Method and apparatus for establishing positioning network

Patent metadata

Field	Value
Publication number	US-12317217-B2
Application number	US-202017775259-A
Country	US
Kind code	B2
Filing date	Nov 6, 2020
Priority date	Nov 6, 2019
Publication date	May 27, 2025
Grant date	May 27, 2025

Abstract

The present disclosure relates to a method and an apparatus for establishing a positioning network. The positioning network includes a data processing center and at least one reference station, and one node in the positioning network represents one reference station. The method includes: determining, if a first historical positioning network capable of forming a new positioning network with a newly added node exists in a network list of the data processing center, whether the newly added node forms the new positioning network with the first historical positioning network; and determining, if the network list does not exist in the data processing center, whether the newly added node is capable of forming a new positioning network with nodes in a first node information list. Before network real-time kinematic (RTK) is formed, a user can use a single-baseline RTK positioning service. The network RTK is formed once a networking condition is met. A positioning network is gradually established, requirements of users may be satisfied with less investment when there are fewer users in the early stage, and the network is gradually formed with the increase of users, so that more users can be covered by using fewer base stations.

First claim

What is claimed is:

1. A method for establishing a positioning network, wherein the method comprises:
receiving node information of a newly added node, and storing the node information in a first node information list, wherein the newly added node and a node in the positioning network comprise a reference station;
determining a position relationship between the newly added node and a second historical positioning network in a network list;
determining, if the position relationship is that the newly added node is located inside the second historical positioning network, that the second historical positioning network is a first historical positioning network capable of forming a third positioning network with the newly added node;
determining, if the first historical positioning network exists in the network list, whether the newly added node forms the third positioning network with the first historical positioning network; and
determining, if the first historical positioning network does not exist in the network list, whether the newly added node is capable of forming a fourth positioning network with nodes in the first node information list.

2. The method according to claim 1 , wherein the first node information list comprises at least two nodes that are not capable of forming a network currently.

3. The method according to claim 1 , further comprising:
determining, according to the position relationship and by using a preset rule, the first historical positioning network capable of forming the third positioning network with the newly added node, wherein determining the first historical positioning network comprises:
determining, according to a first preset rule if the position relationship is that the newly added node is located outside the second historical positioning network, whether the first historical positioning network capable of forming the new positioning network with the newly added node exists in the network list of the data processing center, wherein:
the first preset rule comprises: determining whether at least two nodes of which distances to the newly added node are less than a first preset value exist among N nodes forming the second historical positioning network; and determining, if the at least two nodes of which the distances to the newly added node are less than the first preset value exist among the N nodes forming the second historical positioning network, that the first historical positioning network capable of forming the new positioning network with the newly added node exists in the network list; and adding, if the at least two nodes of which the distances to the newly added node are less than the first preset value do not exist among the N nodes forming the second historical positioning network, the newly added node to the first node information list, wherein N is a positive integer.

4. The method according to claim 3 , wherein if at least two first historical positioning networks meeting the first preset rule exist in the network list, the at least two first historical positioning networks and the newly added node form a new positioning network.

5. The method according to claim 1 , wherein determining whether the newly added node forms the third positioning network with the first historical positioning network comprises:
determining, according to a preset rule of the data processing center, whether the newly added node forms the third positioning network with the first historical positioning network, or indicating, according to a user instruction, whether the newly added node forms the third positioning network with the first historical positioning network.

6. The method according to claim 1 , wherein determining whether the newly added node is capable of forming the fourth positioning network with the nodes in the first node information list comprises: determining, according to a second preset rule, whether the newly added node is capable of forming the fourth positioning network with the nodes in the first node information list, wherein
the second preset rule comprises: determining whether at least two nodes that form at least a triangle with the newly added node exist in the first node information list, wherein a length of each edge of the triangle is less than or equal to a second preset value; adding, if the at least two nodes exist, the newly added node and node information of the at least two nodes to the network list; and adding, if the at least two nodes do not exist, the newly added node to the first node information list.

7. The method according to claim 6 , wherein after adding the newly added node and the node information of the at least two nodes to the network list, the method further comprises: determining whether the newly added node forms the fourth positioning network with the nodes; and
determining whether the newly added node forms the fourth positioning network with the nodes comprises:
determining, according to a preset rule of the data processing center, whether the newly added node forms the fourth positioning network with the nodes, or indicating, according to a user instruction, whether the newly added node forms the fourth positioning network with the nodes.

8. The method according to claim 1 , further comprising:
receiving, by the data processing center, a position recommendation request sent by a user;
obtaining, in response to the position recommendation request, a recommended position based on position information of the first historical positioning network or the second historical positioning network or position information of the nodes in the first node information list; and
sending, according to a preset newly added node position and the recommended position, the recommended position and/or the preset newly added node position to the user, wherein the preset newly added node position is a position at which the user expects to establish a new node.

9. The method according to claim 1 , further comprising: obtaining, by the data processing center, a recommended position based on position information of at least two historical positioning networks in the network list, and sending the recommended position to a user.

10. The method according to claim 9 , wherein obtaining the recommended position based on the position information of the at least two historical positioning networks comprises:
selecting the at least two historical positioning networks from the network list; and
determining whether a distance between circumscribed circles of the at least two historical positioning networks is less than a third preset value, and using, if the distance is less than the third preset value, a position of an intersection formed on a two-dimensional plane and formed by drawing a circle by using a center of circle of a circumscribed circle of each historical positioning network as a center of circle and a sum of a radius of the circumscribed circle and a fourth preset value as a radius as the recommended position.

11. The method according to claim 8 , wherein obtaining the recommended position based on the position information of the nodes in the first node information list comprises: using a position of a node capable of forming a network with at least two nodes in the first node information list as the recommended position.

12. The method according to claim 8 , wherein sending, according to the preset newly added node position and the recommended position, the recommended position and/or the preset newly added node position to the user comprises:
determining whether the preset newly added node position coincides with the recommended position, sending the recommended position to the user if the preset newly added no

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• He Mingming
• Wu Shuanglong
• Zhang Xinyi

Classifications

• H04W16/18 Primary

  Network planning tools · CPC title

• G01S5/0081

  Transmission between base stations · CPC title

• G01S19/073

  involving a network of fixed stations · CPC title

• G01S19/04

  providing carrier phase data · CPC title

• G01S19/43

  using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry · CPC title