Real-time dynamic positioning device and real-time dynamic positioning terminal

Abstract

The embodiment of the utility model provides a real-time dynamic positioning device and a real-time dynamic positioning terminal, and the real-time dynamic positioning device comprises at least two real-time dynamic antennas which are used for receiving positioning signals, at least two radio frequency front ends, and a positioning processing device which is used for determining positioning information based on the positioning signals. The real-time dynamic processing unit is used for converting positioning information into position information, each real-time dynamic antenna is connected with one radio frequency front end, the two radio frequency front ends are further connected with the positioning processing device, the positioning processing device is further connected with the real-time dynamic processing unit, and the active antenna unit is connected with the real-time dynamic processing unit. The real-time dynamic processing unit is connected with the data interaction interface, and the data interaction interface is also connected with the active antenna unit.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular to a real-time dynamic positioning device and a real-time dynamic positioning terminal. Background Art

[0002] With the development of technology, new application scenarios such as low-altitude security and vehicle-road collaboration have an increasing demand for perception accuracy. Existing ground communication base stations do not yet support perception services, but research on telepathic base stations has made progress. This type of base station is designed to provide communication and perception services at the same time to meet high-precision perception needs. Taking illegal drone monitoring as an example, the position accuracy must reach 1-10 meters and the angle accuracy must be less than 1°. Similar standards are also applied to unmanned aerial vehicle detection at civil airports. To meet these requirements, telepathic base stations need to adopt a design with large-scale antenna arrays and strong beam scanning capabilities to achieve narrower beam widths and higher gains, thereby improving perception accuracy.

[0003] The existing telepathic base stations do not support real-time positioning and are relatively costly, which is an urgent problem to be solved. Utility Model Content

[0004] The embodiments of the present application provide a real-time dynamic positioning device and a real-time dynamic positioning terminal, which solve the problem that the existing telepathic base station does not support real-time positioning and has a high cost.

[0005] In a first aspect, a real-time dynamic positioning device is provided, comprising: at least two real-time dynamic antennas for receiving positioning signals, at least two radio frequency front ends, a positioning processing device for determining positioning information based on the positioning signals, a real-time dynamic processing unit for converting the positioning information into position information, a data interaction interface and an active antenna unit, wherein each real-time dynamic antenna is connected to an radio frequency front end, the two radio frequency front ends are also connected to the positioning processing device, the positioning processing device is also connected to the real-time dynamic processing unit, the real-time dynamic processing unit is connected to the data interaction interface, and the data interaction interface is also connected to the active antenna unit.

[0006] Optionally, the positioning processing device and / or the real-time dynamic processing unit is arranged between different real-time dynamic antennas among the at least two real-time dynamic antennas.

[0007] Optionally, the positioning processing device includes: a numerical control selection unit and a positioning processing unit, the numerical control selection unit is connected to at least one of the at least two RF front ends, and the numerical control selection unit is also connected to the positioning processing unit.

[0008] Optionally, the numerical control selection unit is a numerical control switch.

[0009] Optionally, the numerical control selection unit is also connected to a data interaction interface.

[0010] Optionally, the positioning processing device includes at least two positioning processing units, each positioning processing unit is connected to a radio frequency front end, and each positioning processing unit is also connected to the real-time dynamic processing unit.

[0011] Optionally, the real-time dynamic positioning device also includes a radome.

[0012] Optionally, the top of the antenna cover is in an arc shape.

[0013] Optionally, the at least two real-time dynamic antennas are both circularly polarized antennas.

[0014] In a second aspect, a real-time dynamic positioning terminal is provided, comprising: the real-time dynamic positioning device as described in the first aspect.

