阅读说明：本技术 确定基站运动的方法、装置、基站、rtk系统及存储介质 (Method and device for determining base station movement, base station, RTK system and storage medium ) 是由 钟柱坚 于 2019-10-25 设计创作，主要内容包括：本公开提供一种用于确定基站运动的方法、基站、RTK系统以及存储介质。基站观测卫星导航信号,根据观测到的卫星导航信号得到基站的第一位置信息,判断基站可能发生运动,接收来自其他基站的与位置定位相关联的差分数据,根据第一位置信息与差分数据得到第二位置信息,在第二位置信息与已知位置信息不一致的情况下确定基站发生运动。通过该技术方案,当基站检测自身是否被移动时相当于同时充当基准基站和移动站的角色,即能正常为其他无人机提供差分数据,也能接收其他基准基站的差分数据,进行高精度解算以确定自身是否被移动。基站能够准确快速判断自身是否被移动,防止因为基站被移动导致无人机跟着飞偏。(The present disclosure provides a method for determining base station motion, a base station, an RTK system, and a storage medium. The base station observes satellite navigation signals, first position information of the base station is obtained according to the observed satellite navigation signals, the base station is judged to possibly move, differential data which are from other base stations and are related to position location are received, second position information is obtained according to the first position information and the differential data, and the base station is determined to move under the condition that the second position information is inconsistent with known position information. Through the technical scheme, when the base station detects whether the base station is moved, the base station is equivalent to a role of simultaneously serving as a reference base station and a mobile station, namely, the base station can normally provide differential data for other unmanned aerial vehicles, can also receive the differential data of other reference base stations, and carries out high-precision calculation to determine whether the base station is moved. Whether base station can accurate snap judgments self moved, prevent because the base station is moved and lead to unmanned aerial vehicle and then fly partially.)

1. A base station, comprising:

a first communication device;

a positioning device configured to:

observing a satellite navigation signal;

obtaining first position information of the base station according to the observed satellite navigation signal; and a processor configured to:

acquiring the first position information;

judging that the base station is likely to move;

receiving, by the first communication device, differential data associated with position location from other base stations;

obtaining second position information according to the first position information and the differential data; and

and determining that the base station moves under the condition that the second position information is inconsistent with the known position information.

2. The base station of claim 1, wherein the processor configured to determine that motion of the base station is likely comprises:

and under the condition that the speed of the base station is greater than a speed threshold value, judging that the base station is likely to move.

3. The base station of claim 1, wherein the processor is further configured to:

judging that the base station does not move;

periodically receiving, by the first communication device, the differential data;

obtaining third position information according to the position information and difference data received regularly;

and determining whether the base station moves according to the consistency judgment of the third position information and the known position information.

4. The base station of claim 1, wherein the processor is further configured to transmit, by the first communication device, a message indicating that the base station is in motion to a mobile station and/or a server in communication with the base station.

5. The base station of claim 1, further comprising a second communication device configured to communicate with a ground station from which the known location information is received.

6. The base station of claim 2, wherein the positioning device is further configured to derive the velocity of the base station from satellite navigation signals based on doppler effect.

7. The base station of claim 3, wherein the processor is further configured to update the known location information with the third location information.

8. The base station according to any of claims 1 to 7, characterized in that the base station comprises a fixed base station or a mobile base station based on real time dynamic carrier phase differential RTK technology.

9. A system based on a real-time dynamic carrier-phase differential technique, comprising:

a plurality of base stations, at least one of which is a base station according to any one of claims 1 to 8;

a mobile station; and

a server configured to communicate with the base station and the mobile station.

10. A method for determining base station motion, the method comprising:

acquiring first position information of the base station;

judging that the base station is likely to move;

receiving differential data associated with position location from other base stations;

obtaining second position information according to the first position information and the differential data; and

and determining that the base station moves under the condition that the second position information is inconsistent with the known position information.

11. The method of claim 10, wherein the determining that the base station is likely to move comprises:

and under the condition that the speed of the base station is greater than a speed threshold value, judging that the base station is likely to move.

