CN107678046A - A kind of portable high-accuracy GPS receiver - Google Patents
A kind of portable high-accuracy GPS receiver Download PDFInfo
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- CN107678046A CN107678046A CN201711120529.7A CN201711120529A CN107678046A CN 107678046 A CN107678046 A CN 107678046A CN 201711120529 A CN201711120529 A CN 201711120529A CN 107678046 A CN107678046 A CN 107678046A
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- 238000004891 communication Methods 0.000 claims abstract description 51
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 230000002708 enhancing effect Effects 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 9
- 239000000919 ceramic Substances 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000004088 simulation Methods 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000009977 dual effect Effects 0.000 description 4
- 241001269238 Data Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
A kind of portable high-accuracy GPS receiver,Lead to communication module directly from difference enhancing base station acquisition differential data without relying on handbook instrument again by integrating the whole network in receiver,Mitigate outfield operating personnel's homework burden,Using Inertial Measurement Unit enabling satellite positioning unit also while integrated level is improved, double frequencies RTK board switches between low-power consumption standby pattern and normal power consumption operational mode in other words,So as to reduce Overall Power Consumption,Extend complete machine cruising time,It is characterized in that,Including main control unit,The main control unit connects Inertial Measurement Unit respectively,Satellite positioning unit and the whole network lead to communication module,The satellite positioning unit is that double frequencies RTK board is double frequency real-time dynamic positioning board,Described the whole network leads to communication module and is both used to connect difference enhancing base station to obtain differential data,It is also used for connecting customer service platform to upload positioning result data.
Description
Technical field
The present invention relates to Satellite Navigation Technique, particularly a kind of portable high-accuracy GPS receiver,
Also referred to as a kind of portable high-accuracy GNSS receiver, the high accuracy refer to by using RTK real time kinematic survey systems
Double frequencies RTK board is improved satellite fix precision.
Background technology
In the application field of GPS (GNSS) high-precision difference positioning, Beidou satellite navigation positioning combination
Ground difference enhancing technology, realizes high accuracy positioning, end product position error is in Centimeter Level.The inventors discovered that existing
In technology, handbook that high precision GNSS receiver needs to possess communication function with another (such as smart mobile phone or flat board are electric
Brain etc.) combination, differential data is received by handbook and is sent to the high-precision resolving of GNSS receiver progress so that outfield operating personnel needs
It is high to carry multiple equipment, homework burden weight, and system cost.Inventors believe that if in high precision GNSS receiver
Interior integrated the whole network leads to communication module then directly can obtain differential data without relying on handbook instrument again from difference enhancing base station,
Using Inertial Measurement Unit can also enabling satellite positioning unit while integrated level is improved, double frequencies RTK board exists in other words
Switched between low-power consumption standby pattern and normal power consumption operational mode, so as to reduce Overall Power Consumption, when extending complete machine continuation of the journey
Between.In view of this, the present inventor completes the present invention.
The content of the invention
The present invention is for defect or deficiency present in prior art, there is provided a kind of portable high-accuracy global navigation satellite
System receiver, also referred to as a kind of portable high-accuracy GNSS receiver, the high accuracy refer to by using the real-time dynamics of RTK
The double frequencies RTK board of location technology is improved satellite fix precision.The present invention is believed all by integrating the whole network in receiver
Module directly obtains differential data without relying on handbook instrument again from difference enhancing base station, mitigates outfield operating personnel's operation and bears
Load, also while integrated level is improved using Inertial Measurement Unit enabling satellite positioning unit, double frequencies RTK board exists in other words
Switched between low-power consumption standby pattern and normal power consumption operational mode, so as to reduce Overall Power Consumption, when extending complete machine continuation of the journey
Between.
Technical scheme is as follows：
A kind of portable high-accuracy GPS receiver, it is characterised in that including main control unit, the master
Control unit connects Inertial Measurement Unit, satellite positioning unit and the whole network and leads to communication module respectively, and the satellite positioning unit is double
Frequency RTK boards are double frequency real-time dynamic positioning board, and described the whole network leads to communication module and is both used to connect difference enhancing base station to obtain
Differential data is taken, is also used for connecting customer service platform to upload positioning result data.
