CN-121978725-A - Multi-source RTCM data preferential processing method and system

CN121978725ACN 121978725 ACN121978725 ACN 121978725ACN-121978725-A

Abstract

The invention discloses a multisource RTCM data preferential processing method and system, which particularly relate to the technical field of differential data service in a satellite radio positioning system and are used for solving the problem that an existing RTK reference station is in differential service interruption caused by dependence on a single data source and a single transmission link, a network RTK is connected with a plurality of data sources of a local positioning module through a configuration reference station at the same time, RTCM data packets of data streams are received in parallel and verified in real time, when a plurality of effective data packets compete, prospective evaluation and preferential selection are carried out based on the historical association relation between the characteristics of the data packets and the broadcasting efficiency of multiple frequency bands to generate current effective RTCM data, and finally, redundancy is built on the data sources and the wireless links through wireless data transmission modules of at least two different working frequency bands, and the reliability and the continuity of differential data required by unmanned aerial vehicle formation and other high-precision positioning application are remarkably improved through a cross-layer optimized intelligent preferential mechanism.

Inventors

JIANG ZHAOBO
LIU CHAO
WU MIAO
WANG TIANBAO

Assignees

深圳市信为通讯技术有限公司

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (10)

1. A method for preferentially processing multisource RTCM data, comprising the steps of: s1, configuring a reference station system to simultaneously connect a plurality of RTCM data sources; S2, acquiring a first RTCM data stream from a network RTK server through at least one network access module in a plurality of RTCM data sources; S3, acquiring a second RTCM data stream through positioning modules in the plurality of RTCM data sources; S4, receiving the first RTCM data stream and the second RTCM data stream in parallel, and performing real-time verification on received RTCM data packets from a plurality of RTCM data sources to generate current effective RTCM data; s5, the current effective RTCM data is broadcast and transmitted simultaneously through at least two wireless data transmission modules with different working frequency bands.
2. The method of claim 1, wherein configuring the reference station system to simultaneously connect a plurality of RTCM data sources comprises: Initializing and configuring a network access module and a positioning module of the reference station system; The network access module and the positioning module which complete initialization configuration are used as a plurality of RTCM data sources and simultaneously keep working connection.
3. The method of claim 1, wherein obtaining the first RTCM data stream from the network RTK server via at least one network access module of the plurality of RTCM data sources, comprises: Establishing an independent connection session with a network RTK server in a network access module; Receiving differential data continuously transmitted by a network RTK server through an independent connection session; the received differential data is consolidated into a continuous first RTCM data stream.
4. The method of claim 1, wherein the obtaining the second RTCM data stream by the positioning module in the plurality of RTCM data sources comprises: configuring a positioning module to work in a reference station mode; under the reference station mode, calculating according to the observation data of the positioning module and generating reference station differential data; The generated reference station differential data is consolidated into a continuous second RTCM data stream.
5. The method of claim 1, wherein receiving the first RTCM data stream and the second RTCM data stream in parallel and checking the RTCM data packets received from the plurality of RTCM data sources in real time generates the current valid RTCM data, comprising: establishing and maintaining association relations between characteristic parameters of RTCM data packets output by each RTCM data source and broadcast performance parameters of wireless data transmission modules of at least two different working frequency bands; When a plurality of RTCM data packets which are from the first RTCM data stream and the second RTCM data stream and pass through real-time verification are received in parallel, and the receiving time difference of the plurality of RTCM data packets is smaller than a preset competition time threshold value, respectively predicting and selecting each RTCM data packet as current effective RTCM data based on the association relation, and comprehensively influencing the broadcasting performance parameters of at least two wireless data transmission modules; and selecting an RTCM data packet capable of optimizing the comprehensive performance of the broadcasting performance parameters from a plurality of RTCM data packets according to the comprehensive influence generated by prediction, and taking the RTCM data packet as current effective RTCM data.
6. The method of claim 5, wherein establishing and maintaining association between the characteristic parameters of the RTCM packets output by each RTCM data source and the broadcast performance parameters of the wireless data transmission modules in at least two different operating frequency bands includes recording a correspondence between a length and a transmission interval of the RTCM packets in the first RTCM data stream and the second RTCM data stream and a transmission success rate and a transmission delay of the corresponding wireless data transmission module in different operating frequency bands during the history transmission.
7. The method of claim 5, wherein the predetermined contention time threshold is determined according to an average data transmission period of at least two wireless data transmission modules in respective operating frequency bands.
8. The method for preferentially processing multi-source RTCM data according to claim 1, wherein the currently valid RTCM data is broadcast and transmitted simultaneously by wireless data transmission modules of at least two different operating frequency bands, comprising: Acquiring generated current effective RTCM data; Respectively generating transmission copies of current effective RTCM data for wireless data transmission modules of at least two different working frequency bands; And controlling at least two wireless data transmission modules to execute parallel broadcast transmission on the respective transmission copies by utilizing the corresponding working frequency bands.
9. The method of claim 8, wherein encapsulating the current effective RTCM data to form a data frame according to the communication protocol requirements of the at least two wireless data transmission modules before the current effective RTCM data is broadcast and transmitted simultaneously by the wireless data transmission modules in at least two different operating frequency bands.
10. A multi-source RTCM data preferential processing system for implementing a multi-source RTCM data preferential processing method according to any one of claims 1-9, comprising the following units: a reference configuration unit for configuring a reference station system to connect a plurality of RTCM data sources simultaneously; A network acquisition unit configured to acquire a first RTCM data stream from a network RTK server through at least one network access module of a plurality of RTCM data sources; the positioning acquisition unit is used for acquiring a second RTCM data stream through positioning modules in the plurality of RTCM data sources; The checking generation unit is used for receiving the first RTCM data stream and the second RTCM data stream in parallel, and checking the received RTCM data packets from a plurality of RTCM data sources in real time to generate current effective RTCM data; And the broadcast transmitting unit is used for simultaneously broadcasting and transmitting the current effective RTCM data through the wireless data transmission modules of at least two different working frequency bands.

