阅读说明：本技术 应用于基准站网系统的网元实时自动更新方法 (Network element real-time automatic updating method applied to reference station network system ) 是由 潘树国 刘力玮 高旺 乔龙雷 王剑平 于 2019-11-08 设计创作，主要内容包括：本发明公开了一种应用于基准站网系统的网元实时自动更新方法,可以在所有基准站正常运行的初始状态,生成网形唯一的基准站三角网,将基线与网元独立,采用并行技术实现多基线并行处理、多网元并行处理的双层自动快速解算策略,当控制中心添加删除基准站,或者基准站的数据连通状态发生改变时,数据处理中心根据最新的基准站状态按照狄洛尼三角网构网准则进行重新组网,同时对比重新组网后与重新组网前的多基线和多网元信息,保留组网前后未发生改变的多基线和多网元信息；采用该方法,用户进行作业且基准站运行状态发生变动时,能够保持最优组网,有效保证区域大气延迟内插精度,保障用户稳定高精度定位。(The invention discloses a real-time automatic updating method of a network element applied to a network system of a reference station, which can generate a triangle network of the reference station with a unique network shape in the initial state of normal operation of all the reference stations, the base line and the network element are independent, a double-layer automatic rapid resolving strategy of multi-base-line parallel processing and multi-network-element parallel processing is realized by adopting a parallel technology, when the control center adds and deletes the reference station or the data communication state of the reference station is changed, the data processing center carries out re-networking according to the latest state of the reference station and the networking rule of the Diloney triangle network, and simultaneously compares multi-base-line and multi-network-element information before re-networking after re-networking with that before re-networking, and retains the multi-base-line and multi-network-element information which are; by adopting the method, when a user operates and the running state of the reference station changes, the optimal networking can be maintained, the regional atmosphere delay interpolation precision is effectively ensured, and the stable high-precision positioning of the user is ensured.)

1. A real-time automatic updating method of network elements applied to a reference station network system is characterized by comprising the following steps:

s10, the network RTK data processing center utilizes the plane coordinate of the reference station to construct a basic Dirony triangulation network;

s20, accessing a user to a network RTK data processing center, and selecting a network element in the Dirony triangulation network by the data processing center according to the user approximate coordinate in the GGA information uploaded by the user and the user approximate coordinate;

s30, establishing an atmospheric interpolation model, calculating an atmospheric delay correction number according to the position of a user, and broadcasting the observed value to the user according to the atmospheric delay correction number;

s40, when the user deletes the reference station manually, the triangulation network of the reference station system is automatically updated; the method specifically comprises the following steps:

step 41, when the user deletes the reference station manually, the reference station set B is { B ═ B }₁,b₂,...,b_i,b_i+1,.. }, reference station b to be deleted_iRemoving, namely constructing a basic Dirony triangulation network by utilizing the plane coordinate of the reference station through a network RTK data processing center;

step 42, updating the baseline information set L₁And network element information set C₁；

S50, when the control center adds the reference station, the triangle network of the reference station system is automatically updated, the steps specifically include:

step 51, when the control center adds the reference station, completing the filling of the newly added reference station data in the interface of the added reference station, and then setting the reference station set B as { B {₁,b₂,...,b_m,b_m+1,.. adding a filled reference station b_mData, a basic Diloney triangulation network is constructed by a network RTK data processing center by using the plane coordinate of a reference station;

step 52, updating the baseline information set L₁And network element information set C₁；

S60, the state of the reference station is changed, and the triangulation network of the reference station system is automatically updated, the steps specifically include:

step 61, judging the total number of the reference stations which still operate after the state of the reference station is changed, and if the total number of the reference stations is less than 3, broadcasting the original data of the reference station with the position nearest to the position of the user;

step 62, updating the running state of the reference station and updating the baseline information set L₁And network element information set C₁。

2. The method as claimed in claim 1, wherein the updated baseline information set L is a set of updated baseline information L₁And network element information set C₁The method comprises the following steps:

obtaining an original baseline information set L₁＝{l₁,l₂,...,l_p,l_p+1,.. }, a newly generated baseline information set L₂＝{l₁,l₂,...,l_q,l_q+1,.., and L₁≠L₂Determining the union L ═ L of the two₁∪L₂Is provided with

obtaining original network element information set C₁＝{c₁,c₂,...,c_p,c_p+1,., a newly generated network element information set C₂＝{c₁,c₂,...,c_q,c_q+1,.., and C₁≠C₂Determining the union of the two as C ═ C₁∪C₂Is provided withSetting for the network element information set newly used currentlyStopping the used network element information set and simultaneouslyC is to be₁Is updated to C₂Data of (C) to₂And (4) emptying.