The Inertial Measurement Unit is used for the acceleration and angular speed of measuring receiver so that the main control unit determines to connect
The motion state of receipts machine, the motion state of the receiver includes inactive state, uniform speed motion state and variable motion state, right
In the inactive state, the main control unit replicates the satellite fix result before the inactive state and believes mould all by described the whole network
Block exports positioning result data；For the uniform speed motion state, direction and speed of the main control unit according to the uniform motion
Rate, which simulates positioning result and leads to communication module by described the whole network, exports positioning result data；For the variable motion shape
State, the main control unit search star positioning result and by the logical communication module of described the whole network in real time according to the satellite positioning unit
Output satellite real time positioning data；When the receiver remains static or during uniform speed motion state, the satellite fix list
Member keeps or is changed to standby mode；When the receiver is in variable motion state, the satellite positioning unit keep or
It is changed to search the normal mode of operation of star positioning in real time.
The main control unit connects magnetometer and barometer respectively, and the magnetometer is used for the measuring receiver direction of motion,
The barometer is used for measuring receiver height above sea level.
The main control unit connects WIFI communication modules and bluetooth communication respectively, and the bluetooth communication is used to connect
Smart mobile phone is connect, the WIFI communication modules are used for connection route device.
The satellite positioning unit connects satellite earth antenna, and the main control unit connects power-supply system, the power supply system
System includes rechargeable battery and USB charge ports.
Serial ports built in the main control unit connection first, serial ports built in the double frequencies RTK board connection second, described first
Serial ports built in built-in serial ports and described second is integrated into the aviation socket on receiver housing.
The aviation socket is connected with cable, and the cable has cable 7pin aviation plugs, the external interface of cable first
With the external interface of cable second, the cable 7pin aviation plugs match the aviation socket, the external interface of cable first
Match serial ports built in described first, serial ports built in the external interface of cable second matching described second.
The main control unit connection status indicator lamp, the status indicator lamp include positioning states indicator lamp, bluetooth state
Indicator lamp, state of charge indicator lamp, communications status indicator lamp and WIFI status indicator lamps.
Described the whole network, which leads to communication module, supports mobile, all communication standards of telecommunications and/or UNICOM.
The Inertial Measurement Unit includes accelerometer and gyroscope, and the accelerometer obtains acceleration signal, described
Gyroscope obtains angular velocity signal；The bluetooth communication is bimodulus bluetooth module, can compatible BT2.3 and BLE4.0 association
View；The satellite earth antenna is ceramic antenna, can receive BDS B1/B2 and GPS L1/L2 satellite navigation signals.
The technique effect of the present invention is as follows：A kind of portable high-accuracy GPS receiver of the present invention, category
In the high precision GNSS receiver of communication, positioning integration, pass through the combination of high accuracy positioning module and the logical communication module of the whole network
It is achieved.Double frequencies RTK board is that double frequency real-time dynamic positioning board belongs to high accuracy positioning module.High accuracy positioning module has
There is navigator fix resolving ability and satellite navigation signals can be received by satellite earth antenna, the whole network leads to communication module can be from difference
Sub-server obtains differential correcting data, and main control unit carries out difference resolving, calculates positioning result and believed all by the whole network
Module uploads to customer service platform.Enabling satellite positioning unit using Inertial Measurement Unit, double frequencies RTK board exists in other words
Switched between low-power consumption standby pattern and normal power consumption operational mode, so as to reduce Overall Power Consumption, when extending complete machine continuation of the journey
Between.
With the fast development of satellite positioning tech, people are also increasingly strong to the demand of quick high accuracy positional information.
And the most widely used high-precision location technique is exactly RTK (real-time dynamic positionings at present:Real-Time Kinematic),
The key of RTK technologies is the carrier phase observed quantity for having used BDS/GPS, and make use of and observed between reference station and movement station
The spatial coherence of error, most of error in movement station observation data is removed by way of difference, it is high-precision so as to realize
Spend the decimetre even positioning of Centimeter Level.Double frequencies RTK board resolves module using the satellite navigation of BDS/GPS dual systems, can receive
BDS/GPS dual system satellite navigation datas, support the positioning of RTD pseudo range difference, RTK carrier phases difference, SBAS satellite-baseds difference
Pattern.
Brief description of the drawings
Fig. 1 is to implement a kind of structural representation of portable high-accuracy GPS receiver of the present invention.