Description

Multi-source RTCM data preferential processing method and system Technical Field The invention relates to the technical field of differential data service in a satellite radio positioning system, in particular to a multi-source RTCM data preferential processing method and system. Background In application scenarios such as unmanned aerial vehicle formation performance, which have extremely high requirements on real-time positioning accuracy, a real-time dynamic carrier-phase difference (RTK) technology is often adopted. Prior art solutions generally rely on a reference station equipped with a single Global Navigation Satellite System (GNSS) positioning module to generate RTCM differential data and broadcast the data wirelessly via a single frequency band data radio station. After receiving the RTCM data, the performance unmanned aerial vehicle completes high-precision positioning, and further executes formation actions. However, the above prior art solutions have inherent drawbacks in a complex practical application environment. Because the source of RTCM data is single and the data transmission link is unique, no matter the positioning module of the reference station is abnormal, the fixed solution cannot be obtained, or the data transmission station is interfered or fails, the RTCM data flow can be directly interrupted completely, the dependence on a single data source and a single transmission channel forms a single point failure risk in the whole positioning service, the reliability and the continuity of unmanned aerial vehicle formation positioning are seriously influenced, and performance failure and even safety accidents can be possibly caused. Disclosure of Invention In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a method and a system for preferentially processing multi-source RTCM data, which solve the above-mentioned problems in the prior art. In order to achieve the above purpose, the present invention provides the following technical solutions: a multi-source RTCM data preferential processing method comprises the following steps: s1, configuring a reference station system to simultaneously connect a plurality of RTCM data sources; S2, acquiring a first RTCM data stream from a network RTK server through at least one network access module in a plurality of RTCM data sources; S3, acquiring a second RTCM data stream through positioning modules in the plurality of RTCM data sources; S4, receiving the first RTCM data stream and the second RTCM data stream in parallel, and performing real-time verification on received RTCM data packets from a plurality of RTCM data sources to generate current effective RTCM data; s5, the current effective RTCM data is broadcast and transmitted simultaneously through at least two wireless data transmission modules with different working frequency bands. Further, configuring the reference station system to simultaneously connect a plurality of RTCM data sources, comprising: Initializing and configuring a network access module and a positioning module of the reference station system; The network access module and the positioning module which complete initialization configuration are used as a plurality of RTCM data sources and simultaneously keep working connection. Further, obtaining, by at least one network access module of the plurality of RTCM data sources, a first RTCM data stream from a network RTK server, comprising: Establishing an independent connection session with a network RTK server in a network access module; Receiving differential data continuously transmitted by a network RTK server through an independent connection session; the received differential data is consolidated into a continuous first RTCM data stream. Further, obtaining, by a positioning module in the plurality of RTCM data sources, a second RTCM data stream includes: configuring a positioning module to work in a reference station mode; under the reference station mode, calculating according to the observation data of the positioning module and generating reference station differential data; The generated reference station differential data is consolidated into a continuous second RTCM data stream. Further, receiving the first RTCM data stream and the second RTCM data stream in parallel, and performing real-time verification on the received RTCM data packets from the plurality of RTCM data sources to generate current valid RTCM data, including: establishing and maintaining association relations between characteristic parameters of RTCM data packets output by each RTCM data source and broadcast performance parameters of wireless data transmission modules of at least two different working frequency bands; When a plurality of RTCM data packets which are from the first RTCM data stream and the second RTCM data stream and pass through real-time verification are received in parallel, and the receiving time difference of the plurality of RTCM data pa