3. The method for automatically updating the network elements of the reference station network system in real time as claimed in claim 1, further comprising:

s70, judging whether the running states of all current baselines need to be changed or not in real time according to the existing baselines and the running states thereof, and changing the baselines needing to change the running states; the method specifically comprises the following steps:

step 71, circularly traversing all newly generated baselines, and continuously keeping the baselines in the state when the baselines are contained in the original baseline information set and are in the running state; if the baseline is contained in the original baseline information set but is in a pause state, judging whether initialization is needed or not according to the previous pause time, and initializing the baseline needed to be executed;

and step 72, initializing baselines newly added into the baseline information set, and setting the state of the baselines as running.

4. The method of claim 1, further comprising, after the updating of the baseline operating status, the step of automatically updating the network elements in real time according to the baseline operating status:

s80, circularly traversing the newly generated network element, and matching the reference station number forming the network element with the base line in the running state; the method specifically comprises the following steps:

step 81, circularly traversing the newly generated network element, setting the state of the network element as running, traversing the base line in the running state according to three reference station numbers forming the network element, and mutually matching the base lines in all the running states;

step 82, judging whether the network element where the user is located changes, if not, the network element where the user is located is still fixed, and the user side is not influenced;

and 83, if the network element where the user is located changes, initializing a newly generated base line of the network element where the user is located from initialization to fixation, and after all the three base lines are fixed, the network element is fixed, broadcasting an observed value of the newly generated network element after atmospheric error correction to the user, broadcasting datum station data which is closest to the position where the user is located before the network element is not fixed, wherein the time for fixing the network element to the network element is about 30 seconds.

5. The method for automatically updating the network elements of the network system of the reference station in real time as claimed in claim 4, further comprising, when the reference station goes up and down, the steps of:

the steps S10 to S30, S50 to S80 are repeated.

Technical Field

The invention relates to the technical field of communication, in particular to a real-time automatic updating method of a network element applied to a reference station network system.

Background

The Global Navigation Satellite System (GNSS) is continuously perfected, GNSS products are continuously enriched, a reference station is increasingly applied to RTK measurement, and the depth and the breadth of a high-precision satellite positioning technology are greatly expanded due to the fusion of the GNSS and the internet technology. A base Station RTK represented by Virtual Reference Station (VRS) technology is most widely applied, a plurality of base stations form a base Station network, and a control center calculates the correction number of an observed value of a rover Station according to an initial position sent by a user and broadcasts the correction number to the rover Station user through the control center to correct the user in the area in real time.

With the increasing of the number of the reference stations and users, the limitation of network reliability and power supply stability is caused, the condition of data interruption of the reference stations in the operation process of the data processing center cannot be avoided, the automatic updating of network elements can be rapidly carried out in real time, the operation efficiency of the reference station network is greatly improved, and the networking technology used by RTK of the reference stations at present is generally one-time networking, all-initialized reorganization networking and local updating networking. Networking is carried out at one time, namely, the initial stage of the operation of the data processing center, and in the subsequent process, no matter whether the reference station stops operating or not, the networking shape is unchanged, the method can keep the continuity of the baseline information, but the positioning accuracy of a user is greatly reduced when the reference station stops operating in a network element where the user is located; and (4) all the networks are initialized, namely, the networks are re-established according to the running state of the reference station, and all the base lines are re-initialized while the networks are re-established, so that the real-time performance of the user operation is influenced.

Disclosure of Invention

Aiming at the problems, the invention provides a real-time automatic updating method of a network element applied to a reference station network system.

