Data transmission device and control method therefor, and data exchange system

Abstract

Embodiments of the present application provide a data transmission device and a control method therefor, and a data exchange system, the data transmission device comprising: a GNSS receiver, configured to receive a GNSS signal from one or more navigation satellites; a communication apparatus, at least configured to receive relay-related data and forward the relay-related data; and one or more processors, individually or collectively configured to cause the data transmission device to support a plurality of operating modes, wherein a first mode comprises a reference station mode, and in the reference station mode, the processor acquires positioning-related data on the basis of the GNSS signal, and controls the communication apparatus to broadcast the positioning-related data to an external device for differential calculation of RTK positioning of the external device; and in a second mode, the processor controls the communication apparatus to forward, by means of relay communication, the relay-related data received thereby. According to the data transmission device of the embodiments of the present application, multiple functions of a relay and an RTK positioning reference are integrated, so that configuration costs of users can be reduced, and use portability is stronger.

Description

Data transmission equipment and its control methods and data interaction systems Technical Field

[0001] This application relates to the field of data transmission technology, and in particular to a data transmission device, its control method, and a data interaction system. Background Technology

[0002] In related technologies, RTK base stations are widely used in surveying and mapping work. Relay equipment is also commonly used in relay network construction. If both functions are required, due to the independent and incompatible nature of RTK base station equipment and relay equipment, users need to carry two separate sets of equipment to perform both positioning and relay communication functions, increasing configuration costs and making the system cumbersome and inconvenient. Summary of the Invention

[0003] In view of this, in order to solve the problems of existing data transmission devices having limited functionality and being bulky and inconvenient to carry multiple sets of equipment, this application provides a data transmission device.

[0004] In a first aspect, embodiments of this application provide a data transmission device, including:

[0005] A GNSS receiver is configured to receive GNSS signals from one or more navigation satellites;

[0006] The communication device is at least configured to receive relay-related data and forward the relay-related data;

[0007] One or more processors, individually or collectively, are configured to enable the data transmission device to support multiple operating modes, including a first mode and a second mode;

[0008] The first mode includes a base station mode, in which the processor acquires positioning-related data based on the GNSS signal and controls the communication device to broadcast the positioning-related data to external devices for differential calculation of RTK positioning by the external devices; and in the second mode, the processor controls the communication device to forward the relay-related data it receives through relay communication.

[0009] Therefore, the data transmission device of this application embodiment, by integrating a GNSS receiver, communication device, and processor into a single device, can achieve compatibility with both base station and relay station modes. In base station mode, it can provide accurate reference point positioning information for other external devices, enabling precise positioning and navigation. In relay station mode, it can extend the communication distance and improve communication quality. Thus, it achieves a functional upgrade and expansion of traditional single-function positioning or relay devices, allowing users to meet both usage needs with a single data transmission device. This multi-functional data transmission device, due to its integrated and expanded functions, reduces deployment costs for users, has a compact structure, and offers enhanced portability and scenario applicability.

[0010] Secondly, embodiments of this application provide a control method for a data transmission device, including:

[0011] Receive user switching operations or automatic switching commands; and,

[0012] In response to the user's switching operation or the automatic switching command, the device is controlled to switch between multiple operating modes;

[0013] Among them, the multiple working modes include a first mode and a second mode;

[0014] In the first mode, the device acquires positioning-related data based on GNSS signals received from one or more navigation satellites, and broadcasts the positioning-related data to an external device for differential calculation of RTK positioning by the external device;

[0015] In the second mode, the device forwards the relay-related data it receives via relay communication.

[0016] Thirdly, embodiments of this application provide a data interaction system, including: the data transmission device described in the first aspect; and,

[0017] The aircraft is capable of communicating with the data transmission device.

[0018] The control method and data interaction system of the data transmission device in this application embodiment have at least the same advantages as the data transmission device, which will not be described in detail here.

[0019] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

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

[0021] Figure 1 shows a schematic diagram of the hardware structure of a data transmission device according to an embodiment of this application;

[0022] Figure 2 shows a schematic diagram of the hardware structure of another data transmission device according to an embodiment of this application;

[0023] Figure 3 shows a schematic diagram of the data transmission device of this application communicating with two external devices in relay station mode;

[0024] Figure 4 shows a schematic diagram of the measurement state when the center rod is kept vertically aligned with the ground according to an embodiment of this application.

[0025] Figure 5 shows a schematic diagram of the measurement state when the centering rod tilts and sways with respect to the ground according to an embodiment of this application;

[0026] Figure 6 shows a flowchart of a control method for a data transmission device according to an embodiment of this application. Specific Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] This application discloses a data transmission device 1. This data transmission device 1, through hardware integration, enables it to transmit different types of data, thereby allowing it to be compatible with multiple different operating modes. Specifically, Figure 1 shows the basic hardware architecture of the data transmission device 1, which includes a GNSS (Global Navigation Satellite System) receiver 10, a communication device 11, and at least one processor 12.

[0029] The GNSS receiver 10 can be configured to receive GNSS signals from one or more navigation satellites via firmware burned into it.

[0030] The communication device 11 has hardware components for establishing a relay communication network, and can be configured to receive relay-related data sent from other devices besides the data transmission device 1, and to forward the received relay-related data to other devices in the relay communication network.