12. The method of claim 10, further comprising:

judging that the base station does not move;

periodically receiving the differential data;

obtaining third position information according to the first position information and the difference data received regularly; and

and determining whether the base station moves according to the consistency judgment of the third position information and the known position information.

13. The method of claim 10, further comprising:

transmitting a message to a mobile station and/or a server in communication with the base station indicating that the base station is in motion.

14. The method of claim 12, further comprising:

updating the known location information with the third location information.

15. An apparatus for determining motion of a base station, comprising:

an acquisition module configured to acquire first location information of the base station;

a determining module configured to determine that the base station is likely to move;

a receiving module configured to receive differential data associated with position location from other base stations;

a deriving module configured to derive second location information from the first location information and the differential data; and

a determining module configured to determine that the base station is moving if the second location information is inconsistent with known location information.

16. A computer-readable storage medium having stored thereon instructions which, when executed by a processor, are capable of causing the processor to carry out the method for determining base station motion according to any one of claims 10 to 14.

Technical Field

The present disclosure relates to the field of Global Navigation Satellite System (GNSS) positioning, and in particular to a method for determining base station motion, an apparatus for determining base station motion, a base station, an RTK system, and a storage medium.

Background

Global Navigation Satellite Systems (GNSS), such as the beidou System, GPS, GLONASS, Galileo System, etc., are Satellite-level radio Navigation systems using artificial satellites as Navigation stations, and provide all-weather, high-precision position, speed and time information for various military and civil carriers in the Global land, sea, air and sky.

The Real-time dynamic carrier phase difference (RTK) technique is a difference method for processing carrier phase observations of two measurement stations in Real time. An RTK system may include a fixed base station (reference station), a data link, and a mobile station. The reference station provides differential data for the mobile station, and the mobile station receives the differential data and then combines self-positioning data to calculate high-precision coordinates.

At present, whether a fixed base station is moved or not is detected by the existing fixed base station, and whether the fixed base station is moved or not is judged by comparing a coordinate of long-time single-point positioning with a reference coordinate input to the base station. The single-point positioning obtains coordinates with low accuracy in 12 hours, 24 hours or more, and has disadvantages of low efficiency and low accuracy, so that erroneous judgment easily occurs.

Disclosure of Invention

An object of the disclosed embodiments is to provide a base station, an RTK system, a method, an apparatus, and a computer-readable storage medium for determining movement of a base station, which can more accurately determine whether the base station is moving.

To achieve the above object, according to a first aspect of the present disclosure, there is provided a base station comprising:

a first communication device;

a positioning device configured to:

observing a satellite navigation signal;

obtaining first position information of a base station according to an observed satellite navigation signal; and a processor configured to:

acquiring first position information;

judging that the base station is likely to move;

receiving, by a first communication device, differential data associated with position location from other base stations;

obtaining second position information according to the first position information and the differential data; and

and determining that the base station moves under the condition that the second position information is inconsistent with the known position information.

Optionally, the processor configured to determine that the base station is likely to move comprises:

and under the condition that the speed of the base station is greater than the speed threshold value, judging that the base station is likely to move.

Optionally, the processor is further configured to:

judging that the base station does not move;

periodically receiving differential data by a first communication device;

obtaining third position information according to the position information and the difference data received regularly;

and determining whether the base station moves according to the consistency judgment of the third position information and the known position information.

Optionally, the processor is further configured to transmit, by the first communication device, a message indicating that the base station is moving to a mobile station and/or a server in communication with the base station.

Optionally, the base station further comprises second communication means configured to communicate with a ground station, wherein the known location information is received from the ground station.

Optionally the positioning device is further configured to derive the velocity of the base station from the satellite navigation signals based on the doppler effect.

Optionally, the processor is further configured to update the known location information with the third location information.

Optionally, the base station comprises a fixed base station or a mobile base station based on real-time dynamic carrier phase differential RTK technique.

According to a second aspect of the present disclosure, there is provided a system based on a real-time dynamic carrier-phase differential technique, comprising:

a plurality of base stations, at least one of the plurality of base stations being a base station according to any one of claims 1 to 8;

a mobile station; and

a server configured to communicate with the base station and the mobile station.