[0015] In the present application, the measurement of the azimuth and position of the base station is realized, the cost of the communication unit and the RTK processing unit is saved, and the tele-sensing base station can support real-time positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0017] Figure 1 It is a schematic diagram of a method for measuring azimuth by a base station;

[0018] Figure 2 It is a schematic diagram of the RTK positioning solution;

[0019] Figure 3 It is one of the schematic diagrams of the RTK positioning device provided in the embodiment of the present application;

[0020] Figure 4 This is the second schematic diagram of the RTK positioning device provided in the embodiment of the present application;

[0021] Figure 5 This is the third schematic diagram of the RTK positioning device provided in the embodiment of the present application;

[0022] Figure 6 It is a schematic diagram of the interaction between the RTK positioning terminal and other devices in an embodiment of the present application;

[0023] Figure 7 It is a schematic diagram of a real-time dynamic positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] The term "comprise" and any variations thereof in the specification and claims of the present application are intended to cover non-exclusive inclusions. In addition, the use of "and / or" in the specification and claims to indicate at least one of the connected objects, for example, A and / or B, means including A alone, B alone, and the presence of both A and B.

[0026] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0027] Although the tele-sensing base station has made significant progress in research and design, and its software and hardware functions and performance can meet the needs of perception services, there is still a problem that has not been fully studied: the impact of the accuracy of the engineering parameters (such as longitude and latitude, altitude, azimuth, pitch angle, etc.) of the active antenna unit (AAU) during operation on the perception accuracy. The errors in these engineering parameters, whether they come from human errors and measurement errors during the site construction phase, or accidental vibrations and long-term loose tooling during the site operation phase, will directly cause the perception results to deviate from the actual position of the object. Because the base station's perception results of the object are only relative position information relative to the base station itself, the position error of the base station itself will inevitably be transmitted to the perception results. Therefore, in order to ensure the perception accuracy of the tele-sensing base station, the accuracy and stability of the AAU engineering parameters must be highly valued.

[0028] Real-time kinematic (RTK) carrier phase differential technology is a differential method for real-time processing of carrier phase observations of two measuring stations. The carrier phase collected by the base station is sent to the user receiver to calculate the coordinates. This is a new and commonly used satellite positioning measurement method. The previous static, fast static, and dynamic measurements all required post-calculation to obtain centimeter-level accuracy. RTK is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It uses a carrier phase dynamic real-time differential method and is a major milestone in the application of the Global Navigation Satellite System (GNSS). Its appearance has brought new measurement principles and methods to engineering layout, topographic mapping, and various control measurements, greatly improving work efficiency.

[0029] Unlike the perception service, the communication service also requires the design of appropriate engineering parameters for AAU, but the accuracy requirements for the engineering parameters are lower, that is, the tolerance for engineering parameter errors is very high. For example, if the longitude and latitude of the AAU site change by 3 to 5 meters, the AAU pitch angle changes by about 1°, and the azimuth angle changes by about 5°, the impact on the coverage of the communication cell is not significant.

[0030] Conventional base station azimuth measurement methods are as follows: Figure 1 As shown, two measurement points are set, point 1 and point 2, which are two points inside the top of the AAU. The coordinates of point 1 and point 2 are obtained, and the line segment between point 1 and point 2 is made into a line segment, which is parallel to the windward surface of the AAU. The angle between the vertical line of the line segment and the true north is calculated, and the angle between the vertical line and the true north is the azimuth.

[0031] If the RTK positioning solution is used, such as Figure 2 As shown in the figure, two sets of real-time dynamic positioning terminals are placed on the upper side of the AAU. The two sets of real-time dynamic positioning terminals interact with the satellite to obtain their own location information, and interact with the server through the air interface to obtain accurate location information. The reliability of air interface communication is also relatively poor.

[0032] There are at least the following problems that have not been solved in the prior art:

[0033] First of all, the existing base station engineering parameters require that the azimuth data accuracy is within the range of ±5°, the downtilt data accuracy is within the range of ±1°, and the latitude and longitude data accuracy (position error radius) is within the range of 10m. This accuracy is very inaccurate when sensing. On top of this, a large number of engineering parameters are first positioned by workers using the Global Positioning System (GPS), and the workers fill in manually. The engineering parameter setting and detection are not closed-loop, and the accuracy is very poor. In addition, there are a lot of experience corrections during the installation of the base station. In the case of downtilt angles, the workers install them according to their feelings, which may be quite different from the actual situation.

[0034] On the other hand, due to cost considerations, positioning modules are rarely installed on base station AAUs, making real-time calibration impossible. When encountering strong winds and heavy rains, the engineering parameter information of the base station may be affected, but the base station itself does not experience engineering parameter changes, which can cause large errors in synaesthesia positioning.

