Mower RTK Base Station Switching Under Blocked Satellite Visibility
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Solution Overview
Problem
Mowers equipped with RTK carrier phase difference technology face challenges in achieving reliable and accurate positioning due to blocking of satellite signals by buildings and limited satellite observable orientations, leading to insufficient common-view satellites for reliable RTK positioning.
Innovation Solution
A method for switching a base station of a mower, which involves obtaining the number of common-view satellites between the mower and multiple base stations, determining trajectories based on these satellites, calculating a coordinate transformation matrix, and switching the base station to ensure reliable RTK positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the base station is placed in a limited location (e.g., corner or ground level), then the device complexity and installation difficulty are reduced, but the number of observable satellites decreases and positioning reliability deteriorates
Solution Approach 1:
The system divides the positioning function into multiple base stations instead of relying on a single base station. Each base station serves a specific coverage area, and the mower can switch between base stations based on which one provides better satellite visibility. This segmentation allows each base station to be placed in locations that are easier to install while collectively maintaining high positioning reliability.
Solution Approach 2:
The system dynamically switches between different base stations based on real-time satellite visibility conditions. The mower continuously monitors the number of common-view satellites with each base station and switches to the base station that provides the best positioning conditions. This dynamic adaptation resolves the contradiction by allowing the system to maintain high reliability without requiring fixed, difficult-to-install base station locations.
2Measurement precision
If the base station is placed in a high location with better satellite visibility, then the number of observable satellites increases and positioning accuracy improves, but the installation difficulty and device complexity increase
Solution Approach 1:
Instead of requiring a single high-location base station with complex installation, the system segments the positioning function across multiple base stations that can be placed in simpler locations. Each base station contributes to the overall positioning accuracy, and the system achieves high measurement precision through the collective capability of multiple stations rather than relying on a single complex station.
Solution Approach 2:
Multiple base stations with simpler installation configurations work together to provide the positioning function that would otherwise require a single complex high-location base station. The system achieves universal positioning coverage by having multiple base stations that can each be installed in various locations, collectively providing accurate positioning without requiring any single station to be in a difficult-to-access high location.
3Device complexity
If the mower uses a single base station for positioning, then the system complexity is reduced, but the positioning reliability deteriorates when satellite signals are blocked by buildings
Solution Approach 1:
The positioning function is segmented across multiple base stations, each handling specific coverage areas. When the mower encounters building blockages that affect visibility to one base station, it can switch to another base station that provides unobstructed satellite signals. This segmentation maintains positioning reliability without requiring an overly complex single-station system.
Solution Approach 2:
The system introduces a base station switching mechanism as an intermediary between the mower and the positioning satellites. This mediator monitors satellite visibility conditions and dynamically selects the most appropriate base station, ensuring continuous reliable positioning even when buildings block signals to any single base station. The intermediary resolves the contradiction by managing the complexity of multiple base stations while maintaining reliability.
4Reliability
If the mower switches between multiple base stations dynamically, then the positioning reliability improves in blocked environments, but the system complexity and computational requirements increase
Solution Approach 1:
The system uses feedback from satellite visibility monitoring to dynamically control base station selection. The mower continuously monitors the number of common-view satellites with each base station and switches based on predefined thresholds. This feedback mechanism automates the complexity of managing multiple base stations, making the control system manageable while maintaining high positioning reliability in blocked environments.
Solution Approach 2:
The system changes the operational parameter of base station selection based on satellite visibility conditions. By monitoring parameters such as the number of observable satellites and switching when thresholds are exceeded, the system dynamically adapts to environmental conditions. This parameter-based control resolves the contradiction by providing automated, reliable base station switching without requiring complex manual control systems.
Data Source
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Figure 4~5A
Figure 5B~5C
AI summary
A method for switching a base station, a mower and a multi-base station working system are provided. The method includes: obtaining, when the number of first common-view satellites between the mower and a first base station is less than a first threshold, the number of second common-view satellites between the mower and a second base station; when the number of the first common-view satellites is less than a second threshold and the number of the second common-view satellites is greater than the second threshold, obtaining the first trajectory of the mower based on the first base station and the second trajectory of the mower based on the second base station; determining, based on the first and second trajectories, a coordinate transformation matrix; and switching from the first base station to the second base station based on the coordinate transformation matrix, the second threshold being less than the first threshold.