According to a third aspect of the present disclosure, there is provided a method for determining base station motion, comprising:

acquiring first position information of a base station;

judging that the base station is likely to move;

receiving differential data associated with position location from other base stations;

obtaining second position information according to the first position information and the differential data; and

and determining that the base station moves under the condition that the second position information is inconsistent with the known position information.

Optionally, the determining that the base station may move includes:

and under the condition that the speed of the base station is greater than the speed threshold value, judging that the base station is likely to move.

Optionally, the method further comprises:

judging that the base station does not move;

receiving differential data periodically;

obtaining third position information according to the first position information and the difference data received regularly; and

and determining whether the base station moves according to the consistency judgment of the third position information and the known position information.

Optionally, the method further comprises:

a message is transmitted to a mobile station and/or server in communication with the base station indicating that the base station is in motion.

Optionally, the method further comprises:

the known location information is updated with the third location information.

According to a fourth aspect of the present disclosure, there is provided an apparatus for determining base station motion, comprising:

an acquisition module configured to acquire first location information of a base station;

a determining module configured to determine that the base station is likely to move;

a receiving module configured to receive differential data associated with position location from other base stations;

a deriving module configured to derive second location information from the first location information and the differential data; and

a determination module configured to determine that the base station is moving if the second location information is inconsistent with the known location information.

According to a fifth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon instructions that, when executed by a processor, are capable of causing the processor to perform the above-described method for determining motion of a base station.

Through the technical scheme, when the base station detects whether the base station is moved, the base station is equivalent to a role of simultaneously serving as the reference base station and the mobile station, can normally provide RTCM differential data for other unmanned aerial vehicles, can also receive the RTCM differential data of other reference base stations, and carries out high-precision calculation to determine whether the base station is moved. Whether base station can accurate snap judgments self moved, prevent because the base station is moved and lead to unmanned aerial vehicle and then fly partially.

Additional features and advantages of embodiments of the present disclosure will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosed embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the detailed description serve to explain the embodiments but not to limit the embodiments. In the drawings:

fig. 1 is a schematic diagram schematically illustrating an example of a system (hereinafter referred to as an "RTK system") in which a real-time kinematic (RTK) based carrier-phase differential technique according to an embodiment of the present disclosure may be implemented;

fig. 2 is a block diagram schematically illustrating an example of a base station according to an embodiment of the present disclosure;

fig. 3 is a block diagram schematically illustrating another example of a base station according to an embodiment of the present disclosure;

fig. 4 is a flow chart schematically illustrating an example of a method for determining motion of a base station according to an embodiment of the present disclosure; and

fig. 5 is a flow chart schematically illustrating another example of a method for determining motion of a base station according to an embodiment of the present disclosure.

Description of the reference numerals

100 RTK system 110 base station

120 data link 130 mobile station

140 server 150 ground station

210 base station 211 first communication module

212 positioning device 213 processor

214 second communication module 215 indication means

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present disclosure, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present disclosure, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present disclosure.

Fig. 1 is a schematic diagram schematically illustrating an example of an RTK system 100 in which embodiments according to the present disclosure may be implemented. As shown in fig. 1, an RTK system 100 may include a reference base station 110, a data link, and a rover station 130. The reference base station 110 may be configured to observe satellite navigation signals, obtain position information of itself from the observed satellite navigation signals (e.g., calculate position coordinates), calculate the obtained position information and the obtained known position information (e.g., reference coordinates) to obtain differential data (e.g., differential data in RTCM format), and provide the differential data to the mobile station 130. The reference base station 110 may include a fixed base station and a mobile base station. The fixed base station may be a base station installed in a fixed geographical location (e.g., higher geographical area, open ground) that may transmit location information (and/or differential data) around the clock. The mobile base stations may be base stations that can be flexibly located at different geographical locations and can communicate location information (and/or differential data) when needed.

