CN112054835A - RTK satellite service terminal compatible with VSLAM - Google Patents
RTK satellite service terminal compatible with VSLAM Download PDFInfo
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- 206010048669 Terminal state Diseases 0.000 claims abstract description 14
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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- 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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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- 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
- G01S19/14—Receivers specially adapted for specific applications
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- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18523—Satellite systems for providing broadcast service to terrestrial stations, i.e. broadcast satellite service
- H04B7/18526—Arrangements for data linking, networking or transporting, or for controlling an end to end session
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Abstract
The invention discloses a VSLAM-compatible RTK satellite service terminal, which can ensure that all VSLAM-compatible RTK satellite service terminals accessing the network can update the types of position service systems connected with other terminals in the network in real time by periodically reporting terminal state information to a comprehensive information processing platform and acquiring the position service systems which can be connected with all satellite service terminals from broadcast messages through a scheduling module, thereby not only selecting the same position service system for positioning and navigation, but also performing service of a cross-position service system based on the forwarding of the comprehensive information processing platform. The invention can improve the flexibility of the position service, and enables users using different position service systems to realize interconnection, improves the application convenience of the network-accessing users, and also improves the availability of the position service system. The system can realize the integration of indoor and outdoor navigation and positioning.
Description
Technical Field
The invention relates to artificial intelligence and satellite communication and navigation technologies, in particular to an RTK satellite service terminal compatible with VSLAM.
Background
In the prior art, satellite positioning technology is the mainstream, for example, GPS in the united states and beidou in china, and there are four satellite positioning systems in the world. The existing satellite positioning terminal can only work under the condition of coverage of a satellite or a 5G signal, and cannot realize indoor communication or high-shielding condition.
Therefore, a terminal device of a satellite navigation system compatible with an indoor navigation application scene is needed to realize seamless communication and navigation of future social unmanned vehicles and robots.
Disclosure of Invention
In view of this, the present invention provides an RTK satellite service terminal compatible with VSLAM, so as to realize simultaneous compatibility with a plurality of different positioning systems, thereby improving flexibility of location services.
The VSLAM-compatible RTK satellite service terminal comprises:
an antenna adapted to receive and transmit signals at a plurality of different communication system frequency ranges;
the radio frequency module is connected with the antenna;
the received signal processing module is connected with the radio frequency module and used for carrying out radio frequency sampling on the received antenna signal to obtain a radio frequency digital signal and demodulating, despreading and decoding the radio frequency digital signal to obtain broadcast messages or received messages with a destination address of the terminal in all satellites or 5G signals;
the scheduling module is used for acquiring connectable system sets of all VSLAM-compatible RTK satellite service terminals from the broadcast message when the received signal processing module receives the broadcast message, determining the connectable system set of the terminal according to the detected satellite communication link state and selecting the position service system with the best link state as the positioning position service system selected by the terminal, wherein the connectable system set is a set of position service systems with link states meeting the transmitting and receiving requirements;
the interface module is used for being connected with a general data processing terminal in a wireless mode and sending the received message to the general data processing terminal; and
and the sending signal processing module is connected with the radio frequency module and used for periodically taking the terminal state information as the text content and taking the comprehensive information processing platform address as the destination address to generate a satellite or 5G signal suitable for being sent by the position service system selected by the terminal and sending the satellite or 5G signal to the radio frequency module, wherein the terminal state information comprises the connectable system set.
Preferably, the interface circuit is further configured to obtain a sending message and a sending address from the general data processing terminal;
the scheduling module is further configured to obtain a connectable system set of a corresponding destination terminal according to the sending address, and when there is an intersection between the connectable system set of the terminal and the connectable system set of the destination terminal, control the sending signal processing module to generate a satellite or 5G signal suitable for being sent through the location service system with the best link state in the intersection according to the sending address and the sending message, and send the satellite or 5G signal to the radio frequency module.
Preferably, the scheduling module is further configured to control the sending signal processing module to generate a forwarding satellite or 5G signal suitable for being sent by a location service system selected by the terminal to be sent to the radio frequency module when there is no intersection between the connectable system set of the terminal and the connectable system set of the destination terminal, where a destination address of the forwarding satellite or 5G signal is an address of an integrated information processing platform, and the text content includes the sending address and the sending text.
