Network RTK positioning method and system

Abstract

Provided in the present application are a network RTK positioning method and system. The network RTK positioning method comprises: sending service request information to a configuration server; the configuration server determining first configuration information from a plurality of pieces of configuration information, and sending same to a terminal device; using the acquired first configuration information as target configuration information; requesting differential information from an Ntrip server associated with the target configuration information; on the basis of the acquired differential information, obtaining calculation information; in response to the calculation information satisfying a preset failure condition, sending service switching information to the configuration server; the configuration server determining second configuration information from the plurality of pieces of configuration information, and sending same to the terminal device; and using the acquired second configuration information as the target configuration information. When the Ntrip server connected to the terminal device has had an anomaly, the terminal device can change the Ntrip server in time for connection and re-request differential information, so as to acquire valid differential information for calculation, thereby improving the positioning accuracy.

Description

Network RTK Positioning Method and System

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410798245.7, filed on June 19, 2024, entitled “Network RTK Positioning Method and System”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of differential positioning technology, and in particular to a network RTK positioning method and system. Background Technology

[0004] Network RTK (Real-time kinematic) is a satellite positioning measurement method. An RTK system includes a rover and a reference station. The reference station is typically stationary, continuously observing the satellite and sending differential information to the rover via a data link. The rover acquires its own observation data and performs RTK calculations based on this data and the differential information to obtain highly accurate coordinate values.

[0005] Currently, network RTK positioning primarily relies on the Ntrip (Networked Transport of RTCM via Internet Protocol) protocol for data transmission. Network RTK positioning systems typically employ a continuously operating reference station system consisting of an Ntrip server and several reference stations. These reference stations are spaced apart on the ground, each equipped with GNSS (Global Navigation Satellite System) equipment for continuous observation. The observed information is transmitted to the Ntrip server via a dedicated network.

[0006] In this system, authorized users act as mobile stations. When performing network RTK positioning, each authorized user needs to connect to an Ntrip server and request differential information. The Ntrip server responds to the mobile station's request by sending the differential information, enabling the mobile station to perform RTK calculations and positioning based on this information. However, if the Ntrip server malfunctions, it may be unable to provide valid differential information, affecting positioning accuracy. Summary of the Invention

[0007] In view of the above, it is necessary to provide a network RTK positioning method and system that can improve positioning accuracy.

[0008] The first aspect of this application provides a network RTK positioning method applied to a terminal device. The terminal device is used to connect to a configuration server, which has multiple configuration information pieces, each associated with a corresponding Ntrip server. The method includes: sending service request information to the configuration server based on observation information; wherein the service request information instructs the configuration server to determine first configuration information from the multiple configuration information pieces and send it to the terminal device; using the obtained first configuration information as target configuration information; requesting differential information from the Ntrip server associated with the target configuration information; obtaining solution information based on the obtained differential information; and sending service switching information to the configuration server in response to the solution information satisfying a preset failure condition; wherein the service switching information instructs the configuration server to determine second configuration information from the multiple configuration information pieces and send it to the terminal device; and using the obtained second configuration information as target configuration information.

[0009] In some embodiments, the solution information includes the solution time, wherein the solution time is used to reflect the solution time of the differential information; the solution information satisfies the preset failure conditions, including: the solution time is greater than or equal to the preset parsing time threshold.

[0010] In some embodiments, the solution information includes differential GPS age; the solution information satisfies preset failure conditions including: the differential GPS age is greater than or equal to a preset age delay threshold.

[0011] In some embodiments, the configuration information includes the address information and account information of the Ntrip server; before requesting differential information from the Ntrip server associated with the target configuration information, the method further includes: establishing a connection with the Ntrip server based on the address information and performing authentication based on the account information; in response to successfully establishing a connection with the Ntrip server and successfully authenticating, performing the step of requesting differential information from the Ntrip server associated with the target configuration information.

[0012] In some embodiments, the method further includes: sending service switching information to a configuration server in response to a connection failure or authentication failure with the Ntrip server.

[0013] A second aspect of this application provides a network RTK positioning method applied to a configuration server. The configuration server is used to connect to a terminal device and has multiple configuration information pieces, each configuration information piece being associated with a corresponding Ntrip server. The method includes: in response to receiving service request information sent by the terminal device, determining first configuration information from the multiple configuration information pieces and sending it to the terminal device; wherein the first configuration information is used to instruct the terminal device to use the acquired first configuration information as target configuration information and request differential information from the Ntrip server associated with the target configuration information; in response to receiving service switching information sent by the terminal device, determining second configuration information from the multiple configuration information pieces and sending it to the terminal device; wherein the second configuration information is used to instruct the terminal device to use the acquired second configuration information as target configuration information.

[0014] In some embodiments, multiple configuration information pieces are each assigned an updatable priority. In response to receiving a service request from a terminal device, determining first configuration information from the multiple configuration information pieces and sending it to the terminal device includes: in response to receiving a service request from the terminal device, determining multiple configuration information pieces; determining the configuration information with the highest priority from the multiple configuration information pieces as the first configuration information and sending it to the terminal device. In response to receiving service switching information from the terminal device, determining second configuration information from the multiple configuration information pieces and sending it to the terminal device includes: in response to receiving a service request from the terminal device, lowering the priority of the configuration information corresponding to the service request information; determining the configuration information with the highest priority from the multiple configuration information pieces as the second configuration information.

[0015] In some embodiments, before determining the configuration information with the highest priority from multiple configuration information as the first configuration information and sending it to the terminal device, the method further includes: obtaining historical information of the Ntrip server associated with the configuration information; and updating the priority of the associated configuration information based on the historical information of the Ntrip server.