[0031] The processor 12 is the core device for data processing and computation, and its type is not limited to CPU (Central Processing Unit), MCU (Micro Controller Unit), or FPGA (Field Programmable Gate Array). In the data transmission device of this embodiment, both the GNSS receiver 10 and the communication device 11 are directly or indirectly electrically connected to the processor 12. When there is one processor 12, a single processor 12 can be individually configured to enable the data transmission device to support multiple operating modes. When there are multiple processors 12, the multiple processors 12 can work together and be jointly configured to enable the data transmission device to support multiple operating modes.

[0032] The aforementioned operating modes can include at least two modes: a first mode and a second mode. The first mode includes a base station mode, also known as RTK (Real Time Kinematic) mode. A base station refers to a ground-based fixed observation station that continuously tracks satellite signals from one or more navigation satellites over a long period to acquire observation data, and then transmits this data to other equipment in real-time or periodically via a communication device. In this application embodiment, the one or more navigation satellites can include at least one of GPS (US Global Positioning System), GLONASS (Russian Global Positioning System), Galileo (European Global Positioning System), and BDS (BeiDou (Chinese Global Positioning System)). The base station can continuously track signals from various navigation satellites for extended periods, providing data support for satellite orbit determination, atmospheric inversion, and surface displacement monitoring. Especially in high-dynamic, high-precision positioning applications, it can provide user terminals with fast and effective differential data, achieving centimeter-level positioning.

[0033] When the data transmission device of this application embodiment operates in base station mode, the GNSS receiver 10 sends the received GNSS signal to the processor 12. The processor 12 can obtain positioning-related data of the current location of the data transmission device based on the GNSS signal, and control the communication device 11 to broadcast the positioning-related data to external devices. External devices can use the positioning-related data for differential calculation of RTK positioning to achieve high-precision positioning and provide accurate reference point coordinates for external devices to realize positioning functions.

[0034] The aforementioned second mode includes the relay station mode. A relay station is a facility used in a communication network to forward radio or optical signals. During signal transmission, for example, when signal obstruction occurs along the transmission route, preventing the signal from being directly transmitted from one station to another, the relay station acts as an intermediate station to receive and forward the signal, thereby extending the communication distance and improving communication quality.

[0035] When the data transmission device of this application embodiment is working in relay station mode, the aforementioned GNSS receiver 10 may not participate in the operation of this mode. The processor 12 controls the communication device 11 to forward the relay-related data it receives through relay communication and transmit it to other devices in the relay network.

[0036] Therefore, the data transmission device of this application embodiment, by integrating the GNSS receiver 10, communication device 11, and processor 12, can achieve compatibility with both base station and relay station modes. In base station mode, it can provide accurate reference point positioning information for other external devices; in relay station mode, it can extend the communication distance and improve communication quality. Thus, it achieves a functional upgrade and expansion of traditional single-function positioning or relay devices, allowing users to meet both usage needs with a single data transmission device. This multi-functional data transmission device, due to its integrated and expanded functions, reduces user procurement costs and offers enhanced portability.

[0037] Optionally, in one embodiment, the data transmission device of this application may further include a third mode that is different from both the first and second modes. This allows for a wider range of application scenarios for users.

[0038] Optionally, in one embodiment, the third mode of this application includes a measurement station mode. When the data transmission device of this application operates in measurement station mode, the data transmission device can continue to use the positioning-related data obtained in the aforementioned base station mode. Based on this positioning-related data, the RTK positioning location data of the measurement point where the data transmission device is currently located can be obtained. It can be seen that, unlike the aforementioned embodiments of this application, in measurement station mode, the data transmission device records the location data of the measurement point it is located in, but does not send it to an external device for differential calculation as in base station mode. In measurement station mode, the data transmission device can be used as a measuring instrument for point mapping.

[0039] Optionally, in one embodiment, the data transmission device of this application can be deployed in a fixed or mobile manner according to the needs of the work task and in the corresponding working mode.

[0040] For example, when the data transmission device operates in base station mode, it can be fixed in place. In this case, the data transmission device can collect positioning data from that fixed location as reference coordinates. Fixed deployment can be achieved by mounting the data transmission device on a tripod and placing the tripod at the fixed location, or by fixing the data transmission device to a fixed building component such as a steel structure or concrete base.

[0041] When the data transmission device operates in measurement station mode, it can be deployed mobilely. In this mode, the data transmission device can be carried by surveyors or mounted on mobile platforms such as vehicles or drones, allowing it to be moved to multiple measurement points for data acquisition. When operating in measurement station mode, the data transmission device can obtain RTK positioning reference data from external mobile base stations as a reference benchmark for measurement.

[0042] When the data transmission device operates in relay station mode, its deployment method (fixed or mobile) can be determined based on the size of the relay communication network and signal quality. For example, in disaster relief applications, when a large-scale communication network is damaged, the data transmission device can be mounted on a drone for mobile deployment to establish an emergency communication network. As the drone moves within the disaster area, the data transmission device can act as a mobile relay station, temporarily establishing an emergency communication network covering a large area. Furthermore, in some application scenarios, if a fixed communication base station fails, the data transmission device in this embodiment, deployed in a fixed manner, can temporarily replace the fixed communication base station and serve as a relay communication device.

[0043] In this way, the data transmission device can integrate point mapping, signal relay and base station functions. Any function can be selected according to application needs. It is functionally integrated, portable in structure and easy to promote and popularize.

[0044] Optionally, in one embodiment, when there is only one processor 12, the single processor 12 can be configured to switch arbitrarily between a first mode, a second mode, and a third mode, and select the mode after switching to perform the corresponding function. When there are multiple processors 12, the multiple processors 12 can work together and be configured to switch arbitrarily between the first mode, the second mode, and the third mode, and select the mode after switching to perform the corresponding function.