Preferably, the received signal processing module is further configured to obtain a navigation message according to a satellite or a 5G signal, and determine location information of the terminal;
the dispatching module is also used for controlling the sending signal processing module to use the position information as the text content and use the comprehensive information processing platform address as the destination address to generate a satellite or 5G signal suitable for being sent to the radio frequency module through the position service system selected by the terminal.
Preferably, the interface module is further configured to obtain a navigation control instruction from the general data processing terminal;
and the scheduling module is used for sending the position information to the general data processing terminal through the interface module according to the navigation control instruction.
Preferably, the scheduling module is further configured to send the map information corresponding to the location information to the general data processing terminal through the interface module according to the navigation control instruction.
Preferably, the satellite communication terminal comprises a housing and a clamp arranged on the housing, wherein the clamp is suitable for fixing the general data processing terminal.
Preferably, the interface module is connected with the general data processing terminal through a bluetooth or wireless local area network interface.
Preferably, the received signal processing module and the transmitted signal processing module are both software radio processing modules.
Preferably, the general data processing terminal is an intelligent mobile terminal or a tablet computer.
By periodically reporting the terminal state information to the integrated information processing platform and acquiring the connectable position service systems of all VSLAM-compatible RTK satellite service terminals from the broadcast message through the scheduling module, all VSLAM-compatible RTK satellite service terminals accessing the network can update the types of the position service systems which can be connected by other terminals in the network in real time, so that the same position service system can be selected for communication, and the communication of the cross-position service system can also be performed based on the forwarding of the integrated information processing platform. The embodiment of the invention can improve the flexibility of satellite communication, realize interconnection and intercommunication of users using different position service systems, improve the application convenience of network access users and improve the bandwidth utilization rate of a communication system.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a 5G/RTK/VSLAM satellite service system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a VSLAM-compatible RTK satellite service terminal according to an embodiment of the present invention;
fig. 3 is a flowchart of a terminal state reporting and broadcast message receiving performed by an RTK satellite service terminal compatible with VSLAM according to an embodiment of the present invention;
FIG. 4a is a flowchart of a VSLAM-compatible RTK satellite service terminal performing satellite communication according to an embodiment of the present invention;
fig. 4b is a flowchart of a VSLAM-compatible RTK satellite service terminal performing satellite communication according to an embodiment of the present invention.
Detailed Description
The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.
Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Fig. 1 is a schematic diagram of a VSLAM-compatible satellite differential positioning service system according to an embodiment of the present invention. As shown in fig. 1, the VSLAM-compatible satellite differential positioning service system (also referred to as a multimode satellite service system) includes a plurality of VSLAM-compatible RTK satellite service terminals 1 (or multimode satellite service terminals), a plurality of different positioning and location service systems 2 (e.g., a 5G mobile communication system, a VSLAM vision service system, and a GNSS satellite positioning system), an integrated information processing platform 3 and a plurality of different satellite positioning systems 4 connectable to the plurality of different positioning and location service systems 2, and a general data processing terminal 5 connectable to the VSLAM-compatible RTK satellite service terminals 1.
The RTK satellite service terminal 1 compatible with VSLAM can directly communicate with each other through the positioning and location service system 2, and can also forward the message based on the comprehensive information processing platform 3 to realize the communication of the cross-location service system.
Fig. 2 is a schematic diagram of a VSLAM-compatible RTK satellite service terminal according to an embodiment of the present invention. As shown in fig. 2, the VSLAM-compatible RTK satellite service terminal 1 includes an antenna 11, a radio frequency module 12, a received signal processing module 13, a scheduling module 14, an interface module 15, and a transmitted signal processing module 16. It is readily understood that the VSLAM-compliant RTK satellite service terminal 1 may also include the necessary peripheral circuitry as well as power supply circuitry to support the operation of the terminal.
In the VSLAM-compatible RTK satellite service terminal 1, the antenna 11 is adapted to receive and transmit satellite or 5G signals in the frequency ranges of a plurality of different location services systems. It should be understood that the antenna 11 may be an array antenna or an antenna group consisting of a plurality of antennas.
The radio frequency module 12 is connected to the antenna 11 and is configured to process the satellite or 5G signal, and perform necessary low-noise amplification and denoising on the received satellite or 5G signal, so as to adapt to the received signal processing module 13 for further processing. Meanwhile, the rf module 12 is also used for performing necessary processing such as amplification on the satellite or 5G signal output by the transmission signal processing module 16, and outputting the signal to the antenna 11 for transmission.