[0016] A third aspect of this application provides a terminal device for connecting to a configuration server. The configuration server has multiple configuration information entries, each associated with a corresponding Ntrip server. The terminal device includes: a positioning module for acquiring observation information; and a control module connected to the positioning module. The control module is configured to: send service request information to the configuration server based on the observation information; wherein the service request information instructs the configuration server to determine first configuration information from the multiple configuration information entries and send it to the terminal device; use the acquired first configuration information as target configuration information; request differential information from the Ntrip server associated with the target configuration information; obtain solution information based on the acquired differential information; and send service switching information to the configuration server in response to the solution information satisfying a preset failure condition; wherein the service switching information instructs the configuration server to determine second configuration information from the multiple configuration information entries and send it to the terminal device; and use the acquired second configuration information as target configuration information.

[0017] This application provides a fourth aspect of a mobile station system, including a configuration server and a terminal device as provided in the third aspect; the configuration server has multiple configuration information, which are associated with an Ntrip server, and the configuration server is used to connect to the terminal device; the configuration server includes: an allocation module, which, in response to receiving service request information sent by the terminal device, determines first configuration information from the multiple configuration information and sends it to the terminal device; wherein the first configuration information is used to instruct the terminal device to use the acquired first configuration information as target configuration information and request differential information from the Ntrip server associated with the target configuration information; and a switching module, which, in response to receiving service switching information sent by the terminal device, determines second configuration information from the multiple configuration information and sends it to the terminal device; wherein the second configuration information is used to instruct the terminal device to use the acquired second configuration information as target configuration information.

[0018] The fifth aspect of this application provides a network RTK positioning system, including a reference station system and a rover system as provided in the fourth aspect. The reference station system includes an Ntrip server, which is used to send differential information to terminal devices in the rover system.

[0019] The network RTK positioning method and system provided in this application allow a terminal device to use first configuration information sent by a configuration server as target configuration information and request differential information from the Ntrip server associated with the target configuration information for calculation, thereby obtaining the calculated information. If the terminal device determines that the calculated information meets a preset failure condition, it considers that the Ntrip server associated with the current target configuration information cannot provide valid calculated information. In this case, the terminal device can send service switching information to the configuration server, using second configuration information sent by the configuration server as target configuration information, and request differential information from the Ntrip server associated with the updated target configuration information for calculation, thereby re-obtaining the calculated information. Thus, when the Ntrip server connected to the terminal device malfunctions, the terminal device can promptly switch to a different Ntrip server and re-request differential information to obtain valid differential information for calculation, improving positioning accuracy. Attached Figure Description

[0020] Figure 1 is a schematic diagram of a network RTK positioning system provided in an embodiment of this application.

[0021] Figure 2 is a first flowchart of a network RTK positioning method provided in an embodiment of this application.

[0022] Figure 3 is a second flowchart of a network RTK positioning method provided in an embodiment of this application.

[0023] Figure 4 is a third flowchart of a network RTK positioning method provided in an embodiment of this application.

[0024] Figure 5 is a fourth flowchart of a network RTK positioning method provided in an embodiment of this application.

[0025] Figure 6 is a fifth flowchart of a network RTK positioning method provided in an embodiment of this application.

[0026] Figure 7 is a schematic diagram of a terminal device provided in an embodiment of this application.

[0027] Figure 8 is a schematic diagram of a configuration server module provided in an embodiment of this application.

[0028] Figure 9 is a schematic diagram of a mobile station system provided in an embodiment of this application. Detailed Implementation

[0029] In the description of the embodiments in this application, the words "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary," "or," and "for example" is intended to present the relevant concepts in a specific manner.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It should be understood that, unless otherwise stated, " / " in this application means "or". For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. "At least one" refers to one or more. "More than one" refers to two or more. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, and a, b, and c (seven cases).

[0031] It should also be noted that the terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. The methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can also be deleted.

[0032] Currently, GNSS (Global Navigation Satellite System) technology has wide applications in navigation, positioning, surveying, agriculture, rescue, surveillance and management, and military fields. Standard single-point positioning using a single GNSS device with pseudorange codes as observations typically achieves an accuracy of 10 to 20 meters. By constructing an RTK (Real-time kinematic) system, using carrier phase as observations for positioning, a rover station within a 30-kilometer radius of a reference station can achieve centimeter-level positioning accuracy.

[0033] An RTK system consists of a reference station (also known as a base station) and a rover. Both the reference station and the rover are equipped with satellite receivers to observe and receive satellite data. The reference station is typically stationary, continuously observing the satellite and sending differential information (containing the reference station's coordinates and raw observations) to the rover via a data link. The rover decodes the message and uses it along with its own observations to perform relative positioning, calculating coordinates with centimeter-level accuracy.

[0034] The data link of an RTK system primarily uses a network or radio. Network RTK positioning mainly relies on the Ntrip (Networked Transport of RTCM via Internet Protocol) protocol for data transmission. A network RTK positioning system includes a reference station system and a rover system. The reference station system comprises numerous Ntrip servers and several reference stations, typically evenly distributed across the ground at intervals of 30km to 100km. Each reference station is equipped with GNSS equipment for continuous observation, and the observed information is transmitted to the Ntrip servers via a dedicated network. The rover system includes rover stations and a management platform. The management platform provides configuration information to the rover stations, which then establish connections with the Ntrip servers using this configuration information.

[0035] The working principle of network RTK positioning is as follows: an authorized user (i.e., a rover) establishes a connection with an Ntrip server and sends a differential information request to the Ntrip server via the network. The Ntrip server can obtain differential information using observations from multiple reference stations near the rover and send it to the rover. The rover then performs calculations based on the differential information to obtain centimeter-level RTK positioning results.