[0035] If two RTK systems are used, two sets of solution processing chips are required, which is costly. In addition, the real-time dynamic positioning terminal contains a communication module, which will further increase the cost. In addition, RTK interacts with the base station through the air interface, which will reduce the stability of the RTK positioning device.

[0036] See also Figure 3 The present application provides a real-time dynamic positioning device (i.e., RTK positioning device), including: at least two real-time dynamic antennas (i.e., RTK antennas) 31 for receiving positioning signals, at least two radio frequency front ends 32, a positioning processing device 33 for determining positioning information based on the positioning signal, a real-time dynamic processing unit (i.e., RTK processing unit) 34 for converting the positioning information into position information, a data interaction interface 35 and AUU36, wherein each real-time dynamic antenna 31 is connected to an radio frequency front end 32, the two radio frequency front ends 32 are also connected to the positioning processing device 33, the positioning processing device 33 is also connected to the real-time dynamic processing unit 34, the real-time dynamic processing unit 34 is also connected to the data interaction interface 35, and the data interaction interface 35 is also connected to the AUU36, for example, AUU36 is the AUU of the integrated sensing base station.

[0037] In one embodiment of the present application, the positioning processing device 33 and / or the real-time dynamic processing unit 34 are arranged between different real-time dynamic antennas 31 among the at least two real-time dynamic antennas 31 .

[0038] In one embodiment of the present application, the positioning processing device 33 includes: a numerical control selection unit and a positioning processing unit for determining positioning information based on a positioning signal, the numerical control selection unit is connected to at least one of the at least two RF front ends, and the numerical control selection unit is also connected to the positioning processing unit.

[0039] Optionally, the numerical control selection unit is a numerical control switch.

[0040] In one implementation of the present application, the numerical control selection unit is also connected to the data interaction interface 35 .

[0041] In one embodiment of the present application, the positioning processing device 33 includes at least two positioning processing units for determining positioning information based on the positioning signal, each positioning processing unit is connected to a radio frequency front end 32, and each positioning processing unit is also connected to the real-time dynamic processing unit 34.

[0042] Optionally, the real-time dynamic processing unit 34 can use the received positioning data (such as GPS signals, Wi-Fi signals, Bluetooth signals, etc.) to calculate and determine the specific location coordinates of the device or object, and then convert the positioning information into position information. The real-time dynamic processing unit 34 is implemented by a digital signal processor (DSP), a field programmable gate array (Field Programmable Gate Array, FPGA), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) chip, etc.

[0043] Optionally, the positioning processing unit is responsible for converting the positioning signal processed by the RF front end into a digital signal and processing it to obtain positioning information, SNR, carrier phase, etc., wherein the positioning information includes but is not limited to at least one of the following: satellite position, ephemeris information, etc. For example, the positioning processing unit can be a GPS chip, for example, the specific location coordinates of the device, such as longitude, latitude, altitude, etc., are calculated based on the received GPS satellite signal.

[0044] In one embodiment of the present application, the real-time dynamic positioning device further includes a radome 41, see Figure 4 .

[0045] In one embodiment of the present application, the top of the antenna cover 41 is in an arc shape.

[0046] In one implementation of the present application, the at least two real-time dynamic antennas are both circularly polarized antennas.

[0047] The present application also provides a real-time dynamic positioning terminal, including: Figure 3 The real-time dynamic positioning device shown.

[0048] Embodiment 1:

[0049] See also Figure 5A real-time dynamic positioning terminal includes 2 sets of RTK antennas, 2 sets of RF terminals, 1 digital switch, 1 positioning processing unit, 1 RTK processing unit and a data interaction interface.