The received signal processing module 13 is connected to the radio frequency module 12, and is configured to perform radio frequency sampling on a received satellite or 5G signal to obtain a radio frequency digital signal, and demodulate, despread, and decode the radio frequency digital signal to obtain a broadcast message or a received message with a destination address of the terminal in all satellites or 5G signals.
In the present embodiment, the received signal processing module 13 is a software radio processing module that supports processing of radio frequency signals in a programmable manner. Thus, the satellite or 5G signal needs to be converted to a digital signal at radio frequency. The high-speed AD converter built in the received signal processing module 13 can directly sample the radio frequency signal to obtain a radio frequency digital signal. The signal can then be digitally processed, for example demodulated, despread and decoded. By means of the software radio processing module, a parameter-configurable carrier NCO (numerically controlled oscillator), a parameter-configurable spreading code NCO, a parameter-configurable spreading code generator can be realized, whereby reception of satellite or 5G signals of a plurality of different location service systems can be carried out simultaneously on one integrated circuit.
In this embodiment, the received signal processing module 13, the antenna 11 and the rf module 12 cooperate to simultaneously receive the satellite or 5G signals of a plurality of location based services in a plurality of frequency bands.
The scheduling module 14 is configured to, when the received signal processing module 13 receives the broadcast message, obtain a connectable system set of all VSLAM-compatible RTK satellite service terminals from the broadcast message, determine the connectable system set of the terminal according to the detected satellite communication link state, and select a location service system with the best link state as the location service system selected by the terminal. The connectable system set is a set of location service systems whose link states meet the transmission and reception requirements, that is, the connectable system set is a set of location service systems that can communicate according to currently received satellites or 5G signals or obtained by detecting uplink and downlink. The VSLAM compatible RTK satellite service terminal 1 may transmit signals through any one of the location services systems in the set. The broadcast message is sent by the integrated information processing platform 2 in a broadcast manner through all the location service systems, wherein the broadcast message includes the status information of all the satellite service terminals in the VSLAM-compatible satellite differential positioning service system. The terminal state information comprises the connectable system set of the terminal.
The interface module 15 is used for connecting with the universal data processing terminal 5 in a wireless mode and sending the received message to the universal data processing terminal.
In the present embodiment, the VSLAM-compatible RTK satellite service terminal 1 is not provided with an input/output device, but is connected to the general-purpose data processing terminal 5 through the interface module 15, and performs input/output through the general-purpose data processing terminal 5. Preferably, the general data processing terminal 5 may be a terminal device such as a tablet computer or an intelligent mobile terminal, which is integrated with a short-range communication interface. The interface module 15 may be wirelessly connected with the data processing terminal 5 based on a bluetooth or wireless lan interface to interact data and instructions.
When the receiving signal processing module 13 receives the receiving message with the destination address of the terminal, the receiving message is sent to the interface module 15, and further sent to the general data processing terminal 5 for displaying or playing. Therefore, terminal equipment which is usually carried about can be used as an input/output device, and special input/output components do not need to be configured on the RTK satellite service terminal 1 compatible with the VSLAM, so that the number of components is reduced, the size of the equipment is reduced, and the cost is reduced.
Preferably, a clamp adapted to fix the general purpose data processing terminal 5 may be provided on the housing of the VSLAM compatible RTK satellite service terminal 1. Therefore, the universal data processing terminal 5 and the RTK satellite service terminal 1 compatible with the VSLAM can be conveniently fixed together, and the terminal is convenient to carry and use.
The sending signal processing module 16 is connected to the radio frequency module, and is configured to periodically use the terminal status information as the text content and use the address of the integrated information processing platform as the destination address to generate a satellite or 5G signal suitable for being sent by the location service system selected by the terminal, and send the satellite or 5G signal to the radio frequency module.
That is, the sending signal processing module 16 periodically reports the terminal state information to the telematics platform 32 through the location service system with the best link state. Therefore, the integrated information processing platform 3 can acquire the terminal state information of all the VSLAM-compatible RTK satellite service terminals 1. That is, the telematics platform 3 can acquire a set of location service systems to which all the VSLAM-compatible RTK satellite service terminals 1 can currently connect and a location service system in which the communication state is the best. As described above, the telematics platform 2 splices these information into a broadcast message and broadcasts the message through all the location service systems.