[0036] However, when the Ntrip server malfunctions, it may be unable to provide valid differential information, affecting positioning accuracy.

[0037] For example, with a large number of authorized users, a large number of mobile stations connecting to the same Ntrip server simultaneously will increase the load on the Ntrip server, causing some users to be unable to log in. If the Ntrip server network is congested, all mobile stations connected to that Ntrip server will be unable to obtain valid differential information. Furthermore, the signal quality of the reference station may be affected by environmental factors such as cloud cover or remote geographical location, which will affect the validity of the differential information of the Ntrip server and affect the positioning accuracy.

[0038] Therefore, embodiments of this application provide a network RTK positioning method and system, which can improve positioning accuracy.

[0039] Some embodiments will now be described with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0040] Figure 1 is a schematic diagram of a network RTK positioning system provided in an embodiment of this application.

[0041] As shown in Figure 1, this application embodiment first provides a network RTK positioning system 1000. The network RTK positioning system 1000 includes a rover system 100 and a reference station system 200. The rover system 100 includes a terminal device 10 and a configuration server 20, with the terminal device 10 communicatively connected to the configuration server 20. The reference station system 200 includes an Ntrip server 30 and multiple reference stations 40, with the Ntrip server 30 communicatively connected to the multiple reference stations 40.

[0042] The terminal device 10 is an intelligent device with positioning and data processing capabilities. It has network RTK positioning functionality and can perform other related functions based on the RTK positioning results, such as route navigation, remote control, and autonomous driving path planning. For example, the terminal device 10 can be a portable device such as a smartphone or tablet, or it can be a positioning and control device mounted on a mobile device (such as agricultural machinery or a car).

[0043] In one embodiment of this application, the terminal device 10 is a positioning and control device mounted on an intelligent agricultural machine. The intelligent agricultural machine supports remote control and unmanned driving functions. In the remote control scenario, the intelligent agricultural machine obtains RTK positioning results through network RTK positioning and remotely sends them to the operator's remote control terminal. The operator can view the current location of the intelligent agricultural machine through the remote control terminal and send control commands to control the movement of the intelligent agricultural machine. In the unmanned driving scenario, the intelligent agricultural machine obtains its own location through network RTK positioning results and moves automatically according to its own location and a preset planned path.

[0044] In one embodiment of this application, the terminal device 10 is used to acquire observation information and process the observation information to achieve network RTK positioning. The observation information includes the current location of the terminal device 10.

[0045] In one embodiment of this application, the configuration server 20 has a configuration information list, which includes multiple configuration information entries, each associated with a corresponding Ntrip server 30. The configuration information is used to establish a connection between the terminal device 10 and the associated Ntrip server 30. It can be understood that the configuration information represents an account channel for connecting to the Ntrip server 30, and the configuration information list can be considered as an account channel pool, which includes multiple account channels. Different account channels are used to connect to different Ntrip servers 30.

[0046] For example, the configuration information includes the address information and account information of the associated Ntrip server 30. The address information can be the network IP address or domain name of the Ntrip server 30, and the account information includes the username and password used for login authentication on the Ntrip server 30. The terminal device 10 can establish a connection with the corresponding Ntrip server 30 based on the address information and perform authentication based on the account information.

[0047] The terminal device 10 can request configuration information from the configuration server 20 and use the requested configuration information to establish a connection and authentication with the associated Ntrip server 30, in order to request differential information from the connected Ntrip server 30. Upon receiving the request from the connected terminal device 10, the Ntrip server 30 sends differential information to the connected terminal device 10. The differential signal includes the coordinates of the reference station 40 and the original observation values. The terminal device 10 performs relative positioning using the requested differential information and its own observation information, calculates the corresponding coordinates, and obtains the RTK positioning result.

[0048] Figure 2 is a first flowchart of a network RTK positioning method provided in an embodiment of this application. The network RTK positioning method can be applied to terminal devices.

[0049] As shown in Figures 1 and 2, the network RTK localization method includes the following steps.

[0050] S201. Send service request information to configuration server 20 based on observation information.

[0051] Among them, the observation information is the raw observation value obtained by the terminal device 10, and the observation information can reflect the position of the terminal device 10.

[0052] The service request information is used to instruct the configuration server 20 to determine the first configuration information from multiple configuration information and send it to the terminal device 10.

[0053] In response to receiving the service request information, the configuration server 20 selects a configuration information from multiple configuration information in the configuration information list according to preset rules as the first configuration information and sends it to the terminal device 10.

[0054] It is understandable that different configuration information can be used to establish connections with different Ntrip servers 30. Thus, the configuration server 20 determines which Ntrip server 30 to provide Ntrip services to the terminal device 10 from among multiple Ntrip servers 30.

[0055] S202, Use the acquired first configuration information as the target configuration information.

[0056] The target configuration information is used to establish a connection between the terminal device 10 and the associated Ntrip server 30.

[0057] Under certain conditions, the target configuration information can be updated, and after the target configuration information is updated, the Ntrip server 30 connected to the terminal device 10 will also be updated.

[0058] S203. Request differential information from the Ntrip server 30 associated with the target configuration information.

[0059] The terminal device 10 establishes a connection with the associated Ntrip server 30 based on the target configuration information and sends a differential data request to the Ntrip server 30. The differential data request includes observation information.

[0060] In response to receiving a differential data request, Ntrip server 30 uses observations from multiple reference stations 40 near terminal device 10 to fit various errors such as satellite clock error, process error, and ionospheric error to obtain differential information, and returns the differential information to the requesting terminal device 10.

[0061] S204. Obtain the solution information based on the obtained difference information.

[0062] In this process, the terminal device 10 combines the requested differential information with its own observation information to obtain solution information. The solution information reflects the RTK positioning results of the terminal device 10 and related data from the solution process.