In one example, the reference base station 110 may be in communication with a ground station and may receive known location information (e.g., reference coordinates) from the ground station. The manner in which the reference base station 110 communicates with the ground station may include a wired communication manner or a wireless communication manner. The wireless communication means may include, but is not limited to, mobile communication (e.g., 2G, 3G, 4G, or 5G, etc.), bluetooth communication, Wi-Fi, Near Field Communication (NFC).

The ground station 150 may be a device with the ability to monitor and manipulate the drone and mission load. The ground station 150 functions may include flight monitoring, route planning, mission playback, map navigation, etc., and support control and management of multiple drones.

The mobile station 130 may be configured to receive differential data (e.g., RTCM differential data) from the reference base station 110, for example, via a data link, obtain its own position information (e.g., position coordinates) by observing satellite navigation signals, and then solve for highly accurate position information (e.g., position coordinates) based on the differential data and the position information. Examples of the mobile station 130 may include, but are not limited to, a drone, a mapper.

In one embodiment, RTK system 100 may also include server 140. The server 140 may be in communication with the reference base station 110 and the mobile station 130 (e.g., via a data link) for forwarding data, such as differential data, communicated between the reference base station 110 and the mobile station 130. Although the reference base station 110 is shown in fig. 1 as communicating with the mobile station 130 through the server 140, the reference base station 110 may also communicate directly with the mobile station 130 over an air interface.

Examples of data links may include, but are not limited to, radio frequency, microwave, centimeter wave, millimeter wave, Infrared (IR), Ultraviolet (UV), visible, Wi-Fi, mobile communications. Examples of mobile communications may include 2G (e.g., GSM, CDMA), 3G (e.g., WCDMA, TD-SCDMA, CDMA2000), 4G (e.g., WiMAX, LTE-A, LTE-a Pro), 5G (e.g., ad hoc networks, D2D (device-to-device) communications, M2M (machine-to-machine) communications).

Although only one reference base station 110 is shown in fig. 1, multiple reference base stations 110 may be provided at the same and/or different locations as desired. The plurality of reference base stations 110 may include a plurality of fixed base stations, a plurality of mobile base stations, or a combination of fixed and mobile base stations.

Fig. 2 is a block diagram schematically illustrating an example of a base station according to an embodiment of the present disclosure. As shown in fig. 2, in an embodiment of the present disclosure, a base station 210 is provided, which may include a first communication device 211, a positioning device 212, and a processor 213.

The first communication device 211 may be configured to communicate with (not shown in the figures) the mobile station 130, the server 140, and/or other base stations, receive signals, messages, information, and/or data from the mobile station 130, the server 140, and/or other base stations, and/or transmit signals, messages, information, and/or data to the mobile station 130, the server 140, and/or other base stations. The first communication device 211 may employ suitable wireless communication technologies including, but not limited to, radio frequency, microwave, centimeter wave, micrometer wave, Infrared (IR), Ultraviolet (UV), visible, Wi-Fi, mobile communication, for example. Examples of mobile communications may include 2G (e.g., GSM, CDMA), 3G (e.g., WCDMA, TD-SCDMA, CDMA2000), 4G (e.g., WiMAX, LTE-A, LTE-APro), 5G (e.g., ad hoc networks, D2D (device-to-device) communications, M2M (machine-to-machine) communications).

The positioning device 212 may be an apparatus for determining the geographic location (e.g., coordinates) of the base station 210. The positioning device 212 may be a Global Navigation Satellite System (GNSS) based device, which may include, for example, the beidou System, the GPS System, the GLONASS System, the Galileo System.

Positioning device 212 may be configured to observe satellite navigation signals and derive location information for base station 210 based on the observed satellite navigation signals. Taking the GPS system as an example, the positioning device 212 may calculate the position information (e.g., coordinates) of the base station 210 from satellite navigation signals observed from GPS satellites.

The processor 213 may be configured to communicate with the first communication device 211 and the positioning device 212. The processor 213 may communicate with the mobile station 130, the server 140, and/or other base stations via the first communication device 211.

