and perform a battery level reminder operation for the battery in the power supply device 120 based on the voltage signal.

[0074] The power acquisition module 124 of the power supply device 120 converts the power of the battery 121 into a voltage signal. This voltage signal is transmitted to the wireless communication module 112 inside the positioning device 110 via the combined interface 114 of the power supply interface 123 and the positioning device 110. The wireless communication module 112 performs ADC acquisition and converts the signal into a digital power value. The wireless communication module 112 then sends this power value to the terminal device 200 in real time via a wireless link. The dedicated app of the terminal device 200 can perform power level reminder operations, displaying the remaining power percentage of the power supply device 120 on the main page. This allows users to intuitively understand the battery status of the power supply device 120 and plan charging or replacement in a timely manner, avoiding work interruptions due to insufficient power. In addition, when the remaining power of the power supply device 120 is lower than a preset power level (e.g., 15%), the dedicated app of the terminal device 200 can also issue a low power warning to the user through sound, pop-up window, or vibration, further improving the continuity and reliability of the operation.

[0075] In summary, the technical solution provided in this application, through the collaborative operation of the terminal device and the separate RTK locator, achieves a unified human-computer interaction experience and data management function in two working modes. In wireless working mode, the terminal device is freed from the constraints of physical cables, allowing for more flexible operation, while simultaneously acquiring real-time power information from the power supply device for convenient battery life management. In wired working mode, the terminal device quickly initiates positioning operations via a plug-and-play data connection, eliminating the need for additional wireless pairing configuration and resulting in a faster response. Both working modes share the same display interface and operating procedures, reducing the user's learning curve. Furthermore, the terminal device's real-time power display function further enhances the intelligence level of the positioning system and the user experience.

[0076] Please see Figure 7 , Figure 7 This is a flowchart illustrating a positioning method provided in an embodiment of this application. This positioning method can be applied to a split-type RTK locator. The split-type RTK locator can be any of the split-type RTK locators described in the above embodiments. For a detailed description of the structure and beneficial effects of the split-type RTK locator, please refer to the above embodiments; further details are omitted here. Figure 7 As shown, the positioning method may include the following steps S701 to S702.

[0077] Step S701: When the positioning device is connected to the power supply device, it communicates with the terminal device wirelessly and receives power from the power supply device. Step S702: When the positioning device is not connected to the power supply device, it communicates with the terminal device via a wired connection and receives power from the terminal device.

[0078] In some embodiments, step S701 may include: receiving RTK data from a terminal device when the positioning device is connected to a power supply device; performing positioning calculations based on satellite observation data and RTK data to obtain positioning data; and sending the positioning data to the terminal device.

[0079] In some embodiments, step S702 may include: receiving RTK data from a terminal device when the positioning device is not connected to a power supply device; converting the RTK data into a data format; performing positioning calculation based on satellite observation data and the RTK data after data format conversion to obtain positioning data; converting the positioning data into a data format; and sending the converted positioning data to the terminal device.

[0080] Please see Figure 8 , Figure 8This is a flowchart illustrating another positioning method provided in an embodiment of this application. This positioning method can be applied to a separate RTK locator. The separate RTK locator can be any of the separate RTK locators described in the above embodiments. For a detailed description of the structure and beneficial effects of the separate RTK locator, please refer to the above embodiments; further details are omitted here. Figure 8 As shown, the positioning method may include the following steps S801 to S808.

[0081] Step S801: Working Mode Selection. Before conducting positioning operations outdoors, users can choose one of two working modes based on site conditions and requirements. The wired working mode is suitable for scenarios that prioritize lightweight design and ease of use; the wireless working mode is suitable for scenarios that prioritize long battery life, wireless connectivity, and operational freedom.

[0082] Step S802: The positioning device is connected to the terminal device via a data cable. If the user selects wired operation mode, the positioning device needs to be connected to the TYPEC interface of the terminal device via a data cable such as an OTG cable.