[0063] For example, the solution information may include UTC (Universal Time Coordinated) time, latitude, latitudinal hemisphere, longitude, longitude hemisphere, GPS status information, number of satellites used, horizontal longitude factor, altitude, geoid height anomaly difference, differential GPS age, differential reference station number, etc. This type of data can be GPGGA data, which is a GPS data output format.

[0064] It is understood that the solution information includes data obtained by solving the differential information of the Ntrip server 30 currently connected to the terminal device 10. Therefore, the solution information can evaluate the validity of the Ntrip server 30 currently connected to the terminal device 10. For example, the number of satellites can be used to preliminarily determine the signal quality of the current location of the terminal device 10, and whether there is signal interference or physical obstruction; GPS status information can be used to preliminarily determine the positioning result quality of the current terminal device 10; and differential GPS age can be used to preliminarily determine the time delay of the differential information.

[0065] S205. Determine whether the solution information meets the preset failure conditions. If yes, proceed to step S206; otherwise, end.

[0066] Among them, the failure condition is used to evaluate whether the Ntrip server 30 currently connected to the terminal device 10 can provide valid differential information through the solution information.

[0067] If the solution information meets the failure condition, it is considered that Ntrip server 30 cannot provide valid differential information, and it is determined that Ntrip server 30 has malfunctioned. Step S205 is executed to request a switch to Ntrip server 30 to re-establish the connection.

[0068] If the solution information does not meet the failure conditions, it is assumed that Ntrip server 30 can provide valid differential information, and it is determined that Ntrip server 30 is not abnormal at present. The connection between Ntrip server 30 and the target configuration information is maintained.

[0069] S206. Send service switching information to configuration server 20.

[0070] The service switching information includes observation information.

[0071] The service switching information is used to instruct the configuration server 20 to determine the second configuration information from multiple configuration information and send it to the terminal device 10.

[0072] In response to receiving the service switching information, the configuration server 20 selects a configuration information from multiple configuration information in the configuration information list as the second configuration information according to a preset rule, and sends it to the terminal device 10.

[0073] S207. Use the acquired second configuration information as the target configuration information.

[0074] In this process, the terminal device 10 updates the second configuration information to the target configuration information and executes step S203.

[0075] After updating the target configuration information, the terminal device 10 disconnects from the Ntrip server 30 associated with the previous target configuration information and returns to step S203. It then establishes a connection with the associated Ntrip server 30 based on the updated target configuration information and sends a differential data request to the Ntrip server 30. Upon receiving the differential data request, the Ntrip server 30 returns the differential information to the requesting terminal device 10.

[0076] It is understood that terminal device 10 can use the first configuration information sent by configuration server 20 as the target configuration information and request differential information from Ntrip server 30 associated with the target configuration information for calculation to obtain the calculated information. If terminal device 10 determines that the calculated information meets the preset failure conditions, it considers that Ntrip server 30 associated with the current target configuration information cannot provide valid calculated information. At this time, terminal device 10 can send service switching information to configuration server 20, use the second configuration information sent by configuration server 20 as the target configuration information, and request differential information from Ntrip server 30 associated with the updated target configuration information for calculation to obtain the calculated information again. In this way, when Ntrip server 30 connected to terminal device 10 malfunctions, terminal device 10 can promptly switch to another Ntrip server 30 for connection and re-request differential information to obtain valid differential information for calculation, thereby improving positioning accuracy.

[0077] In one embodiment of this application, the solution information includes the solution time, wherein the solution time is used to reflect the solution time of the difference information.

[0078] The solution information meets the preset failure conditions, including: the solution time is greater than or equal to the preset parsing time threshold.

[0079] Specifically, if the calculation time is greater than or equal to the parsing time threshold, it is determined that the calculation of differential information takes too long, and there is a risk that the Ntrip server 30 cannot provide timely and effective differential data, thus indicating that the Ntrip server 30 sending differential information is abnormal.

[0080] For example, the solution information includes GPS status information, which reflects the data at each solution stage during the solution process. These solution stages include: positioning solution, differential GPS solution, fixed solution, and floating solution.

[0081] GPS status information also includes the results corresponding to each solution stage, specifically: positioning solution - unavailable, positioning solution available - but poor positioning accuracy, differential GPS solution available - positioning accuracy is average, fixed solution - high positioning accuracy, and floating solution - unstable positioning.

[0082] GPS status information also includes the time the Ntrip service spends at each stage of the solution process. For example, the time the Ntrip service spends on the positioning solution, the time the Ntrip service spends on the differential GPS solution, and the time the Ntrip service spends on the fixed solution.

[0083] In this embodiment, the solution time is the time consumed for the differential information to transition from the positioning solution to the fixed solution. The solution time can be calculated from the dwell time in the GPS status information.

[0084] The resolution time threshold is an empirical value set based on the time consumed by differential information to transition from the local solution to the fixed solution under normal circumstances.

[0085] It is understandable that during the differential information solution process, the solution will transition from the local solution to the fixed solution. If the time taken to transition from the local solution to the fixed solution is too long, it may be due to poor differential information quality. It can be assumed that the signal of the corresponding Ntrip server 30 is too poor and the Ntrip server 30 needs to be replaced for connection.

[0086] In one implementation, a time consumption threshold is set for the dwell time in different solution stages. The time consumption threshold is based on the dwell time of the Ntrip service in each solution stage under normal circumstances.

[0087] The failure conditions that the solution information meets the preset requirements also include: the dwell time of any solution stage is greater than or equal to the corresponding consumption time threshold.