Examples of processor 213 may include a general purpose processor, a special purpose processor, a conventional processor, a Digital Signal Processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) circuits, any other type of Integrated Circuit (IC), a state machine, and the like. The processor may perform signal encoding, data processing, power control, input/output processing.

The positioning device 212 may determine the velocity of the base station 210 movement from the satellite navigation signals based on the doppler effect. The processor 213 may obtain the velocity from the positioning device 212 to determine whether the base station 210 is moving (e.g., likely to be moving). In an embodiment of the present disclosure, a speed threshold may be set, and if the determined speed is greater than the speed threshold, the processor 213 may determine that the base station 210 is moving (e.g., may be moving). The speed threshold may range from 7cm/s to 18cm/s, preferably 10 cm/s.

However, the accuracy (error of 20cm/s) of velocity determination using the doppler effect as described above is relatively low, and erroneous determination may occur. That is, it is judged that the motion state (i.e., moving or forbidden) of the base station 210 may be opposite to the actual motion state of the base station 210 according to the velocity determined by the doppler effect.

To be able to more accurately determine the actual motion state of the base station 210, in this embodiment, in the case that the processor 213 determines that the base station 210 may move (for example, the speed of the base station 210 is greater than the speed threshold), the processor 213 may request differential data (for example, differential data in RTCM format) from other base stations (for example, a reference base station, including a fixed base station or a mobile base station) through the first communication device 211. The other base stations transmit differential data after receiving the request. After receiving the transmitted differential data via the first communication device 211, the processor 213 may obtain (e.g., solve) corrected location information (e.g., coordinates) from the location information (e.g., coordinates) obtained by the positioning device 212 and the differential data, then compare the corrected location information (e.g., coordinates) with known location information (e.g., coordinates), and if the two do not coincide, may determine that the base station 210 is actually moving. Since the position information (e.g., coordinates) obtained by using the differential data can be in a high precision (e.g., centimeter level), the defect of the method of determining whether the base station 210 moves based on the doppler effect by using the positioning device 212 can be greatly compensated, and the erroneous determination can be avoided.

In an embodiment of the present disclosure, the base station 210 may include a fixed base station and/or a mobile base station. The fixed base station may be a base station installed in a fixed geographical location (e.g., higher geographical area, open ground) that may transmit location information (and/or differential data) around the clock. The mobile base stations may be base stations that can be flexibly located at different geographical locations and can communicate location information (and/or differential data) when needed.

The known location information may be configured at the time of setting up the base station 210. In one example, known location information (e.g., coordinates) representing the installation point of the base station 210 may be input to the base station 210 when the base station 210 is installed. The known location information (e.g., coordinates) may be input, for example, via an input device of the base station 210. Examples of input devices may include, but are not limited to, a mouse, a keyboard, a trackball, a touchpad, a voice input device, a gesture input device, or any combination of these. In another example, the known location information may be configured by the ground station 150. Fig. 3 is a block diagram schematically illustrating another example of a base station according to an embodiment of the present disclosure. As shown in fig. 3, in an embodiment of the present disclosure, the base station 210 may further include a second communication device. The second communication device may be in communication with the ground station 150 for receiving signals, messages, information, and/or data from the ground station 150 and/or transmitting signals, messages, information, and/or data to the ground station 150. The second communication device may communicate with the ground station 150 using any suitable communication technology. In one example, the second communication device may communicate with the ground station 150 using a wired (e.g., cable) manner. In another example, the second communication device may communicate with the ground station 150 using wireless. Examples of wireless communication means suitable for the second communication device may include, but are not limited to, radio frequency, microwave, centimeter wave, micrometer wave, Infrared (IR), Ultraviolet (UV), visible light, Wi-Fi, mobile communication, bluetooth, Near Field Communication (NFC).

Referring to fig. 3, in an embodiment of the present disclosure, the base station 210 may further include an indicating device 215 configured to indicate various operating states of the base station 210. For example, the indicating means 215 may comprise an indicator light. The indicator lights may include a power indicator light, a network connection status indicator light, and/or a location status indicator light.