In order to achieve the purpose of the invention, the invention provides a real-time automatic updating method of network elements applied to a reference station network system, which comprises the following steps:

s10, the network RTK data processing center utilizes the plane coordinate of the reference station to construct a basic Dirony triangulation network;

s20, accessing a user to a network RTK data processing center, and selecting a network element in the Dirony triangulation network by the data processing center according to the user approximate coordinate in the GGA information uploaded by the user and the user approximate coordinate;

s30, establishing an atmospheric interpolation model, calculating an atmospheric delay correction number according to the position of a user, and broadcasting the observed value to the user according to the atmospheric delay correction number;

s40, when the user deletes the reference station manually, the triangulation network of the reference station system is automatically updated; the method specifically comprises the following steps:

step 41, when the user deletes the reference station manually, the reference station set B is { B ═ B }₁,b₂,...,b_i,b_i+1,.. }, reference station b to be deleted_iRemoving, namely constructing a basic Dirony triangulation network by utilizing the plane coordinate of the reference station through a network RTK data processing center;

step 42, updating the baseline information set L₁And network element information set C₁；

S50, when the control center adds the reference station, the triangle network of the reference station system is automatically updated, the steps specifically include:

step 51, when the control center adds the reference station, completing the filling of the newly added reference station data in the interface of the added reference station, and then setting the reference station set B as { B {₁,b₂,...,b_m,b_m+1,.. adding a filled reference station b_mData, a basic Diloney triangulation network is constructed by a network RTK data processing center by using the plane coordinate of a reference station;

step 52, updating the baseline information set L₁And network element information set C₁；

S60, the state of the reference station is changed, and the triangulation network of the reference station system is automatically updated, the steps specifically include:

step 61, judging the total number of the reference stations which still operate after the state of the reference station is changed, and if the total number of the reference stations is less than 3, broadcasting the original data of the reference station with the position nearest to the position of the user;

step 62, updating the running state of the reference station and updating the baseline information set L₁And network element information set C₁。

In one embodiment, the updated baseline information set L₁And network element information set C₁The method comprises the following steps:

obtaining an original baseline information set L₁＝{l₁,l₂,...,l_p,l_p+1,.. }, a newly generated baseline information set L₂＝{l₁,l₂,...,l_q,l_q+1,.., and L₁≠L₂Determining the union L ═ L of the two₁∪L₂Is provided with

Initializing the newly added baseline information set for the newly added baseline information set, and settingSet of baseline information for decommissioning, while keeping L₁Is updated to L₂Is given as L₂Emptying;

obtaining original network element information set C₁＝{c₁,c₂,...,c_p,c_p+1,., a newly generated network element information set C₂＝{c₁,c₂,...,c_q,c_q+1,.., and C₁≠C₂Determining the union of the two as C ═ C₁∪C₂Is provided with

Setting for the network element information set newly used currently

Stopping using network element information set and simultaneously connecting C₁Is updated to C₂The data of (a) to (b) to (c),c is to be₂And (4) emptying.

In an embodiment, the method for automatically updating a network element applied to a reference station network system in real time further includes:

s70, judging whether the running states of all current baselines need to be changed or not in real time according to the existing baselines and the running states thereof, and changing the baselines needing to change the running states; the method specifically comprises the following steps:

step 71, circularly traversing all newly generated baselines, and continuously keeping the baselines in the state when the baselines are contained in the original baseline information set and are in the running state; if the baseline is contained in the original baseline information set but is in a pause state, judging whether initialization is needed or not according to the previous pause time, and initializing the baseline needed to be executed;

and step 72, initializing baselines newly added into the baseline information set, and setting the state of the baselines as running.

In one embodiment, after the updating of the baseline operating state, the method further comprises:

s80, circularly traversing the newly generated network element, and matching the reference station number forming the network element with the base line in the running state; the method specifically comprises the following steps:

step 81, circularly traversing the newly generated network element, setting the state of the network element as running, traversing the base line in the running state according to three reference station numbers forming the network element, and mutually matching the base lines in all the running states;

step 82, judging whether the network element where the user is located changes, if not, the network element where the user is located is still fixed, and the user side is not influenced;

and 83, if the network element where the user is located changes, initializing a newly generated base line of the network element where the user is located from initialization to fixation, and after all the three base lines are fixed, the network element is fixed, broadcasting an observed value of the newly generated network element after atmospheric error correction to the user, broadcasting datum station data which is closest to the position where the user is located before the network element is not fixed, wherein the time for fixing the network element to the network element is about 30 seconds.