[0088] It is understandable that during the differential information processing, the Ntrip service will not stay in each processing stage for too long. If the dwell time in any processing stage is too long or it cannot enter the next processing stage, it may be because the differential information quality is poor. It can be assumed that the signal of the corresponding Ntrip server 30 is too poor and it is necessary to replace the Ntrip server 30 for connection.

[0089] In one embodiment of this application, the calculated information includes differential GPS age, where the differential GPS age is the time difference between the signal from the reference station 40 and the signal from the rover. In real-time positioning, due to time delays, network failures, or other reasons, the terminal device 10 may fail to receive the corresponding differential information in a timely manner, which will cause the differential GPS age to increase and the positioning accuracy to decrease.

[0090] The calculated information meets the preset failure conditions, including: the differential GPS age is greater than or equal to the preset age delay threshold.

[0091] Specifically, when the differential GPS age is greater than or equal to the age delay threshold, it is determined that the delay between the terminal device 10 and the Ntrip server 30 is too long, and there is a risk that the Ntrip server 30 cannot provide timely and effective differential data, thus determining that the Ntrip server 30 that sends differential information is abnormal.

[0092] In one embodiment of this application, before step S204, the network RTK positioning method further includes the following steps.

[0093] Determine whether the time elapsed between the time the request for differential information was sent to Ntrip server 30 and the current time is greater than or equal to a preset request timeout threshold. If yes, proceed to step S206. Otherwise, end the process.

[0094] The request timeout threshold is an empirical value based on the normal response time of the Ntrip server 30 from receiving the request for differential information to returning the differential information.

[0095] When the request time is greater than or equal to the request timeout threshold, it is determined that Ntrip server 30 cannot provide differential information in a timely manner, indicating that there is an anomaly in the current connection to Ntrip server 30, and it is necessary to replace Ntrip server 30 for connection.

[0096] In one embodiment of this application, before step S203, the network RTK positioning method further includes the following steps.

[0097] S208. Establish a connection with Ntrip server 30 based on the address information and perform authentication based on the account information.

[0098] In this process, the terminal device 10 establishes a connection with the corresponding Ntrip server 30 based on the address information and performs authentication based on the account information.

[0099] S209. Determine whether a connection has been successfully established and authentication has been successful with Ntrip server 30. If yes, proceed to step S203. If no, proceed to step S206.

[0100] When a connection is successfully established with Ntrip server 30 and authentication is successful, the step of sending service switching information to configuration server 20 is executed.

[0101] When the connection to Ntrip server 30 fails or authentication fails, it is determined that the Ntrip server 30 associated with the target configuration information is faulty or the target configuration information is incorrect. The terminal device 10 and Ntrip server 30 cannot exchange information, and it is necessary to replace Ntrip server 30 to connect.

[0102] It is understandable that in step 207, the terminal device 10 re-determines the target configuration information, and then steps S301 are executed.

[0103] In one embodiment of this application, after step S203, the network RTK positioning method further includes the following steps.

[0104] Determine if an error message has been received from Ntrip server 30. If yes, proceed to step S206. Otherwise, end the process.

[0105] The error message is the error code sent by the Ntrip server 30. When the Ntrip server 30 detects an anomaly, it sends the error message to the terminal device 10 connected to it.

[0106] When terminal device 10 receives an error message, it determines that the currently connected Ntrip server 30 has failed and needs to be replaced to reconnect.

[0107] In one embodiment of this application, after step S206, the network RTK positioning method further includes the following steps.

[0108] Record the exception information corresponding to the service switching information and send it to the configuration server 20.

[0109] The exception information is used to reflect the reason why the terminal device 10 replaced the Ntrip server 30. It can be understood that when the terminal device 10 sends service switching information to the configuration server 20, it generates exception information according to the judgment conditions to record the cause of the failure of the Ntrip server 30.

[0110] For example, the exception information includes fault categories. For instance, when Ntrip server 30's processing time is greater than or equal to a resolution time threshold, the fault category is "processing time too long"; when Ntrip server 30's dwell time in any processing stage is greater than or equal to the corresponding consumption time threshold, the fault category is "processing time too long"; when Ntrip server 30's request time is greater than or equal to a preset request timeout threshold, the fault category is "Ntrip server 30 unresponsive"; when Ntrip server 30 fails to establish a connection or succeeds in authentication, the fault category is "Ntrip server 30 expired"; when Ntrip server 30 sends error information, the fault category is "Ntrip server 30 failed".

[0111] It is understandable that by recording abnormal information, the abnormal situations that occur on Ntrip server 30 can be statistically analyzed, thereby enabling the management and screening of Ntrip server 30 and providing a more stable Ntrip service.

[0112] Figure 3 is a second flowchart of a network RTK positioning method provided in an embodiment of this application. The network RTK positioning method can be applied to a configuration server.

[0113] As shown in Figures 1 and 3, the network RTK localization method includes the following steps.

[0114] S301. In response to receiving the service request information sent by the terminal device 10, determine the first configuration information from multiple configuration information and send it to the terminal device 10.

[0115] The first configuration information is used to instruct the terminal device 10 to use the acquired first configuration information as the target configuration information. The target configuration information is used to instruct the terminal device 10 to request differential information from the Ntrip server 30 associated with the target configuration information.

[0116] S302. In response to receiving service switching information sent by terminal device 10, determine second configuration information from multiple configuration information and send it to terminal device 10.

[0117] The second configuration information is used to instruct the terminal device 10 to use the acquired second configuration information as the target configuration information.

[0118] In one embodiment of this application, multiple configuration information items are each assigned an updatable priority. The priority is used to sort the multiple configuration information items so that they are sent to the terminal device 10 in a corresponding order.

[0119] Figure 4 is a third flowchart of a network RTK positioning method provided in an embodiment of this application. The network RTK positioning method can be applied to a configuration server.