[0083] Step S803: The terminal device prompts the user to open the dedicated app. When the positioning device is connected to the terminal device, the terminal device can automatically recognize the USB bus and display a pop-up window to prompt the user to open the dedicated app. The user can open the dedicated app by clicking the OK button in the pop-up window.

[0084] Step S804: Connect the positioning device and the power supply device. If the user selects the wireless working mode, the positioning device and the power supply device need to be directly connected through the male and female TYPEC interface. At this time, the LED indicator of the power supply device will be constantly lit in yellow-green, automatically supplying power to the positioning device.

[0085] Step S805: Wirelessly pair the positioning device with the terminal device and open the dedicated app. The user can turn on the wireless pairing function such as Bluetooth on the terminal device, search for the positioning device and connect and pair it, and then the user can open the dedicated app.

[0086] Step S806: Dedicated App Operation. After opening the dedicated app, the user registers or logs in and waits for the positioning status to enter "Fixed". Except for the remaining battery percentage display on the app's main page in wireless working mode, the display interface, usage method, and functions of the dedicated app are identical for both wired and wireless working modes. Positioning operations can only be performed when the positioning status displays "Fixed", indicating that the RTK fixed solution state has been entered, at which point the positioning accuracy can reach the centimeter level.

[0087] Step S807: Select positioning mode and execute positioning operation. After the positioning status is displayed as "fixed" on the main page of the dedicated app, the user can select different positioning modes according to different operation scenarios, such as AB line, surveying, and obstacle marking. After selecting the positioning mode, click to start the positioning operation. During the operation, positioning-related data is transmitted in real time through the currently active link, such as Bluetooth or USB.

[0088] Step S808: Save job data and end the positioning job. After completing the positioning job, the user can click the corresponding save button to exit the current app. The previous job data can be viewed the next time the app is opened. If a wired working mode is used, the data cable can be directly unplugged to end the positioning job. If a wireless working mode is used, the positioning job needs to be ended using the mechanical button on the power supply device. For example, pressing the mechanical button twice will turn off the blue-green LED indicator, indicating that the power supply device has stopped supplying power. If you need to use it again, press the mechanical button once, and the blue-green LED indicator will remain on, indicating that the power supply is working normally. After the power supply device stops supplying power, the power supply device and the positioning device can be directly unplugged and disconnected. The separate power supply device can then be used to charge smartphones and other terminal devices in emergency situations.

[0089] Please see Figure 9 , Figure 9 This is a schematic diagram illustrating the working mode of a split RTK positioner provided in an embodiment of this application. Figure 9 As shown, the split RTK locator includes a positioning device 110 and a power supply device 120; in wireless working mode, the positioning device 110 needs to be plugged into the power supply device 120 for use; in wired working mode, the positioning device 110 is directly connected to the terminal device 200 through the data cable 300.

[0090] For further details regarding the specific execution process and beneficial effects of the above steps, please refer to the embodiments of the above-mentioned split RTK locator and positioning system, which will not be elaborated here.

[0091] Based on the above embodiments, the technical solutions provided by the embodiments of this application have at least the following innovative points and beneficial effects.

[0092] Firstly, the innovative dual-mode collaborative system architecture: Abandoning the single architecture of handheld locators that are either purely wired or purely all-in-one / Bluetooth wireless, this application's embodiment highly integrates a high-precision RTK positioning core and a low-power Bluetooth communication module supporting secondary development into the positioning device to support wired operation mode. A power supply device with integrated intelligent charge and discharge management is also designed to support wireless operation mode. The positioning device itself can draw power from the terminal device via an OTG cable or connect to the power supply device to draw power and communicate with the terminal device via Bluetooth. Based on this, it supports two distinctly different operating modes, allowing users to freely choose according to task duration and environmental conditions, enhancing scenario adaptability and user freedom.