Preferably, the transmission signal processing module 16 may also be a software radio processing module, which generates a radio frequency signal through the high-speed DA conversion circuit and transmits the radio frequency signal to the radio frequency module 12 for transmission.
Fig. 3 is a flowchart of a terminal status reporting and a broadcast message receiving performed by an RTK satellite service terminal compatible with VSLAM according to an embodiment of the present invention. As shown in fig. 3, in step 310, the VSLAM-compatible RTK satellite service terminal 1 checks link states of a plurality of different location service systems to acquire state information.
In step 320, the VSLAM-compatible RTK satellite service terminal 1 transmits the terminal status information to the integrated information processing platform 3 through the location service system 2 (5G mobile communication system in fig. 3) selected by the terminal.
For example, the terminal-selected location service system of the terminal 1A is a 5G mobile communication system, and the terminal-selected location service system of the terminal 1B (not shown) is a satellite positioning system. Therefore, the terminal 1A and the terminal 1B report the terminal state information through different location service systems respectively.
In step 330, the telematics platform 3 packages all the received terminal status information into broadcast messages, and broadcasts and transmits the broadcast messages through all the location service systems.
In step 340, the VSLAM-compatible RTK satellite service terminal 1 may receive the broadcast messages through its connected respective location services (in fig. 3, the VSLAM-compatible RTK satellite service terminal 1 receives the broadcast messages through the 5G mobile communication system), and parse and acquire the received broadcast messages to obtain and store a connectable system set of all the VSLAM-compatible RTK satellite service terminals.
Therefore, based on the terminal state information reporting-broadcasting mechanism, each VSLAM-compatible RTK satellite service terminal can select a suitable mode from a plurality of position service systems to perform satellite communication according to the link states of other VSLAM-compatible RTK satellite service terminals.
Further, on the transmission side of the communication, the interface circuit 12 of the VSLAM-compatible RTK satellite service terminal 1 acquires the transmission text and the transmission address from the general data processing terminal 5. That is, the user inputs the transmission text and the transmission address to the VSLAM-compatible RTK satellite service terminal 1 through the general data processing terminal 5. The sending message can be a short message or a call connection request. The sending address is a communication identification of the destination terminal, and is used for uniquely identifying the destination terminal.
At this time, the scheduling module 13 is configured to obtain a connectable system set of the corresponding destination terminal according to the sending address, and when there is an intersection between the connectable system set of the terminal and the connectable system set of the destination terminal, control the sending signal processing module 16 to generate a satellite or a 5G signal suitable for being sent through the location service system with the best link state in the intersection according to the sending address and the sending message, and send the satellite or the 5G signal to the radio frequency module.
At the receiving end of communication, because the RTK satellite service terminal 1 compatible with VSLAM can simultaneously receive the satellite or 5G signals of a plurality of location service systems 2, it can receive the sending message, receive the short message or establish the voice connection through the location service system with the best link state in the intersection.
Fig. 4a is a flowchart of a VSLAM-compatible RTK satellite service terminal performing satellite communication according to an embodiment of the present invention. As shown in fig. 4a, in step 410, the terminal 1C can find out from the known terminal state information that both it and the terminal 1D can be connected to the RTK high precision positioning system of GNSS and VSLAM artificial intelligence vision positioning system, wherein the link state of the RTK high precision positioning system is better. Thus, in step 420, the terminal 1C performs positioning directly by RTK high precision positioning.
When the connectable system set of the terminal and the connectable system set of the destination terminal are not intersected, the VSLAM-compatible RTK satellite service terminal 1 of the present embodiment performs communication across the location-based service systems by forwarding through the integrated information processing platform 3.
At this time, at the transmitting end of communication, the scheduling module 13 is further configured to control the sending signal processing module 16 to generate a forwarding satellite or 5G signal suitable for being sent through the location service system selected by the terminal and send the forwarding satellite or 5G signal to the radio frequency module when there is no intersection between the connectable system set of the terminal and the connectable system set of the destination terminal, where a destination address of the forwarding satellite or 5G signal is an address of the integrated information processing platform, and the text content includes the sending address and the sending packet.