As an embodiment, when the reference station goes up and down, the method further comprises the following steps:

the steps S10 to S30, S50 to S80 are repeated.

The real-time automatic updating method for the network element applied to the reference station network system can generate a reference station triangular network with a unique net shape according to a Dirony triangular network construction rule in an initial state of normal operation of all reference stations, the base line and the network element are independent, a double-layer automatic rapid resolving strategy of multi-baseline parallel processing and multi-network element parallel processing is realized by adopting a parallel technology, when the control center adds and deletes the reference station or the data communication state of the reference station is changed, the data processing center performs re-networking according to the Dirony triangular network construction rule according to the latest reference station state, and meanwhile compares multi-baseline and multi-network element information before re-networking after re-networking with multi-baseline and multi-network element information before re-networking, and keeps the multi-baseline and multi-network element information which is not changed before and after networking; by adopting the method, when the user works and the running state of the reference station changes, the software of the data processing center does not need to be restarted, the optimal networking can be kept, the interpolation precision of regional atmosphere delay is effectively ensured, and the stable high-precision positioning of the user is ensured.

Drawings

Fig. 1 is a flowchart of a real-time automatic updating method of network elements applied to a reference station network system according to an embodiment;

FIG. 2 is a flow chart of a real-time automatic updating method of network elements applied to a reference station network system according to another embodiment

FIG. 3 is a diagram illustrating an example of the overall operation of a network of reference stations in one embodiment;

FIG. 4 is a diagram of an example network of reference stations dynamically updated after one of the reference stations has been deactivated during operation of the network of reference stations in one embodiment;

FIG. 5 is a diagram of an example network of reference stations dynamically updated after one more reference station is deactivated during operation of the network of reference stations in one embodiment;

FIG. 6 is a diagram of an example network of reference stations dynamically updated after a reference station is re-enabled during operation of the network of reference stations in one embodiment;

fig. 7 is a schematic diagram of an operation process of the reference station network in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1, fig. 1 is a flowchart of an embodiment of a real-time automatic updating method applied to a network element of a reference station network system, including the following steps:

s10, the network RTK data processing center utilizes the plane coordinates of the reference station to construct a basic Diloney triangulation network.

S20, the user accesses to the network RTK data processing center, and the data processing center selects the network element in the Dirony triangulation network according to the user approximate coordinate in the GGA information uploaded by the user.

In the above steps, the GGA is a data output format statement, for example, the GPS format statement is GPGGA, the beidou format is BDGGA, and GPGGA is used most generally, and is one of the most widely used data in NMEA format, and is mainly used to obtain the position coordinates of the user.

The network element is already formed by the dironi triangulation network constructed in step S10. All smallest triangles in a triangle are one network element. After the corresponding network element is selected, the network element is the optimal network element, the atmospheric data of the network element is processed and then is broadcasted to the user, and the user can obtain the optimal positioning effect.

And S30, establishing an atmospheric interpolation model, calculating an atmospheric delay correction number according to the position of the user, and broadcasting the observed value to the user according to the atmospheric delay correction number.

The steps can be broadcasted to the user through the network, firstly, the processing center gives a broadcasted port on the computer, and the user can obtain data by inputting a user name, a password and a required data type mounting point by using an ntrip protocol. The accuracy of the atmospheric delay correction number is closely related to the effect of user positioning. The accuracy of the atmospheric correction is closely related to the selected network element.

S40, when the user deletes the reference station manually, the triangulation network of the reference station system is automatically updated; the method specifically comprises the following steps:

step 41, when the user deletes the reference station manually, the reference station set B is { B ═ B }₁,b₂,...,b_i,b_i+1,.. }, reference station b to be deleted_iRemoving, namely constructing a basic Dirony triangulation network by utilizing the plane coordinates of the reference station through a network RTK data processing center (namely, executing the step S10);

step 42, updating the baseline information set L₁And network element information set C₁。

The reference station set B ═ B₁,b₂,...,b_i,b_i+1,.. }, b₂、……、b_i、b_i+1And … …, reference stations.