Reference lists as follows：1- magnetometers；2- barometers；3- Inertial Measurement Units；4- satellite positioning units are double
Frequency RTK boards are double frequency real-time dynamic positioning board (RTK, Real-Time Kinematic, real-time dynamic positioning；RTK is real-time
Kinematic Positioning Techniquess are a kind of high-precision location techniques)；5- satellite earth antennas；6- customer service platforms；7- difference strengthens base
Stand；8- smart mobile phones or handbook (smart mobile phone carries mobile phone satellite fix APP, such as Big Dipper assistant etc.)；9- Bluetooth communication moulds
Block；10- rechargeable batteries；11-USB charge ports；Serial ports built in 12- first or 7pin aviation plug serial ports A；13- state instructions
Lamp；14- main control units；Serial ports built in 15- second or 7pin aviation plug serial ports B；16-WIFI communication modules；17- the whole networks are all
Believe module；(wherein numeral 1~7 is 7 stitch for 18- aviation sockets or GNSS receiver base 7pin aviation sockets；GNSS is
GPS)；19- cable 7pin aviation plugs；The external interface of 20- cables first or external interface A；21- cables
Second external interface or external interface B.
Embodiment
Below in conjunction with the accompanying drawings (Fig. 1) the present invention will be described.
Fig. 1 is to implement a kind of structural representation of portable high-accuracy GPS receiver of the present invention.Such as
Shown in Fig. 1, a kind of portable high-accuracy GPS receiver, including main control unit 14, the main control unit 14
Inertial Measurement Unit 3, satellite positioning unit 4 and the whole network are connected respectively and leads to communication module 17, and the satellite positioning unit 4 is double frequency
RTK boards are double frequency real-time dynamic positioning board, and described the whole network leads to communication module 17 and is both used to connect difference enhancing base station 7 to obtain
Differential data is taken, is also used for connecting customer service platform 6 to upload positioning result data.The Inertial Measurement Unit 3 is used to survey
The acceleration and angular speed of receiver is measured so that the main control unit 14 determines the motion state of receiver, the fortune of the receiver
Dynamic state includes inactive state, uniform speed motion state and variable motion state, for the inactive state, the main control unit 14
Replicate the satellite fix result before the inactive state and the output positioning result data of communication module 17 are led to by described the whole network；For institute
Uniform speed motion state is stated, the main control unit 14 goes out positioning result according to the direction and velocity simulation of the uniform motion and passes through institute
State the whole network and lead to the output positioning result data of communication module 17；For the variable motion state, the main control unit 14 is according to institute
State searching star positioning result in real time and number being positioned by the logical output satellite of communication module 17 of described the whole network in real time for satellite positioning unit
According to；When the receiver remains static or during uniform speed motion state, the satellite positioning unit 4 keeps or is changed to standby
Pattern；When the receiver is in variable motion state, the satellite positioning unit 4 keeps or is changed to search star positioning in real time
Normal mode of operation.
The main control unit 14 connects magnetometer 1 and barometer 2 respectively, and the magnetometer 1 moves for measuring receiver
Direction, the barometer are used for measuring receiver height above sea level.The main control unit 14 connects the He of WIFI communication modules 16 respectively
Bluetooth communication 9, the bluetooth communication 9 are used to connect smart mobile phone 8, and the WIFI communication modules 16 are used for link road
By device.The satellite positioning unit 4 connects satellite earth antenna 5, and the main control unit 14 connects power-supply system, the power supply system
System includes rechargeable battery 10 and USB charge ports 11.Serial ports 12 built in the connection of main control unit 14 first, the double frequencies RTK
Serial ports 15 built in board connection second, serial ports 15 built in serial ports 12 built in described first and described second are integrated into positioned at reception
In aviation socket 18 on casing body.The aviation socket 18 is connected with cable, and the cable has cable 7pin aviation plugs
19th, the first external interface of cable 20 and the second external interface of cable 21, the cable 7pin aviation plugs 19 match the aviation
Socket 18, first external interface of cable 20 match serial ports 12 built in described first, second external interface of cable 21
With serial ports 15 built in described second.The connection status indicator lamp 13 of main control unit 14, the status indicator lamp 13 include positioning
Status indicator lamp, bluetooth state indicator lamp, state of charge indicator lamp, communications status indicator lamp and WIFI status indicator lamps.It is described
The whole network, which leads to communication module 17, supports mobile, all communication standards of telecommunications and/or UNICOM.The Inertial Measurement Unit 3 includes accelerating
Degree meter and gyroscope, the accelerometer obtain acceleration signal, and the gyroscope obtains angular velocity signal；The Bluetooth communication
Module 9 is bimodulus bluetooth module, can compatible BT2.3 and BLE4.0 agreements；The satellite earth antenna 5 is ceramic antenna, energy
Receive BDS B1/B2 and GPS L1/L2 satellite navigation signals.
