CN111711653B - Point-to-point transmission device and method for RTCM data between GNSS receivers - Google Patents

Point-to-point transmission device and method for RTCM data between GNSS receivers Download PDF

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Publication number
CN111711653B
CN111711653B CN202010373795.6A CN202010373795A CN111711653B CN 111711653 B CN111711653 B CN 111711653B CN 202010373795 A CN202010373795 A CN 202010373795A CN 111711653 B CN111711653 B CN 111711653B
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base station
public network
mobile station
gnss receiver
network server
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CN111711653A (en
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郭灿桦
蔡展能
林俊璇
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Guangzhou Hi Target Surveying Instrument Co ltd
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Guangzhou Hi Target Surveying Instrument Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H04L67/104—Peer-to-peer [P2P] networks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H04L67/104—Peer-to-peer [P2P] networks
    • H04L67/1074—Peer-to-peer [P2P] networks for supporting data block transmission mechanisms
    • H04L67/1078—Resource delivery mechanisms

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention provides a point-to-point transmission device for RTCM (real time modulation) data between GNSS (global navigation satellite system) receivers, which comprises a first GNSS receiver, a second GNSS receiver and a public network server, wherein the public network server is respectively connected with the first GNSS receiver and the second GNSS receiver. The invention provides a point-to-point transmission device for RTCM data between GNSS receivers, which matches a base station with a mobile station through a public network server, realizes point-to-point transmission of the RTCM data between the base station and the mobile station, and the actual sending and receiving of the RTCM data are completed between the base station and the mobile station without passing through the server, thereby reducing the transmission delay of the whole RTCM data transmission process, avoiding the occurrence of the phenomenon that the RTCM data between the base station and the mobile station can not be continuously transmitted due to the abnormity of the server, and improving the stability of the RTCM data transmission.

Description

Point-to-point transmission device and method for RTCM data between GNSS receivers
Technical Field
The invention relates to the field of GNSS receivers, in particular to a point-to-point transmission device and method for RTCM data between GNSS receivers.
Background
When an existing GNSS receiver performs RTK operation (one GNSS receiver is needed to be used as a base station in the RTK operation process, and the other GNSS receivers can be used as mobile stations to receive RTCM data of the base station for resolving), two data link modes of a radio station and a network are generally adopted. In a network mode, one GNSS receiver is used as a base station, the base station is connected with a server and uploads RTCM data in real time, meanwhile, one GNSS receiver is used as a mobile station, the mobile station is connected with the server, the server pairs the mobile station to a corresponding base station after receiving the connection between the base station and the mobile station, the RTCM data uploaded by the base station needs to be forwarded to the mobile station through the server, and namely the whole process of the mobile station obtains the RTCM data of the base station through the server and carries out resolving. As can be seen from the above, the current GNSS receiver performs RTK operation through a network data link, and actually needs to be completed by transferring data through a server from the connection establishment, the pairing relationship between a base station and a mobile station to the RTCM data transmission and reception. In the current RTCM data transmission process through server transfer, when the distance between the server and the base station and the mobile station is far, the RTCM data transmission delay is large, and because the RTCM data transmission needs to depend on the server transfer, the service quality is greatly influenced by factors such as server stability, load number, bandwidth and the like, and if the server is in failure and unstable power supply, the receiver cannot work. In summary, the conventional RTCM data transmission method between GNSS receivers has a large transmission delay, is greatly influenced by the server itself, and has instability in the whole data transmission process.
Disclosure of Invention
In order to overcome the defects of the prior art, an object of the present invention is to provide a peer-to-peer transmission apparatus for RTCM data between GNSS receivers, which can solve the problems of large transmission delay, large influence by the server's own factors, and instability in the whole data transmission process in the existing RTCM data transmission method between GNSS receivers.
The second objective of the present invention is to provide a point-to-point RTCM data transmission method for GNSS receivers, which can solve the problems of large transmission delay, large influence from the server's own factors, and instability in the whole data transmission process in the existing RTCM data transmission method between GNSS receivers.