[0045] Optionally, in one embodiment, as shown in FIG2, the data transmission device of this application embodiment may include a switching control 13. The switching control 13 is used to output a trigger signal to indicate that the data transmission device switches its working mode. The switching control 13 may be a physical button, a virtual control, or a biometric control such as a microphone control that can collect user voice, a fingerprint module that can collect user fingerprints, or various other types of controls such as a camera module that can recognize gesture operations.

[0046] When the switching control 13 is a physical button, different number of presses can correspond to different working modes. The trigger signal generated by the user pressing the physical button can be transmitted to one or more processors 12. The processor 12 responds to the trigger signal, switches between the first mode, the second mode, and the third mode to the selected working mode and executes the mode.

[0047] When the switching control 13 is a microphone control, the user can switch modes via voice control. The microphone control recognizes the user's voice information and converts it into a corresponding trigger signal, which is transmitted to one or more processors 12. The processor 12 responds to the trigger signal, switches between the first mode, the second mode, and the third mode to the selected working mode, and executes the mode.

[0048] When the switching control 13 is a bio-information module, different bio-information can correspond to different working modes. The bio-information module recognizes the user's bio-information and converts it into a corresponding trigger signal, which is transmitted to one or more processors 12. In response to the trigger signal, the processor 12 switches between the first mode, the second mode, and the third mode to the selected working mode and executes the mode.

[0049] When the switching control 13 is a camera module, different gestures can correspond to different working modes. The camera module recognizes the user's gesture information and converts it into a corresponding trigger signal, which is transmitted to one or more processors 12. The processor 12 responds to the trigger signal, switches between the first mode, the second mode, and the third mode to the selected working mode, and executes the mode.

[0050] Of course, the switching control 13 can also be a combination of various switching methods to simultaneously possess at least two of the aforementioned switching operation methods. This embodiment of the application will not elaborate further on this. The setting of the switching control 13 provides users with a way to actively control and switch working modes, and the switching methods of the switching control 13 can be diverse to meet the control and switching needs of different users.

[0051] Optionally, in one embodiment, the communication device 11 of this application embodiment may include one or more transmitters.

[0052] According to the foregoing embodiments, in the first mode, the communication device 11 broadcasts location-related data to external devices. Specifically, location-related data can be broadcast to external devices through one or more transmitters. In the second mode, the communication device 11 forwards relay-related data. Specifically, relay-related data can be forwarded through one or more transmitters via relay communication.

[0053] Furthermore, it should be noted that, regardless of the number of transmitters, in some implementations, the first mode and the second mode can operate using the same transmitter to reduce device power consumption. In other implementations, the first mode and the second mode can also operate using different transmitters to ensure that the hardware of each operating mode is independent of each other, reducing the complexity of transmitter hardware design.

[0054] In practical applications, the aforementioned transmitter may include an RF module. It is understood that when there is only one transmitter, the RF module has a wide frequency range, satisfying the operating frequency of both the first and second modes. When there are multiple transmitters, the operating frequency of the RF module in each transmitter is matched to a corresponding operating mode.

[0055] Optionally, in one embodiment, in order to avoid interference during the transmission and reception of radio signals, a signal shield is provided between the transmitter and the GNSS receiver 10. The signal shield can be a shielding shell, shielding cover or metal foil made of metal material, so as to improve the anti-interference performance during signal transmission and reception.

[0056] Optionally, in one embodiment, when the housing or other frame structure of the data transmission device is made of metal, it can be extended between the transmitter and the GNSS receiver 10, so that a part of the frame structure acts as a signal shield. In this case, the signal shield reuses at least part of the frame structure of the data transmission device, eliminating the need to set up a dedicated signal shield in the device, saving internal space, reducing the size of the device, miniaturizing the device, and improving portability.

[0057] Optionally, in one embodiment, the data transmission device of this application may have multiple hardware components, and at least one of the hardware components may be shared when implementing the aforementioned multiple working modes.

[0058] For example, at least one piece of hardware may include a specific piece of hardware from a plurality of hardware components, namely the hardware upon which the first and second modes are implemented. In the first mode, one or more processors 12 control the specific hardware to perform operations corresponding to the first mode, such as controlling the communication device 11 to broadcast location-related data to an external device. In the second mode, one or more processors 12 control the same specific hardware to perform operations corresponding to the second mode, such as controlling the communication device 11 to forward received relay-related data via relay communication. Thus, in this example, the specific hardware has both the function of broadcasting location-related data and the function of relay forwarding.

[0059] In this embodiment of the application, by reusing specific hardware, the repeated use of multiple specific hardware components can be reduced, thereby ensuring complete functionality while also reducing the development and manufacturing costs of data transmission equipment.

[0060] Optionally, in one embodiment, when the first mode and the second mode are compatible through the specific hardware described above, the firmware programs corresponding to the two modes can be burned to different storage areas in the specific hardware. The firmware program resources corresponding to the first mode can be burned to the first storage area, and the firmware program resources corresponding to the second mode can be burned to the second storage area.

[0061] When the first mode needs to be executed, one or more processors 12 read and load the corresponding resources from the first storage area. When the second mode needs to be executed, one or more processors 12 read and load the corresponding resources from the second storage area.