S50, when the control center adds the reference station, the triangle network of the reference station system is automatically updated, the steps specifically include:

step 51, when the control center adds the reference station, completing the filling of the newly added reference station data in the interface of the added reference station, and then setting the reference station set B as { B {₁,b₂,...,b_m,b_m+1,.. adding a filled reference station b_mData, constructing a basic Dirony triangulation network by using the plane coordinates of the reference station through a network RTK data processing center (namely, executing step S10);

step 52, updating the baseline information set L₁And network element information set C₁。

S60, the state of the reference station is changed, and the triangulation network of the reference station system is automatically updated, the steps specifically include:

step 61, judging the total number of the reference stations which still operate after the state of the reference station is changed, and if the total number of the reference stations is less than 3, broadcasting the original data of the reference station with the position nearest to the position of the user;

step 62, updating the running state of the reference station and updating the baseline information set L₁And network element information set C₁。

The real-time automatic updating method for the network element applied to the reference station network system can generate a reference station triangular network with a unique net shape according to a Dirony triangular network construction rule in an initial state of normal operation of all reference stations, the base line and the network element are independent, a double-layer automatic rapid resolving strategy of multi-baseline parallel processing and multi-network element parallel processing is realized by adopting a parallel technology, when the control center adds and deletes the reference station or the data communication state of the reference station is changed, the data processing center performs re-networking according to the Dirony triangular network construction rule according to the latest reference station state, and meanwhile compares multi-baseline and multi-network element information before re-networking after re-networking with multi-baseline and multi-network element information before re-networking, and keeps the multi-baseline and multi-network element information which is not changed before and after networking; by adopting the method, when the user works and the running state of the reference station changes, the software of the data processing center does not need to be restarted, the optimal networking can be kept, the interpolation precision of regional atmosphere delay is effectively ensured, and the stable high-precision positioning of the user is ensured.

In one embodiment, the updated baseline information set L₁And network element information set C₁(i.e., step 42, step 52, step 62) includes:

obtaining an original baseline information set L₁＝{l₁,l₂,...,l_p,l_p+1,.. }, a newly generated baseline information set L₂＝{l₁,l₂,...,l_q,l_q+1,.., and L₁≠L₂Determining the union L ═ L of the two₁∪L₂Is provided withFor the newly added baseline information set, initiateChanging the newly added baseline information set

Set of baseline information for decommissioning, while keeping L₁Is updated to L₂Is given as L₂Emptying;

obtaining original network element information set C₁＝{c₁,c₂,...,c_p,c_p+1,., a newly generated network element information set C₂＝{c₁,c₂,...,c_q,c_q+1,.., and C₁≠C₂Determining the union of the two as C ═ C₁∪C₂Is provided withSetting for the network element information set newly used currently

Stopping using network element information set and simultaneously connecting C₁Is updated to C₂Data of (C) to₂And (4) emptying.

The above-mentioned baseline information set L₁＝{l₁,l₂,...,l_p,l_p+1,.. } l₁,l₂,...,l_p,l_p+1,.. indicating respective baseline information. The above network element information set C₁＝{c₁,c₂,...,c_p,c_p+1,.. }, c₁,c₂,...,c_p,c_p+1,.. indicating the respective network element information.

In an embodiment, the method for automatically updating a network element applied to a reference station network system in real time further includes:

s70, judging whether the running states of all current baselines need to be changed or not in real time according to the existing baselines and the running states thereof, and changing the baselines needing to change the running states; the method specifically comprises the following steps:

step 71, circularly traversing all newly generated baselines, and continuously keeping the baselines in the state when the baselines are contained in the original baseline information set and are in the running state; if the baseline is contained in the original baseline information set but is in a pause state, judging whether initialization is needed or not according to the previous pause time, and initializing the baseline needed to be executed; wherein the pause time may be set to 10 seconds; initialization is to flush all data from the baseline or assign a value of 0, similar to a restart, where initialization is if a baseline is paused for more than 10 seconds.

And step 72, initializing baselines in the newly added baseline information set, and setting the state of the initialized baselines as running.

The present embodiment is the key point of steps S40, S50, S60; for example, step S40 illustrates that the baselines in all the original network elements are actually compared with the baselines in all the newly generated network elements, and if some of the former baselines are not present until the newly generated network elements are generated, the baselines are suspended (but not deleted, and the suspended baselines are re-operated because the status of the base station changes later). If the newly generated baselines do not exist in the original baselines, then these baselines need to be initialized and then added to the baseline set, or if the newly generated baselines contain previously suspended baselines, then the suspended baselines are also reinitialized, but do not need to be added to the set because they already exist.