One of the purposes of the invention is realized by adopting the following technical scheme:
a point-to-point transmission device for RTCM data between GNSS receivers comprises a first GNSS receiver, a second GNSS receiver and a public network server, wherein the public network server is respectively connected with the first GNSS receiver and the second GNSS receiver;
the first GNSS receiver is used as a base station, the second GNSS receiver is used as a mobile station, the base station logs in the public network server and uploads base station basic information containing a base station body number, the public network server acquires the base station basic information and stores a base station public network IP and a base station port corresponding to the base station, the mobile station logs in the public network server and uploads mobile station basic information and a base station body number to be connected, the public network server acquires the mobile station basic information and stores a mobile station public network IP and a mobile station port corresponding to the mobile station, the public network server establishes a matching relationship between the base station and the mobile station according to the base station body number to be connected and the base station body number, the public network server sends the base station public network IP and the base station port to the mobile station, after receiving the base station public network IP and the base station port, the mobile station tries to initiate connection between the base station public network IP and the base station port and sends a message notice to the public network server, the public network server sends the message notice, the mobile station public network IP and the mobile station port to the base station, after receiving the message notice, the base station initiates connection between the mobile station public network IP and the mobile station port, the base station and the mobile station realize point-to-point connection, and the base station transmits RTCM data to the mobile station point-to-point.
The first GNSS receiver controller is connected with the first GNSS receiver in a wireless connection mode, and the second GNSS receiver is connected with the second GNSS receiver in a wireless connection mode; the external control center sets the first GNSS receiver as a base station through the first GNSS receiver controller, and sets the second GNSS receiver as a mobile station through the second GNSS receiver controller.
Furthermore, the first GNSS receiver is connected to the public network server through a first NAT device, and the second GNSS receiver is connected to the public network server through a second NAT device.
The second purpose of the invention is realized by adopting the following technical scheme:
the point-to-point transmission method for the RTCM data between the GNSS receivers is applied to a point-to-point transmission device for the RTCM data between the GNSS receivers, and comprises the following steps:
acquiring base station information, wherein a public network server acquires base station basic information which is uploaded by a base station and contains a base station body number, and the public network server stores a base station public network IP and a base station port corresponding to the base station;
the method comprises the steps that information of a mobile station is obtained, a public network server obtains basic information of the mobile station uploaded by the mobile station and a machine body number of a base station to be connected, and the public network server stores a public network IP (Internet protocol) of the mobile station and a port of the mobile station corresponding to the mobile station;
establishing a matching relation, and establishing the matching relation between the base station and the mobile station by the public network server according to the body number of the base station to be connected and the body number of the base station;
the mobile station initiates connection, the public network server sends the base station public network IP and the base station port to the mobile station, and after the mobile station receives the base station public network IP and the base station port, the mobile station tries to initiate connection to the base station public network IP and the base station port and sends a message notice to the public network server;
and point-to-point connection, the public network server sends a message notice, the mobile station public network IP and the mobile station port to the base station, the base station initiates connection to the mobile station public network IP and the mobile station port after receiving the message notice, the base station and the mobile station realize point-to-point connection, and the base station directly transmits the RTCM data to the mobile station in a point-to-point manner.
Further, before the base station information is acquired, a working mode setting is further included, the external control center sets the working mode of the first GNSS receiver to the base station mode through the first GNSS receiver controller, the first GNSS receiver is the base station, the external control center sets the working mode of the second GNSS receiver to the mobile station mode through the second GNSS receiver controller, and the second GNSS receiver is the mobile station.
Further, the method further comprises the step of setting a number of the base station body to be connected before the base station information is obtained, and the external control center uploads the preset number of the base station body to be connected to the mobile station through a second GNSS receiver controller.
Further, the establishing of the matching relationship specifically includes: and the public server constructs a management group, the management group comprises a base station corresponding to the base station body number, the public server judges whether the base station body number to be connected is consistent with the base station body number, when the base station body number to be connected is consistent with the base station body number, the mobile station is added into the management group, and the base station and the mobile station in the management group are matched.
Furthermore, session is established on the first NAT device and the second NAT device, the base station public network IP and the base station port stored in the public network server are both converted by the first NAT device, and the mobile station public network IP and the mobile station port stored in the public network server are both converted by the second NAT device.
Further, after the point-to-point connection, the method further includes: the mobile station sends GPGGA to the base station as a heartbeat packet, when the point-to-point connection between the mobile station and the base station is disconnected, the base station detects that the connection is disconnected through the heartbeat packet, the base station sends a disconnection notice to a public network server, and returns to the step of obtaining the base station information to reestablish the connection between the base station and the mobile station.