[0062] Optionally, in one implementation, when specific hardware is reused, it executes the operations corresponding to the first mode and the second mode at different times. For example, one or more processors 12 control the specific hardware to execute the operation corresponding to the first mode at the first time, and one or more processors 12 control the same specific hardware to execute the operation corresponding to the second mode at the second time. This avoids disruption of the control logic.

[0063] Optionally, in one implementation, a specific hardware reuse scheme may exist, as exemplified by the following: the base station mode and the relay station mode reuse the same communication device 11 or the same processor 12; or, the base station mode and the measurement station mode reuse the same processor 12 or the same GNSS receiver 10.

[0064] Optionally, in one embodiment, as illustrated in FIG3, when the data transmission device 1 operates in relay station mode, the relay communication network of this application embodiment may include, in addition to the data transmission device, a first external device 20 and a second external device 21 connected to the data transmission device 1 via relay communication. The first external device 20 and the second external device 21 are two independent devices, and their product types may be the same or different. For example, the two devices may be different aircraft, or one may be an aircraft and the other a control terminal.

[0065] In the second mode, the processor 12 controls the communication device 11 to forward relay-related data received from the first external device 20 to the second external device 21 via relay communication. Thus, the data transmission device can provide reliable relay communication for both the first external device 20 and the second external device 21.

[0066] Optionally, in one embodiment, one of the first external device 20 and the second external device 21 described above can be an aircraft, and the other can be a control terminal for sending control commands to the aircraft, such as a remote controller, a centralized monitoring cloud platform for the aircraft, or a device like an airport, hangar, or aircraft nest for the aircraft. The aforementioned data transmission equipment can effectively ensure the reliable transmission of aircraft control signals, thereby extending the aircraft's flight radius.

[0067] Optionally, in one embodiment, one of the first external device 20 and the second external device 21 can be a first aircraft and the other can be a second aircraft. The aforementioned data transmission equipment can effectively ensure the reliability of communication between aircraft groups and improve the collaborative working capability of the aircraft group.

[0068] Optionally, in one embodiment, the external devices in the aforementioned embodiments may include the first external device 20 and the second external device 21 described above. Therefore, when the data transmission device operates in relay station mode, and switches to base station mode at another time, it can also broadcast location-related data to any external device in the relay communication network, and the corresponding external device performs differential RTK positioning calculations. It is readily understood that when the external device receiving the location-related data is the first external device 20, the differential RTK positioning calculation is performed by the first external device 20. When the external device receiving the location-related data is the second external device 21, the differential RTK positioning calculation is performed by the second external device 21. In other words, the data transmission device can serve as a relay node for relay communication between the first external device 20 and the second external device 21, and can also broadcast location-related data to the first external device 20 and / or the second external device 21 for differential RTK positioning calculations.

[0069] Therefore, the data transmission device of this application embodiment provides multiple functions for the same external device, meeting the different application needs of the external device and its applicability to various working environments. For example, during the time interval of relay communication, the external device can also perform RTK positioning, making the work more efficient.

[0070] Optionally, in one embodiment, when the data transmission device establishes a relay communication connection with the first external device 20, one or more processors 12 may individually or jointly perform the following operations: when the signal quality of the communication link between the transmitter and the first external device 20 is less than a preset threshold, the processor 12 may control the data transmission device to output prompt information or automatically adjust its own posture so that the antenna faces the direction of the strongest signal, thereby improving the communication quality.

[0071] For example, signal quality includes indicators such as signal strength, signal stability, signal delay, and signal robustness.

[0072] When the data transmission device establishes a relay communication connection with the second external device 21, one or more processors 12 can perform the following operations individually or jointly: when the signal quality of the communication link between the transmitter and the second external device 21 is less than a preset threshold, the processor 12 can control the data transmission device to output prompt information or automatically adjust its own posture so that the antenna faces the direction with the strongest signal, thereby improving the communication quality.

[0073] The aforementioned prompts can be audio messages, LED flashing signals, or display patterns. These prompts can guide users to manually adjust the data transmission device to the optimal signal position.

[0074] Optionally, in one embodiment, to accurately adjust the pose of the data transmission device, the data transmission device may further include a pose sensor. The pose sensor is used to measure the attitude data of the data transmission device itself, and may also measure position data. Exemplarily, the pose sensor may include at least one of a positioning sensor, an inertial measurement unit, a gyroscope, an accelerometer, a magnetometer, a vision sensor, or a proximity sensor.

[0075] Optionally, in one embodiment, when the data transmission device establishes a relay communication connection with the first external device 20, one or more processors 12 may individually or jointly perform the following operations to improve communication quality. Specifically, when the data transmission device is in a first state, it has corresponding first pose data, and the signal quality of the communication link with the first external device 20 is a first signal quality. When the operating state of the data transmission device changes to a second state, it has corresponding second pose data, and the signal quality of the communication link with the first external device 20 is a second signal quality. Once the processor 12 determines that the second signal quality is better than the first signal quality, it determines the pose change trend corresponding to the change from the first pose data to the second pose data as an adjustment trend. Then, it can control the data transmission device to automatically adjust its pose according to the adjustment trend, or present the adjustment trend to the user as a prompt message.

[0076] It should be noted that the first state and the second state can correspond to different positioning locations. For example, the GPS positioning changes from the first state to the second state. The first state and the second state can also correspond to the same positioning location, but the attitude changes. For example, the GPS positioning remains unchanged, but the pitch angle, roll angle or yaw angle changes.