The state of the initialized baselines is set to be running, all the baselines are not needed to be initialized, and the computer calculation amount is saved; most importantly, the existing and running base line does not need to be reinitialized, so that the positioning speed of the user is increased, and the accuracy is improved; compared with a common initialization mode, all baselines are initialized completely, and the precision and the real-time performance are greatly improved.

In one embodiment, after the baseline running state is updated, the network element is matched with the baseline, and the observed value after atmospheric correction is broadcast to the user, the method for automatically updating the network element applied to the reference station network system in real time further includes:

s80, circularly traversing the newly generated network element, and matching the reference station number forming the network element with the base line in the running state; the method specifically comprises the following steps:

step 81, circularly traversing the newly generated network element, setting the state of the network element as running, traversing the base line in the running state according to three reference station numbers forming the network element, and mutually matching the base lines in all the running states;

step 82, judging whether the network element where the user is located changes, if not, the network element where the user is located is still fixed, and the user side is not influenced;

and 83, if the network element where the user is located changes, initializing a newly generated base line of the network element where the user is located from initialization to fixation, and after all the three base lines are fixed, the network element is fixed, broadcasting an observed value of the newly generated network element after atmospheric error correction to the user, broadcasting datum station data which is closest to the position where the user is located before the network element is not fixed, wherein the time for fixing the network element to the network element is about 30 seconds.

As an embodiment, when the reference station goes up and down, the method further comprises the following steps:

the steps S10 to S30, S50 to S80 are repeated.

In this embodiment, the situation that the reference station goes on and off the line inevitably occurs in the continuous operation process of the reference station network due to communication, power supply and the like, at this time, the steps S10 to S30 and the steps S50 to S80 are repeated, and the above steps are immediately performed when the operation state of any one reference station changes, so that the real-time automatic updating of the network element of the reference station network system can be realized.

Compared with the prior art, the real-time automatic updating method of the network element applied to the reference station network system has the following technical effects: the data processing center does not need manual intervention and can be used for continuously operating RTK deployment of the reference station; the data processing center has rapid response to the change of the running state of the reference station, can perform networking again in real time, and simultaneously adopts a baseline information retention form to ensure the rapid and high-precision positioning of a user; the algorithm has simple structure and strong fault tolerance.

In an embodiment, the above method for automatically updating network elements in real time applied to a network system of a reference station may also be shown in fig. 2, and includes the following steps:

step 1, a network RTK data processing center utilizes a plane coordinate of a reference station to construct a basic Dironey triangulation network, as shown in FIG. 3, all the reference stations are in a running state, states of all the reference stations, a baseline state and a network element state are respectively shown in the following tables (including table 1, table 2 and table 3),

TABLE 1

Reference station name	Operating state
		A	Use of
B	Use of
		C	Use of
D	Use of
		E	Use of

TABLE 2

Base line number	Connecting reference station	Operating state
			1	AB	Operation of
2	AC	Operation of
			3	AE	Operation of
4	BC	Operation of
			5	BD	Operation of
6	CD	Operation of
			7	CE	Operation of
8	DE	Operation of

TABLE 3

Network element number	Connecting reference station	Connection base line	Operating state
				1	ABC	AB AC BC	Operation of
2	BDC	BC BD CD	Operation of
				3	CDE	CD DE CE	Operation of
4	CEA	AC AE CE	Operation of

Step 2, the user accesses to a network RTK data processing center, and the data processing center selects a network element according to the user approximate coordinate in the GGA information uploaded by the user;

step 3, establishing an atmospheric interpolation model, calculating an atmospheric delay correction number according to the position of the user, and broadcasting the atmospheric delay correction number to the user;

step 4, the user deletes the reference station manually, and the triangulation network of the reference station system is updated automatically, which specifically comprises the following steps:

step 41, the user deletes the reference station manually, and the reference station set B is { B ═ B }₁,b₂,...,b_i,b_i+1,.. }, reference station b to be deleted_iRemoving and repeating the step 1;

step 42, the original baseline information set is L₁＝{l₁,l₂,...,l_p,l_p+1,.., the newly generated baseline information set is L₂＝{l₁,l₂,...,l_q,l_q+1,.., and L₁≠L₂The union of the two is L ═ L₁∪L₂，