Compared with the prior art, the invention has the beneficial effects that: according to the point-to-point transmission device for the RTCM data between the GNSS receivers, a public network server establishes a matching relation between a base station and a mobile station according to a base station body number to be connected and a base station body number, the public network server sends a base station public network IP and a base station port to the mobile station, the mobile station receives the base station public network IP and the base station port, the mobile station tries to initiate connection between the base station public network IP and the base station port and sends a message notice to the public network server, the public network server sends the message notice, the mobile station public network IP and the mobile station port to the base station, the base station initiates connection between the mobile station public network IP and the mobile station port after receiving the message notice, the base station and the mobile station realize point-to-point connection, the base station transmits the RTCM data to the mobile station point-to point, point-to-point transmission of the RTCM data between the base station and the mobile station is realized, the point-to-point transmission of the RTCM data between the base station and the mobile station is not completely dependent on the server, the effect that the matching relation between the base station and the mobile station cannot be transmitted due to the RTCM data is delayed, and the RTCM data transmission process is not delayed, and the RTCM data cannot be transmitted continuously caused, and the stability of the RTCM data is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a block diagram of an exemplary embodiment of a peer-to-peer transmission apparatus for RTCM data between GNSS receivers;
FIG. 2 is a schematic diagram illustrating connections between a first GNSS receiver, a second GNSS receiver and a public network server in an apparatus for peer-to-peer transmission of RTCM data between GNSS receivers according to the present invention;
FIG. 3 is a flowchart illustrating a method for peer-to-peer transmission of RTCM data between GNSS receivers according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1-2, the peer-to-peer transmission apparatus for RTCM data between GNSS receivers according to this embodiment includes a first GNSS receiver, a second GNSS receiver, a public network server, a first GNSS receiver controller, and a second GNSS receiver controller, where the public network server is connected to the first GNSS receiver and the second GNSS receiver respectively; the first GNSS receiver controller is connected with the first GNSS receiver in a wireless connection mode, and the second GNSS receiver is connected with the second GNSS receiver in a wireless connection mode; the wireless connection mode in this embodiment includes, but is not limited to, a bluetooth connection, a WIFI connection, a 4G connection, or other wireless connection modes. The first GNSS receiver is connected with the public network server through the first NAT equipment, and the second GNSS receiver is connected with the public network server through the second NAT equipment.
In the working process, the external control center sets the first GNSS receiver as the base station through the first GNSS receiver controller, and sets the second GNSS receiver as the mobile station through the second GNSS receiver controller.
The base station logs in a public network server and uploads basic base station information containing a base station body number, the public network server acquires basic base station information and stores a base station public network IP and a base station port corresponding to the base station, the mobile station logs in the public network server and uploads the basic mobile station information and the base station body number to be connected, the public network server acquires basic mobile station information and stores a mobile station public network IP and a mobile station port corresponding to the mobile station, the public network server establishes a matching relation between the base station and the mobile station according to the base station body number to be connected and the base station body number, the public network server sends the base station public network IP and the base station port to the mobile station, the mobile station tries to connect the base station public network IP and the base station port after receiving the base station public network IP and the base station port and sends a message notification to the public network server, the public network server sends the message notification, the mobile station public network IP and the mobile station port to the base station after receiving the message notification, the base station initiates connection to the mobile station public network and the IP port, the base station and the mobile station realize point-to-point connection, and the base station point transmission of RTCM to the mobile station.
As shown in fig. 3, the present embodiment provides a point-to-point transmission method for RTCM data between GNSS receivers, which specifically includes the following steps:
and setting a working mode, wherein the external control center sets the working mode of the first GNSS receiver to a base station mode through a first GNSS receiver controller, the first GNSS receiver is a base station, the external control center sets the working mode of the second GNSS receiver to a mobile station mode through a second GNSS receiver controller, and the second GNSS receiver is a mobile station. In this embodiment, the method further includes setting a number of the base station body to be connected, and the external control center uploads the preset number of the base station body to be connected to the mobile station through the second GNSS receiver controller. The base station logs in the public network server and uploads the basic information of the base station containing the number of the body of the base station, the mobile station logs in the public network server and uploads the basic information of the mobile station and the number of the body of the base station to be connected,
acquiring base station information, wherein a public network server acquires base station basic information which is uploaded by a base station and contains a base station body number, and the base station basic information also comprises working mode information; the public network server stores a base station public network IP and a base station port corresponding to the base station; in this embodiment, a session is established on the first NAT device, and both the base station public network IP and the base station port stored in the public network server are converted by the first NAT device.