Fig. 4b is a flowchart of a VSLAM-compatible RTK satellite service terminal performing satellite communication according to an embodiment of the present invention. As shown in fig. 4b, after the terminal 1E receives the instruction to communicate with the terminal 1F, it can find out that there is no location service system connectable to the terminal 1F according to the known terminal status information in step 430. In this case, in step 440, the terminal 1E transmits a satellite or 5G signal including a text to be transmitted to the terminal 1F and an address (i.e., a transmission address) of the terminal 1F to the telematics platform 3 through the 5G mobile communication system whose current link quality is the best. In step 450, after receiving the satellite or 5G signal, the telematics platform 3 obtains the address (i.e., the transmission address) of the terminal 1F through analysis. Since the integrated information processing platform 3 stores the terminal status information of all the terminals, the integrated information processing platform 3 converts the transmission text into the Thuraya system-based satellite or 5G signal that can be received by the terminal 1F and transmits the converted transmission text to the terminal 1F in step 460.
On the receiving side, the terminal 1F always receives signals at all connectable location service system frequencies, and therefore can receive the transmission message forwarded by the telematics platform 3 in time.
This enables communication across the location service system.
By periodically reporting the terminal state information to the integrated information processing platform and acquiring the position service systems supported by all VSLAM-compatible RTK satellite service terminals from the broadcast messages through the scheduling module, all VSLAM-compatible RTK satellite service terminals accessing the network can update the types of the position service systems which can be connected by other terminals in the network in real time, so that the same position service system can be selected for communication, and the communication of the cross-position service systems can also be performed based on the forwarding of the integrated information processing platform. According to the embodiment, the flexibility of satellite communication can be improved, users using different position service systems can realize interconnection, the application convenience of network access users is improved, and the bandwidth utilization rate of a communication system is also improved.
Meanwhile, the RTK satellite service terminal compatible with VSLAM of the present embodiment also utilizes a positioning signal that can receive a plurality of different satellite navigation systems to implement a multi-mode positioning navigation function.
Specifically, in the VSLAM-compatible RTK satellite service terminal 1, the received signal processing module 13 is further configured to acquire a navigation message according to a satellite or 5G signal, and determine the position information of the terminal.
Meanwhile, the scheduling module 14 is further configured to control the sending signal processing module 16 to use the location information as text content, and use the address of the integrated information processing platform as a destination address to generate a satellite or 5G signal suitable for being sent by the location service system selected by the terminal, and send the satellite or 5G signal to the radio frequency module 12.
Therefore, the RTK satellite service terminal compatible with the VSLAM can continuously report the position information to the comprehensive information processing platform. The integrated information processing platform 3 can acquire the position information of all VSLAM-compatible RTK satellite service terminals and provide a position-based service based on the position information.
Meanwhile, the VSLAM-compatible RTK satellite service terminal 1 may also provide navigation services to a user through the connected general data processing device 5. Specifically, the interface module 15 is configured to obtain a navigation control instruction from the general data processing terminal 5.
The scheduling module 14 is configured to send the location information to the general data processing terminal 5 through the interface module 15 according to a navigation control instruction. The general data processing terminal 5 can display current position information and other information based on position or motion state (motion direction, velocity, acceleration, etc.).
Meanwhile, when the general data processing terminal 5 does not store map information, the scheduling module 14 is further configured to send the map information corresponding to the position information to the general data processing terminal 5 through the interface module 15 according to the navigation control instruction. The data processing terminal 5 displays the map and the current position, thereby providing the navigation service. This eliminates the need to store map information in advance in the general-purpose data processing terminal. The map information may be pre-stored in the VSLAM-compatible RTK satellite service terminal 1, or may be downloaded in real time by the position service system through the RTK satellite service terminal 1 compatible with the VSLAM based on the current position confidence 1.
Therefore, the multi-mode satellite navigation and positioning service can be provided, and the reliability and the real-time performance of the position information can be ensured because the positioning can be carried out through various different satellite positioning systems and the position information is reported through various different position service systems.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A VSLAM-compatible RTK satellite service terminal, comprising:
an antenna adapted to receive and transmit satellite or 5G signals at a frequency range of a plurality of different location service systems;
the radio frequency module is connected with the antenna;
the received signal processing module is connected with the radio frequency module and used for carrying out radio frequency sampling on the received satellite or 5G signal to obtain a radio frequency digital signal and demodulating, despreading and decoding the radio frequency digital signal to obtain a broadcast message or a received message of which the destination address is the terminal in all the satellite or 5G signals;
the scheduling module is used for acquiring connectable system sets of all VSLAM-compatible RTK satellite service terminals from the broadcast message when the received signal processing module receives the broadcast message, determining the connectable system set of the terminal according to the detected satellite communication link state and selecting the position service system with the best link state as the position service system selected by the terminal, wherein the connectable system set is a set of the position service systems with link states meeting the transmitting and receiving requirements;
the interface module is used for being connected with a general data processing terminal in a wireless mode and sending the received message to the general data processing terminal; and
and the sending signal processing module is connected with the radio frequency module and used for periodically taking the terminal state information as the text content and taking the comprehensive information processing platform address as the destination address to generate a satellite or 5G signal suitable for being sent by the position service system selected by the terminal and sending the satellite or 5G signal to the radio frequency module, wherein the terminal state information comprises the connectable system set.