In a further embodiment of the present disclosure, if the processor 213 determines that the base station 210 is not moving, i.e., the velocity does not exceed (e.g., is less than or equal to) the velocity threshold, the processor 213 may periodically receive the differential data via the first communication device 211. In particular, the processor 213 may periodically request differential data from other base stations (via the first communication device 211). The other base station receives the request and transmits the differential data generated by itself to the base station 210. The processor 213, upon receiving the difference data, may process (e.g., resolve) the position information (e.g., coordinates) generated by the positioning device 212 with the difference data to obtain modified position information (e.g., coordinates). The processor 213 may then determine whether the base station 210 is actually moving based on a consistency determination of the modified location information (e.g., coordinates) with known location information (e.g., coordinates). Specifically, if the corrected location information (e.g., coordinates) is consistent with the known location information (e.g., coordinates), it may be determined that the base station 210 is not moving, and if not, it may be determined that the base station 210 is moving. The interval at which the processor 213 receives differential data may be, for example, minutes (e.g., 5 minutes, 10 minutes, 30 minutes), hours (e.g., 12 hours, 24 hours), or days.

In further embodiments of the present disclosure, the processor 213 may be configured to update the known position information (e.g., coordinates) with the corrected position information (e.g., coordinates) if it is determined that the corrected position information (e.g., coordinates) does not coincide with the known position information (e.g., coordinates). That is, the corrected position information (e.g., coordinates) is determined as new known position information (e.g., coordinates). In one example, the processor 213 may perform this update operation autonomously. In another example, the update may be operated remotely by an administrator. For example, the administrator may operate the processor 213 to make the update via the ground station 150.

In another embodiment of the present disclosure, the base station 210 and other base stations may be in communication with the server 140, the base station 210 may transmit a differential data request to the server 140, and the server 140 may forward the differential data request to the other base stations. The other base stations may transmit the differential data to the server 140, and the server 140 may forward the differential data to the base station 210.

In an embodiment of the present disclosure, the differential data may be, for example, differential data (RTCM differential data) in an international Maritime business Radio Technology Committee (RTCM) format.

In an embodiment of the present disclosure, the processor 213 may be configured to report the motion state through the first communication device 211 if it is determined that the base station 210 is moving. Specifically, in one example, the processor 213 can be configured to transmit a message to the mobile station 130 in communication (e.g., direct communication) with the base station 210 indicating that the base station 210 is in motion. Upon receiving the message, the mobile station 130 may take corresponding actions, such as disabling the connection to the base station 210, ignoring differential data received from the base station 210, muting the base station 210, and so forth. In another example, the processor 213 can be configured to transmit a message to the server 140 in communication with the base station 210 indicating that the base station 210 is in motion. The server 140, upon receiving the message, may alert and may alert the mobile station 130 of the motion state of the base station 210. Upon receiving the alert, the mobile station 130 may take corresponding actions, such as disabling the connection to the base station 210, ignoring the differential data received from the base station 210, muting the base station 210, and so forth. In yet another example, the processor 213 may be configured to transmit a message to the mobile station 130 and the server 140 indicating that the base station 210 is in motion.

The base station 210 in embodiments of the present disclosure may be an RTK technology-based base station, and the base station 210 may be used as a reference base station (e.g., the reference base station 110 shown in fig. 1) in the RTK system 100. The base station 210 may comprise a fixed base station or a mobile base station.

When the base station 210 detects whether the base station itself is moved, the base station is equivalent to a role of serving as a reference base station and a mobile station at the same time, and can normally provide RTCM differential data for other unmanned aerial vehicles, and also can receive RTCM differential data of other reference base stations, and perform high-precision calculation to determine whether the base station itself is moved. Adopt RTK technique basic station can be accurate whether quick judgement self is removed, prevent because the basic station is removed and lead to unmanned aerial vehicle and then fly to deviate from.

Referring to fig. 1, in an embodiment of the present disclosure, a system 100 based on an RTK technology (referred to as an RTK system 100) is provided, the system 100 may include a plurality of base stations 110, at least one of the plurality of base stations 110 may be the base station 210 in the above embodiment; a mobile station 130; a server 140 configured to communicate with the base station 110 and the mobile station 130.