[0120] As shown in Figures 1 and 4, step S301 specifically includes the following steps.

[0121] S401. In response to receiving the service request information sent by the terminal device 10, determine multiple configuration information.

[0122] The configuration server 20 also determines the current location of the terminal device 10 based on the service request information sent by the terminal device 10, determines multiple nearby available reference stations 40 and multiple Ntrip servers 30 based on the current location of the terminal device 10, and determines multiple configuration information from the configuration information list.

[0123] S402: The configuration information with the highest priority among multiple configuration information is determined as the first configuration information and sent to the terminal device 10.

[0124] In this process, the configuration server 20 selects the configuration information with the highest priority and sends it to the device terminal, that is, it selects the Ntrip server 30 with the highest priority to provide differential information to the terminal device 10.

[0125] Step S302 specifically includes the following steps.

[0126] S403. In response to receiving the service request information sent by the terminal device 10, the priority of the configuration information corresponding to the service request information is reduced.

[0127] In response to receiving a service request, the terminal device 10 determines that the Ntrip server 30 it is currently connected to is abnormal and lowers the priority of the configuration information associated with the Ntrip server 30.

[0128] S404. The configuration information with the highest priority among multiple configuration information is determined as the second configuration information and sent to the terminal device 10.

[0129] When the priority of the configuration information changes, multiple configuration information will be reordered. In this way, the configuration server 20 will reselect the configuration information with the highest priority and send it to the device terminal. That is, the Ntrip server 30 with the highest priority will be reselected to provide differential information to the terminal device 10.

[0130] In this embodiment, the configuration server 20 automatically excludes the current target configuration information of the terminal device 10 and determines the second configuration information to prevent the second configuration information from being duplicated with the current target configuration information of the terminal device 10. In other embodiments, the configuration server 20 may not exclude the current target configuration information of the terminal device 10. For example, if the terminal device 10 is located in a remote area and there is no more reliable Ntrip server 30 available, the current target configuration information of the terminal device 10 may still be used as the second configuration information.

[0131] It is understood that by establishing a variable priority mechanism for multiple configuration information, this application can identify and judge the effectiveness of multiple Ntrip servers 30 based on the actual situation of the Ntrip server 30 during RTK positioning, thereby adaptively selecting a more stable Ntrip server 30 to provide differential information to the terminal device 10.

[0132] It is worth noting that whenever the terminal device 10 receives configuration information (including first configuration information or second configuration information) from the configuration server 20, the terminal device 10 uses the received configuration information as the target configuration information and establishes a connection with the Ntrip server 30 using the target configuration information. During normal operation of the terminal device 10, each time the terminal device 10 performs a location check, it requests differential information from the Ntrip server 30 and determines the validity of the currently connected Ntrip server 30 in real time. If the Ntrip server 30 malfunctions, the terminal device 10 requests the configuration server 20 to replace the Ntrip server 30, and so on.

[0133] For example, configuration server 20 has configuration information A, configuration information B, configuration information C, and configuration information D. The priority of configuration information A is greater than the priority of configuration information B, which is greater than the priority of configuration information C, which is greater than the priority of configuration information D.

[0134] First, terminal device 10 powers on and sends a service request to configuration server 20. Configuration server 20 sends the highest priority configuration information A as the first configuration information to terminal device 10. Terminal device 10 then establishes a connection with the associated Ntrip server 30 using configuration information A and requests differential information.

[0135] Subsequently, if terminal device 10 determines that Ntrip server 30 has malfunctioned, it sends service switching information to configuration server 20. Terminal device 10 lowers the priority of configuration information A, making the priority of configuration information B > the priority of configuration information C > the priority of configuration information D > the priority of configuration information A, and sends the highest-priority configuration information B as the second configuration information to terminal device 10. Terminal device 10 establishes a connection with the associated Ntrip server 30 through configuration information B and requests differential information.

[0136] Subsequently, if terminal device 10 determines that Ntrip server 30 has malfunctioned, it continues to send service switching information to configuration server 20. Terminal device 10 lowers the priority of configuration information B, making the priority of configuration information C > the priority of configuration information D > the priority of configuration information A > the priority of information B, and sends the highest priority configuration information C as the second configuration information to terminal device 10. Terminal device 10 establishes a connection with the associated Ntrip server 30 through configuration information C and requests differential information; and so on.

[0137] Figure 5 is a fourth flowchart of a network RTK positioning method provided in an embodiment of this application. The network RTK positioning method can be applied to a configuration server.

[0138] As shown in Figures 1 and 5, in one embodiment of this application, before step S402, step S301 further includes the following steps.

[0139] S501. Obtain historical information of Ntrip server 30 associated with configuration information.

[0140] The historical information includes the number of connections and anomalies of Ntrip server 30 during its historical usage. This historical information can be obtained by analyzing anomaly information uploaded by devices that have connected to Ntrip server 30.

[0141] S502. Based on the historical information of Ntrip server 30, update the priority of associated configuration information.

[0142] The more failures recorded in the historical information of Ntrip server 30, the lower the priority of the configuration information associated with Ntrip server 30.

[0143] It is understandable that the historical failures of multiple Ntrip servers 30 can be queried and used as a reference for setting priorities, thereby combining historical experience to select a more stable Ntrip server 30 to provide differential information to the terminal device 10.

[0144] In one embodiment of this application, step SD02 is implemented as follows:

[0145] Prioritize updating associated configuration information based on historical and service information of Ntrip server 30.

[0146] The service information includes attribute information that reflects the Ntrip server 30, such as the signal quality of the Ntrip server 30 and the unit time cost of the Ntrip server 30.