[0077] As an example scenario, the first signal strength of the first external device 20 in the first state is -85dBm, and the pitch angle corresponding to the first pose data is 0 degrees; the second signal strength of the first external device 20 in the second state is -60dBm, and the pitch angle corresponding to the first pose data is +15 degrees (head-up attitude). Since the second signal strength is better than the first signal strength, the trend of increasing signal strength from the first pose data to the second pose data, that is, it is reasonable to infer that the adjustment is in the direction of continued increase in pitch angle. It should be noted that multiple states can also be selected for comparison to improve the accuracy of trend prediction.

[0078] When the data transmission device establishes a relay communication connection with the second external device 21, one or more processors 12 can individually or jointly perform operations similar to those described above to improve communication quality. The embodiments of this application will not be described in detail here.

[0079] Optionally, in one embodiment, the data transmission device of this application embodiment may include an attitude sensor. The attitude sensor is used to measure the attitude data of the GNSS receiver 10, such as the tilt angle of the GNSS receiver 10 relative to a preset direction, the orientation of the receiver antenna, etc., thereby reflecting the spatial attitude of the GNSS receiver 10. This attitude data can be used to correct positioning-related data. Exemplarily, the attitude sensor includes at least one of an inertial measurement unit, a gyroscope, an accelerometer, a magnetometer, a vision sensor, or a proximity sensor.

[0080] Optionally, in one embodiment, when there is one processor 12, the processor 12 acquires positioning-related data based on GNSS signals and also receives attitude data from an attitude sensor, thereby combining the attitude data to correct the positioning-related data. Furthermore, if there are multiple processors 12, the multiple processors 12 can work collaboratively, acquiring positioning-related data based on GNSS signals and also receiving attitude data from an attitude sensor, thereby combining the attitude data to correct the positioning-related data or provide anomaly alerts, thereby improving the reliability and accuracy of positioning.

[0081] In base station mode, positional shifts caused by uncontrollable external environmental factors cannot be detected and corrected in a timely manner, and the availability status of the base station is not promptly communicated to the user. The longer this continues, the lower the reliability of the base station. If the tilt angle becomes too large or the base station collapses, the response time for maintenance is lengthy, affecting user experience. However, attitude data from attitude sensors can promptly determine whether the base station is tilted or moved.

[0082] Optionally, in one embodiment, regardless of whether the data transmission device 1 operates in base station mode or measurement station mode, the data transmission device 1 can be installed and fixed on the top of the centering rod 3. In this case, the GNSS receiver 10 is also located on the top of the centering rod 3, and the part contacted by the bottom of the centering rod 3 is the measurement point. As shown in Figure 4, the centering rod 3 can be a straight rod. When the centering rod 3 is vertical to the ground, the line connecting the GNSS receiver 10 and the measurement point coincides with the direction of gravity. The positioning data reflects the height of the data transmission device 1 above the ground. The position data of the measurement point needs to be reduced by the relative distance between the GNSS receiver 10 and the measurement point. This relative distance is also the length of the centering rod 3.

[0083] Optionally, in one embodiment, regardless of whether the data transmission device 1 operates in base station mode or measurement station mode, the data transmission device 1 can be installed and fixed at the top of the centering rod 3, with the bottom of the centering rod 3 contacting the measurement point. As shown in Figure 5, the centering rod 3 can be a straight rod. When the centering rod 3 is tilted relative to the ground, the line connecting the GNSS receiver 10 and the measurement point makes an angle with the direction of gravity. The positioning data reflects the height of the data transmission device 1 above the ground, while the position data of the measurement point needs to be subtracted from the height above the ground. It is easy to understand that when the centering rod 3 is tilted relative to the ground, the height above the ground is calculated based on geometric relationships, attitude data, and the relative distance between the GNSS receiver 10 and the measurement point, thereby obtaining accurate positioning data for the measurement point.

[0084] Optionally, in one embodiment, the relative distance between the GNSS receiver 10 and the measurement point can be automatically calculated using the aforementioned attitude sensor based on the tilt angle and length of the centering rod 3 and input into the processor 12, without requiring user input via buttons or touchscreen, thereby improving the efficiency and accuracy of measurement and positioning.

[0085] Optionally, in one embodiment, the bottom end of the centering rod 3 is fixed to the measurement point on the ground, and the top end of the centering rod 3 is shaken in space, causing the GNSS receiver 12 to swing to different positions. The GNSS receiver 10 is in multiple measurement states at different positions. In each measurement state, the processor 12 acquires the corresponding positioning-related data and attitude data, thereby obtaining the distance data corresponding to the respective measurement state.

[0086] Optionally, in one embodiment, the centering rod 3 is telescopic and has multiple preset length data. For example, the telescopic centering rod 3 can have four length specifications, namely 1.25m, 1.6m, 1.8m, and 2.0m. In practical applications, accurate measurement depends on the user manually inputting the length data of the centering rod 3, which is not intelligent enough. Users often forget to input the length data of the centering rod 3, or read it incorrectly, or input it incorrectly, resulting in inaccurate measurement results. In this embodiment, multiple positioning-related data obtained in different measurement states in the aforementioned embodiments can be fitted to obtain the motion trajectory of the top of the centering rod 3 (as shown by the dotted line in Figure 5). Based on its motion trajectory and posture data, these data are compared with the preset length data, and the current length specification of the centering rod 3 can be automatically inferred. Because the trajectory formed by multiple shaking points of the centering rod 3 is different for different length specifications, the length data with the highest probability can be inferred from the fitted trajectory as the current length data of the centering rod 3. This length data can be automatically recorded by the processor for measurement calculation without the need for manual input by the user. This helps avoid errors or forgetting to input information. Furthermore, shaking the centering rod 3 in space also helps to wake up the attitude sensor and improve its detection accuracy.