Initializing the partial baseline for the newly added baseline information set,set of baseline information for decommissioning, while keeping L₁Is updated to L₂Is given as L₂Emptying;

step 43, the original network element information set is C₁＝{c₁,c₂,...,c_p,c_p+1,., the newly generated network element information set is C₂＝{c₁,c₂,...,c_q,c_q+1,.., and C₁≠C₂The union of the two is C ═ C₁∪C₂，

For the set of network element information that is newly used at present,for stopping using network element information set, C₁Is updated to C₂Data of (C) to₂Emptying;

referring to fig. 3, the reference station C is out of service, and the updated reference station status, baseline status and network element status are shown in the following tables (table 4, table 5 and table 6),

TABLE 4

Reference station name	Operating state
		A	Use of
B	Use of
		C	Pausing
D	Use of
		E	Use of

TABLE 5

TABLE 6

Network element number	Connecting reference station	Connection base line	Operating state
				1	ABC	AB AC BC	Pausing
2	BDC	BC BD CD	Pausing
				3	CDE	CD DE CE	Pausing
4	CEA	AC AE CE	Pausing
				5 (newly increased)	ADE	AD DE AE	Operation of
6 (newly increased)	ABD	AB BD DE	Operation of

Step 44, stopping using the reference station a, as shown in fig. 4, repeating step 41, step 42, step 43, and the updated reference station status, baseline status and network element status are respectively shown in the following tables (table 7, table 8 and table 9),

TABLE 7

Reference station name	Operating state
		A	Pausing
B	Use of
		C	Pausing
D	Use of
		E	Use of

TABLE 8

Base line number	Connecting reference station	Operating state
			1	AB	Pausing
2	AC	Pausing
			3	AE	Pausing
4	BC	Pausing
			5	BD	Operation of
6	CD	Pausing
			7	CE	Pausing
8	DE	Operation of
			9	AD	Pausing
10 (newly increased)	BE	Operation of

TABLE 9

Network element number	Connecting reference station	Connection base line	Operating state
				1	ABC	AB AC BC	Pausing
2	BDC	BC BD CD	Pausing
				3	CDE	CD DE CE	Pausing
4	CEA	AC AE CE	Pausing
				5	ADE	AD DE AE	Pausing
6	ABD	AB BD DE	Pausing
				7 (newly increased)	BDE	BD DE BE	Operation of

Step 5, the control center adds a reference station and automatically updates the triangulation network of the reference station system, and the method specifically comprises the following steps:

step 51, the control center adds the reference station, completes the filling of the data of the newly added reference station on the interface of the added reference station, and then the reference station set B is { B ═ B₁,b₂,...,b_m,b_m+1,.. adding a filled reference station b_mData, repeating the step 1;

step 52, updating the baseline information set L₁And network element information set C₁I.e. repeating the updating steps of step 42 and step 43;

referring to fig. 5, the reference station C is re-enabled, and the updated reference station status, baseline status and network element status are respectively shown in the following tables (table 10, table 11 and table 12),

watch 10

Reference station name	Operating state
		A	Pausing
B	Use of
		C	Use of
D	Use of
		E	Use of

TABLE 11

Base line number	Connecting reference station	Operating state
			1	AB	Pausing
2	AC	Pausing
			3	AE	Pausing
4	BC	Operation of
			5	BD	Operation of
6	CD	Operation of
			7	CE	Operation of
8	DE	Operation of
			9	AD	Pausing
10	BE	Operation of

TABLE 12

And 6, changing the state of the reference station, and automatically updating the triangulation network of the reference station system, which specifically comprises the following steps:

step 61, judging the total number of the reference stations which still operate after the state of the reference station is changed, and if the total number of the reference stations is less than 3, broadcasting the original data of the reference station with the position nearest to the position of the user;

step 62, updating the running state of the reference station, repeating the steps 42 and 43, and updating the baseline information set L₁And network element information set C₁；