The method comprises the steps that information of a mobile station is obtained, a public network server obtains basic information of the mobile station uploaded by the mobile station and a machine body number of a base station to be connected, and the public network server stores a public network IP (Internet protocol) of the mobile station and a port of the mobile station corresponding to the mobile station; in this embodiment, a session is established on the second NAT device, and the mobile station public network IP and the mobile station port stored in the public network server are both converted by the second NAT device.
And establishing a matching relation, and establishing the matching relation between the base station and the mobile station by the public network server according to the number of the body of the base station to be connected and the number of the body of the base station. The method specifically comprises the following steps: the public server constructs a management group, the management group comprises a base station corresponding to the base station body number, the public server judges whether the base station body number to be connected is consistent with the base station body number, when the base station body number to be connected is consistent with the base station body number, the mobile station is added into the management group, and the base station and the mobile station in the management group are matched.
The mobile station initiates connection, the public network server sends the base station public network IP and the base station port to the mobile station, and after the mobile station receives the base station public network IP and the base station port, the mobile station tries to initiate connection to the base station public network IP and the base station port and sends a message notice to the public network server.
And point-to-point connection, the public network server sends a message notice, the mobile station public network IP and the mobile station port to the base station, the base station initiates connection to the mobile station public network IP and the mobile station port after receiving the message notice, the base station and the mobile station realize point-to-point connection, and the base station directly transmits the RTCM data point-to-point to the mobile station. In this embodiment, after the base station and the mobile station implement the point-to-point connection, the mobile station sends GPGGA (GPGGA is a GPS data output format statement, which means a frame of GPS positioning main data, and is one of the most widely used data in NMEA format) to the base station as a heartbeat packet.
According to the point-to-point transmission device for the RTCM data between the GNSS receivers, a public network server establishes a matching relation between a base station and a mobile station according to a base station body number to be connected and a base station body number, the public network server sends a base station public network IP and a base station port to the mobile station, the mobile station receives the base station public network IP and the base station port, the mobile station tries to initiate connection between the base station public network IP and the base station port and sends a message notice to the public network server, the public network server sends the message notice, the mobile station public network IP and the mobile station port to the base station, the base station initiates connection between the mobile station public network IP and the mobile station port after receiving the message notice, the base station and the mobile station realize point-to-point connection, the base station transmits the RTCM data to the mobile station point-to point, point-to-point transmission of the RTCM data between the base station and the mobile station is realized, the point-to-point transmission of the RTCM data between the base station and the mobile station is not completely dependent on the server, the effect that the matching relation between the base station and the mobile station cannot be transmitted due to the RTCM data is delayed, and the RTCM data transmission process is not delayed, and the RTCM data cannot be transmitted continuously caused, and the stability of the RTCM data is improved.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.

Claims (8)

1. A peer-to-peer transmission apparatus for RTCM data between GNSS receivers, comprising: the GNSS receiver comprises a first GNSS receiver, a second GNSS receiver and a public network server, wherein the public network server is respectively connected with the first GNSS receiver and the second GNSS receiver;
the first GNSS receiver is used as a base station, the second GNSS receiver is used as a mobile station, the base station logs in a public network server and uploads base station basic information containing a base station body number, the public network server acquires the base station basic information and stores a base station public network IP and a base station port corresponding to the base station, the mobile station logs in the public network server and uploads mobile station basic information and a base station body number to be connected, the public network server acquires the mobile station basic information and stores a mobile station public network IP and a mobile station port corresponding to the mobile station, the public network server establishes a matching relationship between the base station and the mobile station according to the base station body number to be connected and sends the base station public network IP and the base station port to the mobile station, the mobile station tries to initiate connection to the base station public network IP and the base station port after receiving the base station public network IP and the base station port and sends a message notification to the public network server, the public network server sends the message notification to the base station public network IP and the mobile station port to the mobile station to notify the base station to the mobile station to realize point-to point transmission, and point transmission of the mobile station to point message, and the mobile station to point transmission to point communication are realized after the mobile station is received by the public network server, the base station and the mobile station is connected to point communication is realized;
the GNSS receiver comprises a first GNSS receiver controller and a second GNSS receiver controller, wherein the first GNSS receiver controller is connected with the first GNSS receiver in a wireless connection mode, and the second GNSS receiver is connected with the second GNSS receiver in a wireless connection mode; the external control center sets the first GNSS receiver as a base station through the first GNSS receiver controller, and sets the second GNSS receiver as a mobile station through the second GNSS receiver controller.
