Mower RTK Base Station Switching Under Low Satellite Visibility
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Solution Overview
Problem
Mowers often experience inaccurate positioning due to insufficient common-view satellites caused by blocking sources and suboptimal base station placement, leading to unreliable real-time kinematic (RTK) positioning.
Innovation Solution
A method for switching base stations based on the number of common-view satellites, involving the determination of trajectories and coordinate transformation matrices to switch from one base station to another, ensuring sufficient satellite visibility for accurate RTK positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single base station is used for RTK positioning, then the system complexity is low, but the positioning reliability deteriorates when satellite visibility is insufficient
Solution Approach 1:
The patent combines multiple base stations into a unified positioning system. The mower can simultaneously receive positioning signals from multiple base stations (first base station and second base station), and the system selects or switches between them based on satellite visibility conditions, thereby improving positioning reliability through redundancy
Solution Approach 2:
The patent implements dynamic base station switching based on real-time satellite visibility assessment. When the number of common-view satellites between the mower and the current base station falls below a threshold, the system dynamically switches to an alternative base station, making the positioning system adaptive to changing environmental conditions
2Ease of operation
If the base station is placed in a limited location (e.g., corner), then the installation ease is high, but the satellite observable orientation is limited
Solution Approach 1:
The patent introduces a satellite visibility assessment mechanism as an intermediary between the base station and the mower. This intermediary evaluates the number of common-view satellites and triggers base station switching when visibility is insufficient, allowing the system to compensate for suboptimal base station placement without requiring complex installation considerations
Solution Approach 2:
The patent changes the operational parameter from a fixed single base station to a dynamic multi-base station configuration. By monitoring satellite visibility parameters and switching between base stations based on these parameters, the system maintains positioning reliability regardless of the base station's physical location or orientation constraints
3Reliability
If base station switching is implemented, then the positioning reliability improves, but the system complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where the system continuously monitors the number of common-view satellites between the mower and the current base station. When this number falls below a predefined threshold, the feedback triggers a base station switch, creating a closed-loop control system that automatically maintains positioning reliability without requiring complex manual intervention
Solution Approach 2:
The positioning system performs self-service by automatically assessing satellite visibility and selecting or switching between base stations without external intervention. The mower itself monitors its positioning quality and autonomously switches base stations when needed, reducing the complexity of external control systems
Data Source
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.