Product structure mainly includes the parts such as upper lid, lower cover, water proof ring, antenna plate, mainboard, battery.This equipment externally carries
For two groups of serial ports：Serial ports A and serial ports B.Two groups of serial ports are physically integrated in 7pin aviation socket.Serial ports A is with setting
Standby main control unit connection, can connect external equipment, such as external radio station or computer.Serial ports B connects with high accuracy positioning module
Connect, the firmware upgrade to high accuracy positioning module can be achieved, or the external radio station of connection obtains differential data.Status indicator lamp is distinguished
Show the different working conditions such as positioning, communication, electricity, WIFI, bluetooth.The magnetic field intensity of magnetometer specific direction measured by
Size, calculate the direction of motion of current device.Barometric surveying atmospheric pressure calculates device height.Bimodulus bluetooth module,
Can compatible BT2.3 and BLE4.0 agreements.The whole network, which leads to communication module, supports movement, telecommunications, the 2G/3G/4G communication standards of UNICOM.
Main control unit supports the integrated chip of Android intelligent operating systems, realizes the core devices of this device intelligence.
High-performance ceramic antenna, BDS B1/B2 and GPS L1/L2 satellite navigation signals can be received.Double frequencies RTK board uses
The satellite navigation of BDS/GPS dual systems resolves module, can receive BDS/GPS dual system satellite navigation datas, supports that RTD pseudoranges are poor
Divide, RTK carrier phases difference, the station-keeping mode of SBAS satellite-baseds difference.Inertial Measurement Unit (IMU) is measurement object three-axis attitude
Angle (or angular speed) and the device of acceleration.In general, an IMU contain the accelerometer and three single shafts of three single shafts
Gyro, accelerometer detection object carrier coordinate system unification and independence stand three axles acceleration signal, and gyro detection carrier it is relative
In the angular velocity signal of navigational coordinate system, the angular speed and acceleration of measurement object in three dimensions, and thing is calculated with this
The posture of body.
It is hereby stated that described above contribute to skilled artisan understands that the invention, but not limit the present invention
The protection domain of creation.It is any that equivalent substitution described above, modification are improved without departing from the invention substantive content
And/or the implementation deleted numerous conform to the principle of simplicity and carried out, each fall within the protection domain of the invention.
Claims (10)
- A kind of 1. portable high-accuracy GPS receiver, it is characterised in that including main control unit, the master control Unit connects Inertial Measurement Unit, satellite positioning unit and the whole network and leads to communication module respectively, and the satellite positioning unit is double frequency RTK boards are double frequency real-time dynamic positioning board, and described the whole network leads to communication module and is both used to connect difference enhancing base station to obtain Differential data, it is also used for connecting customer service platform to upload positioning result data.
- 2. portable high-accuracy GPS receiver according to claim 1, it is characterised in that described used Property measuring unit be used for the acceleration and angular speed of measuring receiver so that the main control unit determines the motion state of receiver, The motion state of the receiver includes inactive state, uniform speed motion state and variable motion state, for the inactive state, The main control unit, which replicates the satellite fix result before the inactive state and passes through described the whole network and lead to communication module, exports positioning result Data；For the uniform speed motion state, the main control unit goes out positioning according to the direction of the uniform motion and velocity simulation and tied Fruit simultaneously leads to communication module output positioning result data by described the whole network；For the variable motion state, the main control unit According to the satellite positioning unit search star positioning result in real time and to lead to communication module output satellite by described the whole network fixed in real time Position data；When the receiver remains static or during uniform speed motion state, the satellite positioning unit keeps or is changed to Standby mode；When the receiver is in variable motion state, the satellite positioning unit keeps or is changed to search star in real time The normal mode of operation of positioning.