2. The apparatus for peer-to-peer transmission of RTCM data between GNSS receivers of claim 1, wherein: the first GNSS receiver is connected with the public network server through a first NAT device, and the second GNSS receiver is connected with the public network server through a second NAT device.
3. A peer-to-peer transmission method for RTCM data between GNSS receivers, applied to the peer-to-peer transmission apparatus for RTCM data between GNSS receivers of any one of claims 1 or 2, wherein: the method comprises the following steps:
acquiring base station information, wherein a public network server acquires base station basic information containing a base station body number uploaded by a base station, and the public network server stores a base station public network IP and a base station port corresponding to the base station;
the method comprises the steps that mobile station information is obtained, a public network server obtains basic mobile station information uploaded by a mobile station and a body number of a base station to be connected, and the public network server stores a mobile station public network IP and a mobile station port corresponding to the mobile station;
establishing a matching relation, and establishing the matching relation between the base station and the mobile station by the public network server according to the body number of the base station to be connected and the body number of the base station;
the mobile station initiates connection, the public network server sends the base station public network IP and the base station port to the mobile station, and after the mobile station receives the base station public network IP and the base station port, the mobile station tries to initiate connection to the base station public network IP and the base station port and sends a message notice to the public network server;
and point-to-point connection, the public network server sends a message notice, the mobile station public network IP and the mobile station port to the base station, the base station initiates connection to the mobile station public network IP and the mobile station port after receiving the message notice, the base station and the mobile station realize point-to-point connection, and the base station directly transmits the RTCM data to the mobile station in a point-to-point manner.
4. The method of claim 3, wherein the RTCM data is transmitted from the GNSS receiver to the base station via the peer-to-peer transmission method, and wherein: the method comprises the steps that before the base station information is obtained, working mode setting is further included, the external control center sets the working mode of the first GNSS receiver to be the base station mode through the first GNSS receiver controller, the first GNSS receiver is the base station, the external control center sets the working mode of the second GNSS receiver to be the mobile station mode through the second GNSS receiver controller, and the second GNSS receiver is the mobile station.
5. The method of claim 3, wherein the RTCM data is transmitted from the GNSS receiver to the base station via the peer-to-peer transmission method, and wherein: and before the base station information is acquired, the method also comprises the step of setting the number of the base station body to be connected, and the external control center uploads the preset number of the base station body to be connected to the mobile station through a second GNSS receiver controller.
6. The method of claim 3, wherein the RTCM data is transmitted from the GNSS receiver to the base station via the peer-to-peer transmission method, and wherein: the establishing of the matching relationship specifically comprises: and the public server constructs a management group, the management group comprises a base station corresponding to the base station body number, the public server judges whether the base station body number to be connected is consistent with the base station body number, when the base station body number to be connected is consistent with the base station body number, the mobile station is added into the management group, and the base station and the mobile station in the management group are matched.
7. The method of claim 3, wherein the RTCM data is transmitted from the GNSS receiver to the base station via the peer-to-peer transmission method, and wherein: and establishing session on the first NAT equipment and the second NAT equipment, wherein the base station public network IP and the base station port stored in the public network server are both converted by the first NAT equipment, and the mobile station public network IP and the mobile station port stored in the public network server are both converted by the second NAT equipment.
8. The method of claim 3, wherein the RTCM data is transmitted from the GNSS receiver to the base station via the peer-to-peer transmission method, and wherein: after the point-to-point connection, further comprising: and the mobile station sends GPGGA to the base station as a heartbeat packet, when the point-to-point connection between the mobile station and the base station is disconnected, the base station detects that the connection is disconnected through the heartbeat packet, the base station sends a disconnection notice to a public network server, and returns to the step of acquiring the base station information to reestablish the connection between the base station and the mobile station.
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