[0147] For example, historical information and service information are each set with different weight coefficients. The historical information and service information are calculated into a comprehensive evaluation value based on the corresponding weight coefficients, and the comprehensive evaluation value is used as the initial value of the priority of the configuration information.

[0148] Figure 6 is a fifth flowchart of a network RTK positioning method provided in an embodiment of this application. The network RTK positioning method can be applied to a network RTK positioning system.

[0149] As shown in Figures 1 and 6, the network RTK localization method includes the following steps.

[0150] S601, Terminal device 10 sends service request information to configuration server 20 based on observation information.

[0151] S602, Configuration server 20 determines a configuration information from multiple configuration information in the configuration information list and sends it to terminal device 10.

[0152] S603, the terminal device 10 uses the first configuration information it has acquired as the target configuration information.

[0153] S604, Terminal device 10 requests differential information from Ntrip server 30 associated with the target configuration information.

[0154] S605, Ntrip server 30 returns the differential information to the requesting terminal device 10.

[0155] S606, Terminal device 10 obtains solution information based on the acquired differential information.

[0156] S607. The terminal device 10 determines whether the solution information meets the preset failure conditions. If yes, it executes step S206; otherwise, it ends.

[0157] S608, Terminal device 10 sends service switching information to configuration server 20.

[0158] S609, Configuration server 20 determines the second configuration information from multiple configuration information and sends it to terminal device 10.

[0159] S610 and terminal device 10 use the acquired second configuration information as the target configuration information.

[0160] For details on the specific implementation methods and beneficial effects of the above-mentioned network RTK positioning method, please refer to the relevant descriptions in the foregoing embodiments. This embodiment will not repeat them here.

[0161] Figure 7 is a schematic diagram of a terminal device provided in an embodiment of this application.

[0162] As shown in Figures 1 and 7, this application embodiment also provides a terminal device 10.

[0163] The terminal device 10 includes a positioning module 11 and a control module 12. The positioning module 11 is used to acquire observation information, and the control module 12 is connected to the positioning module 11.

[0164] The control module 12 is configured to: send service request information to the configuration server 20 based on observation information. The service request information instructs the configuration server 20 to determine first configuration information from multiple configuration information sets and send it to the terminal device 10. The obtained first configuration information is used as the target configuration information. Differential information is requested from the Ntrip server 30 associated with the target configuration information. Solving information is obtained based on the obtained differential information. In response to the solving information meeting a preset failure condition, service switching information is sent to the configuration server 20. The service switching information instructs the configuration server 20 to determine second configuration information from multiple configuration information sets and send it to the terminal device 10.

[0165] For example, the positioning module 11 can be a GNSS chip. The control module 12 can be a functional module including multiple program code segments to execute the network RTK positioning method applied to the terminal device 10 provided in the above embodiments.

[0166] Figure 8 is a schematic diagram of a configuration server module provided in an embodiment of this application.

[0167] As shown in Figures 1 and 8, this application embodiment also provides a configuration server 20, which is used to execute the network RTK positioning method applied to the configuration server 20 provided in the above embodiment.

[0168] Specifically, configuring server 20 includes:

[0169] The allocation module 21 is configured to, in response to receiving a service request information sent by the terminal device 10, determine first configuration information from multiple configuration information and send it to the terminal device 10. The first configuration information is used to instruct the terminal device 10 to use the acquired first configuration information as the target configuration information. The target configuration information is used to instruct the terminal device 10 to request differential information from the Ntrip server 30 associated with the target configuration information.

[0170] The switching module 22 is configured to, in response to receiving service switching information sent by the terminal device 10, determine second configuration information from multiple configuration information and send it to the terminal device 10. The second configuration information is used to instruct the terminal device 10 to use the acquired second configuration information as the target configuration information.

[0171] Figure 9 is a schematic diagram of a mobile station system provided in an embodiment of this application.

[0172] As shown in Figures 1 and 9, the mobile station system 100 includes a configuration server 20 and a terminal device 10, with the configuration server 20 connected to the terminal device 10. The configuration server 20 is used to provide configuration information to the terminal device 10.

[0173] In one embodiment of this application, the mobile station system 100 further includes a management server 50, which is connected to the configuration server 20. The management server 50 can be used by operation and maintenance personnel to provide online monitoring and account management functions for the terminal devices 10.

[0174] For example, the management server 50 can query a list of all currently online terminal devices 10, as well as the application records of the terminal devices 10.

[0175] The management server 50 can also manage the configuration information list of the configuration server 20. For example, it can add configuration information to expand the channel service; delete configuration information to take a specified channel offline; set a blacklist and whitelist for the configuration information of a specified terminal device 10; and set the priority of the configuration information configured for a specified terminal device 10.

[0176] The management server 50 monitors the connection and faults of the terminal device 10, including the connection frequency, configuration information request frequency, and historical fault statistics of the terminal device 10. Based on the monitoring results, the availability, usage, and failure rate of the configuration information are statistically analyzed, and feedback is used to adjust the priority of the configuration information. At the same time, it promotes Ntrip service providers to improve and optimize service availability.

[0177] The management server 50 can also proactively send switching information to the configuration server 20, controlling the configuration server 20 to send configuration information to the terminal device 10. For example, when the terminal device 10 has established a connection with the Ntrip server 30, and the management server 50 detects that the Ntrip server 30 has sent an error message, but the terminal device 10 has not sent service switching information within a preset time, the management server 50 proactively intervenes to help the terminal device 10 switch to the Ntrip server 30, providing secondary protection against failures of the terminal device 10, thereby improving the robustness of the system.

[0178] This application also provides a network RTK positioning system 1000.

[0179] As shown in Figure 1, the network RTK positioning system 1000 includes a reference station system 200 and a rover system 100. The reference station system 200 includes an Ntrip server 30, which is used to send differential information to the terminal device 10 of the reference station system 200.