[0087] Optionally, in one implementation, in the measurement station mode, the measured location data can be imported into the server for modeling or drawing with one click, reducing the workload.

[0088] Optionally, in one embodiment, the data transmission device 1 of this application can send the acquired location-related data to a remote control device, and then the remote control device can send it to at least one of a terminal device such as a computer or mobile phone that collects and aggregates the location-related data, as well as a server device. Furthermore, the terminal device and the server device can also send control commands to the data transmission device 1 via the remote control device. This enables remote control interaction with the data transmission device 1.

[0089] Optionally, in one embodiment, the user uses a remote control device to switch between operating modes and sends a trigger signal to the data transmission device 1 to complete the remote switching of operating modes.

[0090] Optionally, in one embodiment, the remote control device of this application embodiment can achieve communication connection with the data transmission device 1 through any one of the following wireless links: SDR (Software Defined Radio) link, 4G, 5G, Bluetooth, or WiFi link. The SDR link can dynamically allocate communication frequency and bandwidth to achieve optimal signal, while the 4G, 5G, Bluetooth, or WiFi link can meet the communication needs of different distances and different transmission speeds.

[0091] Optionally, in one embodiment, the data transmission device 1 may further include a support rod. The aforementioned GNSS receiver 10, communication device 11, and processor 12 form a hardware module. The support rod can be connected to the hardware module through a foldable mechanism. When needed, the support rod can be unfolded to provide stable support for the hardware module and ensure measurement accuracy.

[0092] In another embodiment, the support rod can also be equipped independently of the data transmission device 1, and be a separate structure from the data transmission device 1. When needed, the support rod can be connected and fixed to the data transmission device 1 through a standard threaded interface to provide stable support and ensure measurement accuracy.

[0093] Furthermore, as illustrated in Figure 6, this application embodiment also discloses a control method for a data transmission device, specifically including:

[0094] Step S101: Receive the user's switching operation or automatic switching instruction.

[0095] For the data transmission device disclosed in the foregoing embodiments, users can directly switch the working mode on the data transmission device or switch the working mode through a remote control device. The data transmission device can also automatically detect environmental information and other data corresponding to the working mode to trigger an automatic switching command.

[0096] Step S102: In response to the user's switching operation or automatic switching command, control the data transmission device to switch between multiple operating modes.

[0097] After receiving a user's switching operation or automatic switching command, the data transmission device can switch its operating mode between at least a first mode and a second mode. Specifically, when the data transmission device of this embodiment operates in the first mode, the GNSS receiver 10 sends the received GNSS signal to the processor 12. The processor 12 can obtain positioning-related data of the current location of the data transmission device based on the GNSS signal and control the communication device 11 to broadcast the positioning-related data to external devices. The external devices can use the positioning-related data for differential calculation of RTK positioning to achieve high-precision positioning and provide accurate reference point coordinates for the external devices to achieve positioning functions. When the data transmission device of this embodiment operates in the second mode, the aforementioned GNSS receiver 10 may not participate in the operation of this mode. The processor 12 controls the communication device 11 to forward the received relay-related data through relay communication to other devices in the relay network.

[0098] Finally, this application also discloses a data interaction system, including: a data transmission device of any of the foregoing embodiments; and an aircraft capable of communicating with the data transmission device.

[0099] Based on the characteristics of data transmission equipment, this data interaction system can use a single data transmission device to achieve interactive transmission of different types of data with the aircraft, meeting the needs of different tasks.

[0100] As a specific application example, let's take the operation scenario of a drone as an example:

[0101] Because drone accessories and equipment have evolved from various industries such as communication base stations and RTK positioning base stations, the existing hardware design of drone accessories and equipment is complex and the software solutions cannot be standardized.

[0102] Common repeater stations typically use the 840MHz–928MHz communication band, and are bulky and inconvenient to carry. Base station radios require special antennas and the 450MHz–470MHz communication band, and cannot be used simultaneously with repeater stations. RTK measurement stations require Bluetooth to connect to handheld devices and do not have repeater or radio broadcasting capabilities. When used with drones, users need to carry and deploy multiple devices, which are expensive and inconvenient to carry, thus hindering their widespread adoption.

[0103] This application embodiment mainly integrates the RTK positioning antenna, IMU angle sensor and image transmission RF module into a single design. Through software dynamic scheduling and combined use of internal sensors, it meets the user's needs for convenient portability and different application scenarios.

[0104] When used as a relay station, it can be flexibly mounted on drones, buildings, power towers, etc., via standard interfaces. The image transmission RF module makes real-time judgments based on the uplink and downlink status of the image transmission and the aircraft, integrating inertial navigation angles, relay station positions, etc., to determine the relay station's angle and direction, and prompts the user to adjust accordingly to achieve optimal signal strength. The image transmission can dynamically allocate communication frequencies and bandwidth with the drone using SDR technology to achieve optimal quality.

[0105] Using the mode switch button, you can switch to base station mode. When acting as a base station radio, the RTK antenna's location is transmitted to the drone via the image transmission RF module. The built-in inertial navigation sensor fuses the antenna board's position, and the computing module calculates the real-time position. The radio's tilt can be detected in real time, and height compensation can be performed if the radio is tilted.