[0093] Secondly, the composite TYPEC interface design: Whether it's a positioning device supporting wired operation or a power supply device supporting wireless operation, each has only one TYPEC interface. The positioning device's TYPEC interface supports charging and communication in wired mode, as well as simple power supply from the power supply device in wireless mode. The power supply device's TYPEC interface can be charged via a power adapter, or it can charge either the positioning device or the terminal device. Based on this, interface reuse reduces user complexity, and the power supply device's TYPEC interface integrates the TYPEC DRP protocol for automatic device identification and charging / discharging. Reducing the number of external interfaces also simplifies structural design and enhances the device's dustproof and waterproof ratings.

[0094] Thirdly, the hardware design is low-cost and low-power: In wireless operating mode, the traditional MCU as the main controller to coordinate the work of various modules is abandoned. Instead, a low-power Bluetooth module is adopted, which supports secondary development. Based on this, the traditional MCU controller is eliminated, which significantly reduces the cost of the equipment and also reduces the power consumption of the system. Whether in wired or wireless operating mode, the battery life is enhanced and the positioning operation time is extended.

[0095] Fourth, multi-functional charge and discharge management design: The battery circuit design adopts an integrated charge and discharge management chip, which supports single-port input / output, automatic detection of TYPEC insertion / removal, light-load standby, and integrated DRP protocol and power acquisition, among other functions. Based on this, the traditional designs of separate charge and discharge management chips, single-port input and single-port output are abandoned, reducing system design complexity, increasing system functionality, and reducing hardware costs by using a single charge and discharge management chip.

[0096] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0097] Therefore, this application also provides a computer-readable storage medium storing a computer program or instructions thereon, which is loaded by a processor to execute the positioning method described in the above embodiments.

[0098] For details on the implementation of each of the above operations / steps, please refer to the previous examples, which will not be repeated here.

[0099] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0100] Since the computer program stored in the computer-readable storage medium can execute the steps in any of the above method embodiments provided in the embodiments of this application, the beneficial effects that the methods described in any of the above method embodiments can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0101] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor reads the computer instructions from the computer-readable storage medium and executes the computer instructions to implement the methods provided in the various optional implementations described above.

[0102] The foregoing has provided a detailed description of a separate RTK locator, positioning system, positioning method, and storage medium provided in the embodiments of this application. Specific examples have been used in this application to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A split-type RTK positioner, characterized in that, The detachable RTK locator includes a positioning device and a power supply device, which are detachably connected; wherein the positioning device is configured as follows: When connected to the power supply equipment, it communicates with external terminal devices wirelessly and receives power from the power supply equipment. Without being connected to the power supply equipment, it communicates with external terminal devices via a wired connection and receives power from the terminal devices.

2. The split RTK positioner according to claim 1, characterized in that, The positioning device includes: a positioning module, a wireless communication module connected to the positioning module, a communication conversion module connected to the wireless communication module, and a composite interface connected to the communication conversion module; wherein, The positioning module is configured to: perform positioning calculation, obtain positioning data, and send the positioning data to the wireless communication module; The wireless communication module is configured to: send the positioning data to the terminal device when the positioning device is connected to the power supply device; and send the positioning data to the communication conversion module when the positioning device is not connected to the power supply device. The communication conversion module is configured to: convert the data format of the positioning data when the positioning device is not connected to the power supply device, and send the positioning data after the data format conversion to the composite interface; The composite interface is configured to: connect to the power supply device to receive power from the power supply device when the positioning device is connected to the power supply device; and connect to the terminal device to receive power from the terminal device and send the positioning data converted by the data format to the terminal device when the positioning device is not connected to the power supply device.