[0180] For details on the specific implementation methods and beneficial effects of the terminal device 10, configuration server 20, mobile station system 100, and network RTK positioning system 1000 provided in this application embodiment, please refer to the relevant descriptions in the foregoing embodiments. These descriptions will not be repeated here.

[0181] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A network RTK positioning method, characterized in that, The method is applied to a terminal device, which is used to connect to a configuration server. The configuration server has multiple configuration information, and the configuration information is associated with a corresponding Ntrip server. The method includes: The service request information is sent to the configuration server based on the observation information; wherein the service request information is used to instruct the configuration server to determine a first configuration information from a plurality of configuration information and send it to the terminal device; The first configuration information obtained is used as the target configuration information; Request differential information from the Ntrip server associated with the target configuration information; Based on the obtained difference information, the solution information is obtained; In response to the solution information meeting a preset failure condition, a service switching information is sent to the configuration server; wherein the service switching information is used to instruct the configuration server to determine a second configuration information from a plurality of configuration information and send it to the terminal device; The acquired second configuration information is used as the target configuration information.

2. The network RTK positioning method according to claim 1, characterized in that, The solution information includes the solution time, wherein the solution time is used to reflect the solution time of the difference information; The solution information satisfies the preset failure conditions, including: the solution time is greater than or equal to the preset parsing time threshold.

3. The network RTK positioning method according to claim 1, characterized in that, The solution information includes differential GPS age; The solution information satisfies the preset failure conditions, including: the differential GPS age is greater than or equal to a preset age delay threshold.

4. The network RTK positioning method according to claim 1, characterized in that, The configuration information includes the address information and account information of the Ntrip server; Before requesting differential information from the Ntrip server associated with the target configuration information, the method further includes: A connection is established with the Ntrip server based on the address information, and authentication is performed based on the account information; In response to a successful connection and authentication with the Ntrip server, the step of requesting differential information from the Ntrip server associated with the target configuration information is executed.

5. The network RTK positioning method according to claim 4, characterized in that, Also includes: In response to the failure to connect to the Ntrip server and the failure of authentication, the service switching information is sent to the configuration server.

6. A network RTK positioning method, characterized in that, This is applied to a configuration server, which connects to terminal devices and has multiple configuration information entries associated with corresponding Ntrip servers. The method includes: In response to receiving a service request information sent by the terminal device, a first configuration information is determined from a plurality of configuration information and sent to the terminal device; wherein, the first configuration information is used to instruct the terminal device to use the acquired first configuration information as target configuration information and to request differential information from the Ntrip server associated with the target configuration information; In response to receiving service switching information sent by the terminal device, a second configuration information is determined from a plurality of configuration information and sent to the terminal device; wherein the second configuration information is used to instruct the terminal device to use the acquired second configuration information as the target configuration information.

7. The network RTK positioning method according to claim 6, characterized in that, All of the aforementioned configuration information are set with updatable priorities; The step of responding to receiving a service request information sent by the terminal device, determining first configuration information from a plurality of configuration information, and sending it to the terminal device includes: In response to receiving a service request information sent by the terminal device, a plurality of configuration information is determined; the configuration information with the highest priority among the plurality of configuration information is determined as the first configuration information and sent to the terminal device; The step of responding to receiving service switching information sent by the terminal device, determining second configuration information from a plurality of configuration information, and sending it to the terminal device includes: In response to receiving the service request information sent by the terminal device, the priority of the configuration information corresponding to the service request information is reduced; the configuration information with the highest priority among the multiple configuration information is determined as the second configuration information.

8. The network RTK positioning method according to claim 7, characterized in that, Before determining the configuration information with the highest priority from the plurality of configuration information as the first configuration information and sending it to the terminal device, the method further includes: Obtain historical information of the Ntrip server associated with the configuration information; The priority of the associated configuration information is updated based on the historical information of the Ntrip server.

9. A terminal device, characterized in that, The terminal device is used to connect to a configuration server, which has multiple configuration information and the configuration information is associated with a corresponding Ntrip server. The terminal device includes: The positioning module is used to acquire observation information; A control module, connected to the positioning module, is used for: The service request information is sent to the configuration server based on the observation information; wherein the service request information is used to instruct the configuration server to determine a first configuration information from a plurality of configuration information and send it to the terminal device; The first configuration information obtained is used as the target configuration information; Request differential information from the Ntrip server associated with the target configuration information; Based on the obtained difference information, the solution information is obtained; In response to the solution information meeting a preset failure condition, a service switching information is sent to the configuration server; wherein the service switching information is used to instruct the configuration server to determine a second configuration information from a plurality of configuration information and send it to the terminal device; The acquired second configuration information is used as the target configuration information.

10. A mobile station system, characterized in that, Includes a configuration server and the terminal device as described in claim 9; The configuration server has multiple configuration information, which is associated with the Ntrip server. The configuration server is used to connect to the terminal device. The configuration server includes: The allocation module, in response to receiving service request information sent by the terminal device, determines first configuration information from a plurality of configuration information and sends it to the terminal device; wherein, the first configuration information is used to instruct the terminal device to use the acquired first configuration information as target configuration information and request differential information from the Ntrip server associated with the target configuration information; A switching module is configured to, in response to receiving service switching information sent by the terminal device, determine second configuration information from a plurality of configuration information and send it to the terminal device; wherein the second configuration information is used to instruct the terminal device to use the acquired second configuration information as the target configuration information.

11. A network RTK positioning system, characterized in that, The system includes a reference station system and a rover system as described in claim 10, wherein the reference station system includes an Ntrip server, the Ntrip server being used to send differential information to the terminal devices in the rover system.

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