[0106] When switching to the measurement station mode using the mode switch button, the IMU angle sensor and position sensor can calculate the angle and ground clearance. Combined with a customized centering rod, height compensation is directly performed. The compensated position is then transmitted to the drone and remote controller via the image transmission RF module.

[0107] This application utilizes an integrated hardware design, combined with multi-sensor fusion technology and SDR technology. This enables multi-functional integration and switching on a single device, significantly reducing the cost of drone accessories and simplifying usage.

[0108] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0109] The terms "an embodiment," "embodiment," or "one or more embodiments" as used herein mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Furthermore, please note that the examples of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0110] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0111] In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A data transmission device, characterized in that, include: A GNSS receiver is configured to receive GNSS signals from one or more navigation satellites; The communication device is at least configured to receive relay-related data and forward the relay-related data; One or more processors, individually or collectively, are configured to enable the data transmission device to support multiple operating modes, including a first mode and a second mode; The first mode includes a base station mode, in which the processor acquires positioning-related data based on the GNSS signal and controls the communication device to broadcast the positioning-related data to external devices for differential calculation of RTK positioning by the external devices; and in the second mode, the processor controls the communication device to forward the relay-related data it receives through relay communication.

2. The data transmission device according to claim 1, characterized in that, The operating mode also includes a third mode, which is different from the first mode and the second mode.

3. The data transmission device according to claim 2, characterized in that, The third mode includes the measurement station mode; In the measurement station mode, the data transmission device obtains the RTK positioning location data of the measurement point where the data transmission device is currently located based on the positioning-related data.

4. The data transmission device according to claim 3, characterized in that, The data transmission device meets any of the following conditions: In the base station mode, the data transmission equipment is fixedly deployed; In the measurement station mode, the data transmission device is deployed in a mobile manner; In the second mode, the data transmission device is either fixedly deployed or mobilely deployed.

5. The data transmission device according to claim 1, characterized in that, One or more of the processors are individually or collectively configured to switch between and select one of the multiple operating modes for execution.

6. The data transmission device according to claim 5, characterized in that, The data transmission device includes a switching control, and one or more of the processors, individually or collectively configured to switch from a plurality of the operating modes and select one of the modes to execute in response to a trigger signal of the switching control.

7. The data transmission device according to claim 1, characterized in that, The communication device includes one or more transmitters.

8. The data transmission device according to claim 7, characterized in that, In the first mode, one or more of the transmitters are configured to broadcast the location-related data.

9. The data transmission device according to claim 7, characterized in that, In the second mode, one or more of the transmitters are configured to forward the relay-related data they receive via relay communication.

10. The data transmission device according to claim 7, characterized in that, The first mode and the second mode operate using the same transmitter; or, the first mode and the second mode operate using different transmitters.

11. The data transmission device according to claim 7, characterized in that, The transmitter includes a radio frequency module.

12. The data transmission device according to claim 7, characterized in that, A signal shield is provided between the transmitter and the GNSS receiver.

13. The data transmission device according to claim 12, characterized in that, The signal shielding component reuses at least a portion of the frame structure of the data transmission device.

14. The data transmission device according to claim 3, characterized in that, Multiple operating modes can reuse at least one piece of hardware.

15. The data transmission device according to claim 14, characterized in that, At least one of the hardware components includes specific hardware; In the first mode, one or more of the processors control the specific hardware to perform the operation corresponding to the first mode; In the second mode, one or more of the processors control the same specific hardware to perform the operation corresponding to the second mode.

16. The data transmission device according to claim 15, characterized in that, One or more processors control a portion of the resources of the specific hardware to perform the operation corresponding to the first mode, and one or more processors control another portion of the resources of the same specific hardware to perform the operation corresponding to the second mode.

17. The data transmission device according to claim 15, characterized in that, One or more processors control the specific hardware to execute the operation corresponding to the first mode at a first moment, and one or more processors control the same specific hardware to execute the operation corresponding to the second mode at a second moment.

18. The data transmission device according to claim 15, characterized in that, The base station mode and the second mode reuse the same communication device; or... The first mode and the second mode reuse the same processor; or, The base station mode and the measurement station mode reuse the same processor; or... The base station mode and the survey station mode reuse the same GNSS receiver.

19. The data transmission device according to claim 7, characterized in that, In the second mode, the processor controls the communication device to forward the relay-related data it receives from the first external device to the second external device via relay communication. The first external device is different from the second external device.

20. The data transmission device according to claim 19, characterized in that, One of the first external device and the second external device includes an aircraft, and the other includes the control terminal of the aircraft.

21. The data transmission device according to claim 19, characterized in that, One of the first external device and the second external device includes a first aircraft, and the other includes a second aircraft.

22. The data transmission device according to claim 19, characterized in that, The data transmission device broadcasts the positioning-related data to the first external device for differential calculation of RTK positioning by the first external device.

23. The data transmission device according to claim 19, characterized in that, The data transmission device broadcasts the positioning-related data to the second external device for differential calculation of RTK positioning by the second external device.

24. The data transmission device according to claim 19, characterized in that, One or more of the processors are individually or collectively configured to perform the following operation: in response to the signal quality of the communication link between the communication device and the first external device being less than a preset threshold, output a prompt message or automatically adjust the pose of the device.

25. The data transmission device according to claim 19, characterized in that, One or more of the processors are individually or collectively configured to perform the following operation: in response to the signal quality of the communication link between the communication device and the second external device being less than a preset threshold, output a prompt message or automatically adjust the pose of the device.