2. The VSLAM-compatible RTK satellite service terminal of claim 1, wherein the interface circuit is further configured to obtain a send text and a send address from the general purpose data processing terminal;
the scheduling module is further configured to obtain a connectable system set of a corresponding destination terminal according to the sending address, and when there is an intersection between the connectable system set of the terminal and the connectable system set of the destination terminal, control the sending signal processing module to generate a satellite or 5G signal suitable for being sent through the location service system with the best link state in the intersection according to the sending address and the sending message, and send the satellite or 5G signal to the radio frequency module.
3. The VSLAM-compatible RTK satellite service terminal of claim 2, wherein the scheduling module is further configured to control the sending signal processing module to generate a forwarding satellite or 5G signal suitable for being transmitted through the location service system selected by the terminal to the radio frequency module when there is no intersection between the connectable system set of the terminal and the connectable system set of the destination terminal, a destination address of the forwarding satellite or 5G signal is an integrated information processing platform address, and the text content includes the sending address and the sending text.
4. The VSLAM-compatible RTK satellite service terminal according to any of claims 1-3, wherein the received signal processing module is further configured to obtain navigation messages according to satellite or 5G signals, and determine the location information of the terminal;
the dispatching module is also used for controlling the sending signal processing module to use the position information as the text content and use the comprehensive information processing platform address as the destination address to generate a satellite or 5G signal suitable for being sent to the radio frequency module through the position service system selected by the terminal.
5. The VSLAM-compatible RTK satellite services terminal of claim 4, wherein the interface module is further configured to obtain navigation control instructions from the general purpose data processing terminal;
and the scheduling module is used for sending the position information to the general data processing terminal through the interface module according to the navigation control instruction.
6. The VSLAM-compatible RTK satellite service terminal of claim 5, wherein the scheduling module is further configured to send the map information corresponding to the position information to the general data processing terminal through the interface module according to the navigation control command.
7. The VSLAM-compatible RTK satellite services terminal of any of claims 1-3, wherein the satellite communications terminal comprises a housing and a clamp disposed on the housing, the clamp adapted to secure the generic data processing terminal.
8. The VSLAM-compatible RTK satellite services terminal according to any of claims 1-3, wherein the interface module is connected with the general data processing terminal through a bluetooth or wireless local area network interface.
9. The VSLAM-compatible RTK satellite services terminal of any of claims 1-3, wherein the receive signal processing module and the transmit signal processing module are both software radio processing modules.
10. The VSLAM-compatible RTK satellite services terminal as claimed in any of claims 1-3, wherein the generic data processing terminal is a smart mobile terminal or a tablet computer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010708213.5A CN112054835A (en) | 2020-07-22 | 2020-07-22 | RTK satellite service terminal compatible with VSLAM |
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| CN202010708213.5A CN112054835A (en) | 2020-07-22 | 2020-07-22 | RTK satellite service terminal compatible with VSLAM |
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| CN105490732A (en) * | 2015-12-11 | 2016-04-13 | 泛太通信导航有限公司 | MIMO satellite service system and method for providing MIMO satellite service |
| CN105553538A (en) * | 2015-12-11 | 2016-05-04 | 泛太通信导航有限公司 | Mimo satellite service terminal |
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| CN104619011A (en) * | 2014-12-30 | 2015-05-13 | 哈尔滨工程大学 | Position service system for indoor wireless positioning based on WiFi (wireless fidelity), ZigBee and RFID (radio frequency identification devices) combination and realizing method thereof |
| CN105490732A (en) * | 2015-12-11 | 2016-04-13 | 泛太通信导航有限公司 | MIMO satellite service system and method for providing MIMO satellite service |
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