- 3. portable high-accuracy GPS receiver according to claim 1, it is characterised in that the master Control unit connects magnetometer and barometer respectively, and the magnetometer is used for the measuring receiver direction of motion, and the barometer is used for Measuring receiver height above sea level.
- 4. portable high-accuracy GPS receiver according to claim 1, it is characterised in that the master Control unit connects WIFI communication modules and bluetooth communication respectively, and the bluetooth communication is used to connect smart mobile phone, institute State WIFI communication modules and be used for connection route device.
- 5. portable high-accuracy GPS receiver according to claim 1, it is characterised in that described to defend Star positioning unit connects satellite earth antenna, and the main control unit connects power-supply system, and the power-supply system includes chargeable electricity Pond and USB charge ports.
- 6. portable high-accuracy GPS receiver according to claim 1, it is characterised in that the master Control serial ports built in unit connection first, serial ports built in double frequencies RTK board connection second, serial ports built in described first and described Serial ports built in second is integrated into the aviation socket on receiver housing.
- 7. portable high-accuracy GPS receiver according to claim 6, it is characterised in that the boat Dummy receptacle is connected with cable, and the cable has cable 7pin aviation plugs, the external interface of cable first and cable second external Interface, the cable 7pin aviation plugs match the aviation socket, and the external interface of cable first is matched in described first Put serial ports, serial ports built in the external interface of cable second matching described second.
- 8. portable high-accuracy GPS receiver according to claim 1, it is characterised in that the master Unit connection status indicator lamp is controlled, the status indicator lamp includes positioning states indicator lamp, bluetooth state indicator lamp, state of charge Indicator lamp, communications status indicator lamp and WIFI status indicator lamps.
- 9. portable high-accuracy GPS receiver according to claim 1, it is characterised in that described complete Netcom's communication module supports mobile, all communication standards of telecommunications and/or UNICOM.
- 10. portable high-accuracy GPS receiver according to claim 1, it is characterised in that described Inertial Measurement Unit includes accelerometer and gyroscope, and the accelerometer obtains acceleration signal, and the gyroscope obtains angle Rate signal；The bluetooth communication is bimodulus bluetooth module, can compatible BT2.3 and BLE4.0 agreements；The satellite connects Receipts antenna is ceramic antenna, can receive BDS B1/B2 and GPS L1/L2 satellite navigation signals.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711120529.7A CN107678046A (en) | 2017-11-14 | 2017-11-14 | A kind of portable high-accuracy GPS receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711120529.7A CN107678046A (en) | 2017-11-14 | 2017-11-14 | A kind of portable high-accuracy GPS receiver |
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| CN107678046A true CN107678046A (en) | 2018-02-09 |
Family
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| CN201711120529.7A Pending CN107678046A (en) | 2017-11-14 | 2017-11-14 | A kind of portable high-accuracy GPS receiver |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110225583A (en) * | 2018-11-30 | 2019-09-10 | 广东电网有限责任公司 | A kind of Simple low-cost 4G network RTK positioning device |
| CN113064191A (en) * | 2020-01-02 | 2021-07-02 | 苏州宝时得电动工具有限公司 | Reference station sharing method and system for autonomous robot, and storage medium |
| WO2022037575A1 (en) * | 2020-08-21 | 2022-02-24 | 华为技术有限公司 | Low-power consumption positioning method and related apparatus |
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| CN106793074A (en) * | 2016-12-21 | 2017-05-31 | 深圳市卡迪尔通讯技术有限公司 | Localization method and locator |
| CN106707322A (en) * | 2016-12-30 | 2017-05-24 | 立得空间信息技术股份有限公司 | RTK/SINS-based high dynamic positioning attitude-determining system and method |
| CN208270766U (en) * | 2017-11-14 | 2018-12-21 | 北京东方联星科技有限公司 | A kind of portable high-accuracy Global Satellite Navigation System receiver |
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| CN110225583A (en) * | 2018-11-30 | 2019-09-10 | 广东电网有限责任公司 | A kind of Simple low-cost 4G network RTK positioning device |
| CN113064191A (en) * | 2020-01-02 | 2021-07-02 | 苏州宝时得电动工具有限公司 | Reference station sharing method and system for autonomous robot, and storage medium |
| WO2022037575A1 (en) * | 2020-08-21 | 2022-02-24 | 华为技术有限公司 | Low-power consumption positioning method and related apparatus |
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