26. The data transmission device according to claim 19, characterized in that, The data transmission device further includes a pose sensor, which is used to measure the pose data of the device.

27. The data transmission device according to claim 26, characterized in that, One or more of the processors are individually or collectively configured to perform the following operations: When the data transmission device is in the first state, the first signal quality of the communication link between the communication device and the first external device and the first pose data acquired by the pose sensor are determined. When the data transmission device is in the second state, the second signal quality of the communication link between the communication device and the first external device and the second pose data acquired by the pose sensor are determined. If the quality of the second signal is better than that of the first signal, then the trend of change of the pose data represented by the change from the first pose data to the second pose data is determined. In addition, the device can be controlled to adjust its pose in the direction in which the trend of change intensifies, or a prompt message can be output.

28. The data transmission device according to claim 26, characterized in that, One or more of the processors are individually or collectively configured to perform the following operations: When the data transmission device is in the first state, the first signal quality of the communication link between the communication device and the second external device and the first pose data measured by the pose sensor are determined. When the data transmission device is in the second state, the second signal quality of the communication link between the communication device and the second external device and the second pose data measured by the pose sensor are determined. If the quality of the second signal is better than that of the first signal, determine the trend of change of the pose data represented by the first pose data to the second pose data; In addition, the device can be controlled to move in the direction in which the trend of change intensifies, or a prompt message can be output.

29. The data transmission device according to claim 26, characterized in that, The pose sensor includes at least one of a positioning sensor, an inertial measurement unit, a gyroscope, an accelerometer, a magnetometer, a vision sensor, or a proximity sensor.

30. The data transmission device according to claim 1, characterized in that, The data transmission device also includes an attitude sensor, which is used to measure the attitude data of the GNSS receiver.

31. The data transmission device according to claim 30, characterized in that, The attitude sensor includes at least one of an inertial measurement unit, a gyroscope, an accelerometer, a magnetometer, a vision sensor, or a proximity sensor.

32. The data transmission device according to claim 30, characterized in that, One or more of the processors are individually or collectively configured to provide corrected positioning-related data based on the GNSS signals and the attitude data.

33. The data transmission device according to claim 30, characterized in that, The data transmission device is installed on the centering rod. The position data of the measurement point is determined based on the positioning-related data and distance data corresponding to when the GNSS receiver is in the direction of gravity. The distance data represents the relative distance between the GNSS receiver and the measurement point.

34. The data transmission device according to claim 30, characterized in that, The data transmission device is installed on the centering rod. The position data of the measurement point is determined based on the positioning-related data, attitude data, and distance data corresponding to the GNSS receiver being in a non-gravity direction. The distance data represents the relative distance between the GNSS receiver and the measurement point.

35. The data transmission device according to claim 34, characterized in that, The measurement point is located at the bottom of the centering rod, and the GNSS receiver is located at the top of the device.

36. The data transmission device according to claim 34, characterized in that, The distance data is automatically input into the processor without the need for manual input by the user.

37. The data transmission device according to claim 34, characterized in that, One or more of the processors are individually or collectively configured to perform the following operations: In response to fixing the first end of the centering rod at the measurement point, the second end of the centering rod is shaken multiple times to correspond to multiple measurement states, thereby obtaining the positioning-related data and the attitude data corresponding to each of the measurement states, wherein the first end and the second end are arranged relative to each other along the length direction of the centering rod; The distance data is calculated based on the positioning-related data and attitude data corresponding to each of the measurement states.

38. The data transmission device according to claim 37, characterized in that, The centering rod is telescopic and has multiple preset length data; The step of calculating the distance data based on the positioning-related data and attitude data corresponding to each of the measurement states includes: The trajectory of the second end of the centering rod corresponding to the multiple measurement states is obtained by fitting multiple positioning-related data; Based on the trajectory and the attitude data, the distance data is determined from a plurality of preset length data.

39. The data transmission device according to claim 1, characterized in that, The data transmission device interacts with the terminal device and / or server via a remote control device.

40. The data transmission device according to claim 39, characterized in that, Users can select one of the multiple operating modes through the remote control device.

41. The data transmission device according to claim 39, characterized in that, The remote control device communicates with one or more of the processors via a wireless link.

42. The data transmission device according to claim 41, characterized in that, The wireless links include: SDR links, 4G, 5G, Bluetooth, or WiFi links.

43. The data transmission device according to claim 1, characterized in that, The one or more navigation satellites include at least one of the following: the U.S. Global Positioning System (GPS), the Russian Global Navigation Satellite System (GLONASS), the European Galileo Global Navigation Satellite System (GDS), or the Chinese BeiDou Navigation Satellite System (BDS).

44. The data transmission device according to claim 1, characterized in that, The data transmission device includes a support rod, which provides stable support.

45. The data transmission device according to claim 1, characterized in that, The data transmission device is externally connected to the support rod, which provides stable support.

46. ​​A control method for a data transmission device, characterized in that, include: Receive user switching operations or automatic switching instructions; as well as, In response to the user's switching operation or the automatic switching command, the device is controlled to switch between multiple operating modes; Among them, the multiple working modes include a first mode and a second mode; In the first mode, the device acquires positioning-related data based on GNSS signals received from one or more navigation satellites, and broadcasts the positioning-related data to an external device for differential calculation of RTK positioning by the external device; In the second mode, the device forwards the relay-related data it receives via relay communication.

47. A data interaction system, characterized in that, include: The data transmission device according to any one of claims 1-45; and, The aircraft is capable of communicating with the data transmission device.

Images