Referring to fig. 2, the reference station a is re-operated, and the updated reference station status, baseline status and network element status are shown in the following tables (table 13, table 14 and table 15),

watch 13

Reference station name	Operating state
		A	Use of
B	Use of
		C	Use of
D	Use of
		E	Use of

TABLE 14

Watch 15

Network element number	Connecting reference station	Connection base line	Operating state
				1	ABC	AB AC BC	Operation of
2	BDC	BC BD CD	Operation of
				3	CDE	CD DE CE	Operation of
4	CEA	AC AE CE	Operation of
				5	ADE	AD DE AE	Pausing
6	ABD	AB BD DE	Pausing
				7	BDE	BD DE BE	Pausing
8 (newly increased)	BCE	BC CE BE	Pausing

Step 7, judging whether the running states of all current baselines need to be changed or not in real time according to the existing baselines and the running states thereof;

step 71, circularly traversing all newly generated baselines, and continuously keeping the baselines in the state when the baselines are contained in the original baseline information set and are in the running state; when the baseline is contained in the original baseline information set but is in a pause state, judging whether initialization is needed or not according to the previous pause time, wherein the time is set to 10 seconds in the example;

step 72, newly adding the baseline in the baseline information set, initializing the baseline, and setting the state of the baseline as running;

step 8, circularly traversing the newly generated network element, and matching the reference station number forming the network element with the base line in the running state, specifically comprising the following steps:

step 81, circularly traversing the newly generated network element, setting the state of the network element as running, traversing the base line in the running state according to three reference station numbers forming the network element, and mutually matching the base lines in all the running states;

step 82, judging whether the network element where the user is located changes or not, if not, the network element where the user is located is still fixed, and the user side is not influenced;

step 83, the network element where the user is located changes, the newly generated baseline of the network element where the user is located is initialized to be fixed, the network element is fixed after all the three baselines are fixed, the observed value of the newly generated network element after atmospheric error correction is broadcast to the user, the datum station data which is closest to the position where the user is located is broadcast before the network element is not fixed, and the time for fixing the network element to the network element is about 30 seconds;

and 9, inevitably generating the situation that the reference station goes on and off the line due to communication, power supply and the like in the continuous operation process of the reference station network, repeating the steps 1 to 3 and the steps 5 to 8, and immediately performing the steps when the operation state of any reference station changes, so that the real-time automatic updating of the network element of the reference station network system can be realized.

So far, the base station has been deleted by adding and updating the network element and the baseline information in real time according to the running state of the base station.

Fig. 3 is an example diagram of the whole operation of a certain reference station network constructed by the above-mentioned real-time automatic updating method applied to the network element of the reference station network system; FIG. 4 is a diagram of an example network of reference stations dynamically updated after one of the reference stations has been deactivated during operation of the network of reference stations of FIG. 3; FIG. 5 is an exemplary diagram of a network of reference stations dynamically updated after one more reference station is deactivated during operation of the network of reference stations of FIG. 4; FIG. 6 is a diagram of an example network of reference stations dynamically updated after a reference station is re-enabled during operation of the network of reference stations of FIG. 5; fig. 7 is a schematic diagram of the operation process of the reference station network in the present example.

According to the above example, it can be seen that the method is based on comparing the baseline and network element information before and after re-networking, when faults occur in the RTK service range of the reference station due to unstable network of the reference station or failure of the reference station in the domain, such as failure in normal use, the fault reference station does not need to be deleted or the RTK software of the reference station does not need to be restarted, the data processing center can update the optimal network shape of the reference station in normal operation in real time by using the algorithm, real-time fixation of the updated network shape is realized, differential correction information is rapidly and continuously broadcast to mobile users, the regional atmosphere delay interpolation precision is effectively ensured, the precision and reliability of RTK service positioning of the reference station are ensured, the availability of the system is improved, the working efficiency is greatly improved, and the cost of.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

It should be noted that the terms "first \ second \ third" referred to in the embodiments of the present application merely distinguish similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence when allowed. It should be understood that "first \ second \ third" distinct objects may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented in an order other than those illustrated or described herein.

The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device that comprises a list of steps or modules is not limited to the listed steps or modules but may alternatively include other steps or modules not listed or inherent to such process, method, product, or device.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.