In addition to being able to perform conventional functions, RTK system 100 may also perform functions or features of the previously described embodiments related to determining whether a base station is in motion.

Fig. 4 is a flow chart schematically illustrating an example of a method for determining motion of a base station according to an embodiment of the present disclosure. As shown in fig. 4, in an embodiment of the present disclosure, a method for determining motion of a base station is provided, which may include the following steps.

In step S11, first location information of the base station is obtained, for example, the first location information may be obtained from a positioning device (for example, the positioning device 212 described above);

in step S12, it is determined that the base station may move;

receiving differential data associated with position location from other base stations in step S13;

in step S14, obtaining second position information from the first position information and the difference data; and

in step S15, in the case where the second position information does not coincide with the known position information, it is determined that the base station is moving.

The determining that the base station may move may include:

and under the condition that the speed of the base station is greater than the speed threshold value, judging that the base station is likely to move.

Wherein, the method can also comprise:

judging that the base station does not move;

receiving differential data periodically;

obtaining third position information according to the first position information and the difference data received regularly; and

and determining whether the base station moves according to the consistency judgment of the third position information and the known position information.

Wherein, the method can also comprise: a message is transmitted to a mobile station and/or server in communication with the base station indicating that the base station is in motion.

Wherein, the method can also comprise: the known location information is updated with the third location information.

Fig. 5 is a flow chart schematically illustrating another example of a method for determining motion of a base station according to an embodiment of the present disclosure. In another embodiment of the present disclosure, a method for determining motion of a base station is provided, which may include the following steps.

In step S201, satellite navigation signals are observed.

In step S202, first position information of a base station is obtained according to an observed satellite navigation signal;

in step S203, it is determined whether the base station is likely to move;

in step S204, in the case that it is determined that the base station may move, receiving differential data associated with position location from other base stations;

in step S205, second position information is obtained according to the first position information and the difference data;

in step S206, it is determined whether the second location information coincides with the known location information;

in step S207, in the case where it is determined that the second position information does not coincide with the known position information, it is determined that the base station is moving.

Wherein, the method may further include performing corresponding action in case that it is determined in step S207 that the base station is moving. For example, the base station may transmit a message indicating that the base station is moving to a mobile station and/or a server in communication with the base station (step S208).

In step S209, when it is determined that the second position information matches the known position information, it is determined that the base station is not moving.

Further, if it is determined in step S203 that the base station is not moving, in step S210, differential data is periodically received;

in step S211, third position information is obtained according to the first position information and the difference data received periodically;

in step S212, it is determined whether the third position information coincides with the known position information;

in step S213, in the case where it is determined that the third position information coincides with the known position information, it is determined that the base station is not moving;

in step S214, in the case where it is determined that the third position information does not coincide with the known position information, it is determined that the base station is moving.

Wherein, the method may further include performing corresponding action in case that it is determined in step S214 that the base station moves. For example, the base station may update the known location information with the third location information (step S215).

The method according to the embodiment of the present disclosure as shown in fig. 4 may be performed, for example, by the base station 210 (e.g., the processor 213) in the foregoing embodiments.

The method according to the embodiment of the present disclosure as shown in fig. 5 may be performed by, for example, the base station 210 in the foregoing embodiment.

In an embodiment of the present disclosure, an apparatus for determining motion of a base station is provided, including:

an acquisition module configured to acquire first location information of a base station;

a determining module configured to determine that the base station is likely to move;

a receiving module configured to receive differential data associated with position location from other base stations;

a deriving module configured to derive second location information from the first location information and the differential data; and

a determination module configured to determine that the base station is moving if the second location information is inconsistent with the known location information.

In an embodiment of the present disclosure, a computer-readable storage medium is provided having stored thereon instructions that, when executed by a processor (e.g., the processor 213), enable the processor to perform a method for determining base station motion, such as described with reference to fig. 4 or 5.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.

As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to part of the description of the method embodiment.

The above description is only an embodiment of the present application, and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.