[0050] Optionally, the RTK antenna usually adopts a circularly polarized antenna, which can receive single or multiple GNSS signals such as Beidou and GPS as required. The RF front end is responsible for processing and amplifying the received positioning signal. The digital control switch at the back end can periodically switch to receive data from the real-time dynamic antenna 1 and the real-time dynamic antenna 2 according to the control of the AAU. The positioning processing unit is responsible for converting the processed RF signal into a digital signal and processing it to obtain the signal to interference plus noise ratio (SNR), carrier phase, satellite position, ephemeris information, etc. The RTK processing unit is responsible for converting the positioning information into position information through the RTK processing unit, and transmitting the information to the AAU through the data interaction interface. The AAU, the indoor baseband processing unit (Building Baseband Unit, BBU), and the RTK server generate positioning compensation information and transmit it back to the RTK processing unit to complete the compensation calibration of the positioning information of the RTK antenna 1 and the RTK antenna 2, generate the precise left side of the RTK antenna 1 and the RTK antenna 2, and thus calculate the position and angle of the engineering parameter information, see. Figure 6 .

[0051] Embodiment 2:

[0052] In this embodiment, the high-precision angular parameter acquisition can also be calculated by jointly processing the data of two antennas.

[0053] See also Figure 7 After receiving the data, RTK antenna 1 and RTK antenna 2 perform radio frequency processing and positioning processing respectively, and generate a vector from RTK antenna 1 to RTK antenna 2 in the RTK processing unit, and feed back the corresponding position vector to AAU, BBU, and RTK server in sequence through the data interaction interface, and obtain correction information, thereby obtaining accurate position and angle information.

[0054] Both Example 1 and Example 2 can achieve calibration of the positioning data of two RTK antennas through a set of differential correction parameters, thereby reducing the calculation and transmission load of the RTK server.

[0055] Through Example 1 and Example 2, low-cost high-precision positioning information can be obtained, requiring that the distance error of the work parameter position information is no more than 10 cm and the angle error is no more than 0.5°.

[0056] In the present application, the measurement of the azimuth and position of the base station is realized, at least two RTK positioning terminals are combined, a RTK processing unit is shared, and a set of differential correction parameters are shared to realize a low-cost and high-precision base station engineering parameter information acquisition solution, saving the cost of the communication unit and the RTK processing unit, and at the same time solving the problem that the existing telepathic base station does not support real-time positioning and has a high cost.

[0057] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A real-time dynamic positioning device, characterized in that: include: At least two real-time dynamic antennas for receiving positioning signals, at least two radio frequency front ends, a positioning processing device for determining positioning information based on the positioning signal, a real-time dynamic processing unit for converting the positioning information into position information, a data interaction interface and an active antenna unit, wherein each real-time dynamic antenna is connected to an radio frequency front end, the two radio frequency front ends are also connected to the positioning processing device, the positioning processing device is also connected to the real-time dynamic processing unit, the real-time dynamic processing unit is connected to the data interaction interface, and the data interaction interface is also connected to the active antenna unit.

2. The real-time dynamic positioning device according to claim 1, characterized in that: The positioning processing device and / or the real-time dynamic processing unit are arranged between different real-time dynamic antennas of the at least two real-time dynamic antennas.

3. The real-time dynamic positioning device according to claim 1, characterized in that: The positioning processing device includes: a numerical control selection unit and a positioning processing unit for determining positioning information based on a positioning signal, the numerical control selection unit is connected to at least one of the at least two RF front ends, and the numerical control selection unit is also connected to the positioning processing unit.

4. The real-time dynamic positioning device according to claim 3, characterized in that: The numerical control selection unit is also connected to the data interaction interface.

5. The real-time dynamic positioning device according to claim 3, characterized in that: The numerical control selection unit is a numerical control switch.

6. The real-time dynamic positioning device according to claim 1, characterized in that: The positioning processing device includes at least two positioning processing units for determining positioning information based on positioning signals, each positioning processing unit is connected to a radio frequency front end, and each positioning processing unit is also connected to the real-time dynamic processing unit.

7. The real-time dynamic positioning device according to claim 1, characterized in that: The real-time dynamic positioning device also includes a radome.

8. The real-time dynamic positioning device according to claim 7, characterized in that: The top of the antenna cover is in an arc shape.

9. The real-time dynamic positioning device according to any one of claims 1 to 8, characterized in that: The at least two real-time dynamic antennas are both circularly polarized antennas.

10. A real-time dynamic positioning terminal, characterized in that: include: A real-time dynamic positioning device as claimed in any one of claims 1 to 9.

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