3. The split RTK positioner according to claim 2, characterized in that, The composite interface is also configured to: receive RTK data from the terminal device and send the RTK data to the communication conversion module when the positioning device is not connected to the power supply device; The communication conversion module is further configured to: convert the data format of the RTK data and send the converted RTK data to the wireless communication module when the positioning device is not connected to the power supply device. The wireless communication module is further configured to: receive the RTK data from the terminal device and send the RTK data to the positioning module when the positioning device is connected to the power supply device; When the positioning device is not connected to the power supply device, the RTK data after the data format conversion is sent to the positioning module; The positioning module is further configured to perform the positioning calculation based on satellite observation data and the RTK data to obtain the positioning data.

4. The split RTK positioner according to claim 1, characterized in that, The power supply device includes: a battery, a charge / discharge management module connected to the battery, and a power supply interface connected to the charge / discharge management module; wherein, The charge / discharge management module is configured to: manage the charge / discharge of the battery; The power supply interface is configured to supply power to the positioning device under the control of the charge / discharge management module when the positioning device is connected to the power supply device.

5. The split RTK positioner according to claim 4, characterized in that, The power supply interface is also configured to: supply power to the terminal device or receive power from the terminal device, based on the control of the charge / discharge management module, when the terminal device is connected to the power supply device.

6. The split RTK positioner according to claim 4, characterized in that, The power supply equipment also includes at least one of the following: A power acquisition module, connected to the battery and the power supply interface, is configured to: when the positioning device is connected to the power supply device, convert the battery power into a voltage signal and transmit it to the positioning device through the power supply interface, so that the positioning device can collect and forward it to the terminal device; A temperature detection module, connected to the battery and the charge / discharge management module, is configured to: monitor the temperature of the battery, and when the temperature exceeds a preset temperature range, control the charge / discharge management module to stop charging and discharging the battery; The power supply control module, connected to the charge and discharge management module, is configured to control the working state of the charge and discharge management module in response to user operation commands for target physical controls in the power supply equipment. The power indicator module, connected to the charge / discharge management module and the power acquisition module, is configured to control the indication state of the target indicator component in the power supply device based on the working state of the charge / discharge management module and / or the power level of the battery.

7. A positioning system, characterized in that, The positioning system includes a terminal device and a separate RTK locator as described in any one of claims 1 to 6; wherein the terminal device is configured to: When the positioning device is connected to the power supply device, data communication is performed between the positioning device and the wireless connection method. When the positioning device is not connected to the power supply device, data communication is conducted with the positioning device via the wired connection, and power is supplied to the positioning device.

8. The positioning system according to claim 7, characterized in that, The terminal device is also configured to: when the positioning device is connected to the power supply device, receive a voltage signal from the power supply device, and perform a battery level reminder operation for the battery in the power supply device based on the voltage signal.

9. A positioning method, characterized in that, Applied to the split RTK locator as described in any one of claims 1 to 6, the positioning method includes: When the positioning device is connected to the power supply device, it communicates with the terminal device via the wireless connection and receives power from the power supply device. When the positioning device is not connected to the power supply device, it communicates with the terminal device via a wired connection and receives power from the terminal device.

10. The positioning method according to claim 9, characterized in that, When the positioning device is connected to the power supply device, the data communication between the positioning device and the terminal device via the wireless connection includes: When the positioning device is connected to the power supply device, RTK data is received from the terminal device; Positioning data is obtained by performing positioning calculations based on satellite observation data and the RTK data; The location data is sent to the terminal device.

11. The positioning method according to claim 9, characterized in that, The step of communicating data with the terminal device via a wired connection when the positioning device is not connected to the power supply device includes: When the positioning device is not connected to the power supply device, RTK data is received from the terminal device; Perform data format conversion on the RTK data; Based on satellite observation data and the RTK data converted from the aforementioned data format, a positioning calculation is performed to obtain positioning data; Perform the data format conversion on the positioning data; The location data, after being converted by the data format, is sent to the terminal device.

12. A computer-readable storage medium, characterized in that, It stores a computer program or instructions thereon, which, when executed by a processor, implement the positioning method as described in any one of claims 9 to 11.

Images