AU2022453597A1 - Positioning method, apparatus, electronic device and storage medium - Google Patents

Positioning method, apparatus, electronic device and storage medium Download PDF

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AU2022453597A1
AU2022453597A1 AU2022453597A AU2022453597A AU2022453597A1 AU 2022453597 A1 AU2022453597 A1 AU 2022453597A1 AU 2022453597 A AU2022453597 A AU 2022453597A AU 2022453597 A AU2022453597 A AU 2022453597A AU 2022453597 A1 AU2022453597 A1 AU 2022453597A1
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vehicle
positioning
positioning information
vehicles
positioning data
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AU2022453597A
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AU2022453597B2 (en
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Cheng JIANG
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Beijing Eacon Technology Co Ltd
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Beijing Eacon Technology Co Ltd
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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning 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
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present disclosure relates to the field of positioning technologies, and provides a positioning method and apparatus, an electronic device, and a storage medium. The positioning method is applied to unmanned vehicles, that is, unmanned driving devices or automatic driving devices, and includes: receiving first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and processing the first positioning data and current positioning data of the first vehicle using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle.

Description

POSITIONING METHOD, APPARATUS, ELECTRONIC DEVICE AND STORAGE MEDIUM TECHNICAL FIELD
[0001] The present disclosure relates to the field of positioning technologies, and in particular to a positioning method and apparatus, an electronic device, and a computer readable storage medium.
BACKGROUND
[0002] Open pit mining is a process of removing coverings on ore bodies to obtain required minerals. A production process of the open pit mining includes working processes such as perforation, blasting, mining and loading, transportation, and dumping. With the development of unmanned driving technologies, applications of unmanned driving in mining vehicles have emerged. At present, operations such as loading, transportation and dumping are mainly completed by unmanned mining vehicles.
[0003] As is known, a high accuracy positioning technology is a necessary condition to realize the unmanned driving. At present, a positioning technology suitable for the unmanned mining vehicles is a real-time kinematic (RTK) carrier phase differential technology (hereinafter referred to as "RTK technology"). In practical applications, in addition to one or more satellites in a global navigation satellite system (GNSS), one or more reference stations and one or more mobile stations (for example, the unmanned mining vehicles) are needed to realize RTK positioning functions. Each of the reference stations sends satellite positioning data at a certain transmission frequency point in real time through a built-in or plug-in radio station of the reference station, and each of the mobile stations receives the satellite positioning data at a corresponding transmission frequency point in real time through a built-in or plug-in radio station of the mobile station, and performs a RTK carrier phase differential processing to obtain high accuracy positioning data.
[0004] In the prior art, the RTK technology must rely on densely deployed reference stations, resulting in high construction cost and maintenance cost of the reference stations. In addition, in remote areas or areas with complex geographic environments, for example, mines and tunnels, the deployment of the reference stations is very difficult, resulting in a difficulty realizing a real-time and accurate positioning. Further, during the transmission of the satellite positioning data, the built-in or plug-in radio station may be affected by electromagnetic environments and/or obstacles between the reference stations with the unmanned mining vehicles, so that the unmanned mining vehicles cannot receive the satellite positioning data in real time, thereby affecting the positioning stability and work efficiency of the unmanned mining vehicles.
SUMMARY
[0005] In view of this, embodiments of the present disclosure provide a positioning method and apparatus, an electronic device, and a computer readable storage medium, so as to solve problems in the prior art that the unmanned mining vehicles cannot receive the satellite positioning data in real time, thereby affecting the positioning stability and work efficiency of the unmanned mining vehicles.
[0006] According to a first aspect of the embodiments of the present disclosure, there is provided a positioning method, including: receiving first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and processing the first positioning data and current positioning data of the first vehicle using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle.
[0007] According to a second aspect of the embodiments of the present disclosure, there is provided a positioning apparatus including: a receiving module configured to receive first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and a processing module configured to process the first positioning data and current positioning data of the first vehicle using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle.
[0008] According to a third aspect of the embodiments of the present disclosure, there is provided an electronic device, including: a memory; a processor; and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, causing the processor to implement the steps of the foregoing method.
[0009] According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causing the processor to implement the steps of the foregoing method.
[0010] Compared with the prior art, the embodiments of the present disclosure have following beneficial effects: by receiving first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and processing the first positioning data and current positioning data of the first vehicle using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle, the first vehicle can obtain centimeter level positioning accuracy in a short time without increasing the construction cost and maintenance cost of the reference station, thereby improving the positioning stability of the first vehicle and further improving the work efficiency of the first vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. It is apparent that, the accompanying drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those of ordinary skill in the art from the provided drawings without creative efforts.
[0012] FIG. 1 is a schematic diagram of an overall architecture illustrating a positioning method based on a traditional real-time kinematic (RTK) technology in the related art in a practical application scenario.
[0013] FIG. 2 is a schematic diagram of an overall architecture illustrating a positioning method according to an embodiment of the present disclosure in a practical application scenario.
[0014] FIG. 3 is a schematic flowchart illustrating a positioning method according to an embodiment of the present disclosure.
[0015] FIG. 4 is a schematic diagram of an overall architecture illustrating another positioning method according to an embodiment of the present disclosure in a practical application scenario.
[0016] FIG. 5 is a schematic flowchart illustrating another positioning method according to an embodiment of the present disclosure.
[0017] FIG. 6 is a schematic diagram of an overall architecture illustrating another positioning method according to an embodiment of the present disclosure in a practical application scenario.
[0018] FIG. 7 is a schematic flowchart illustrating another positioning method according to an embodiment of the present disclosure.
[0019] FIG. 8 is a schematic structural diagram illustrating a positioning apparatus according to an embodiment of the present disclosure.
[0020] FIG. 9 is a schematic structural diagram illustrating an electronic device according to an embodiment of the present disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0021] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise represented. The implementations set forth in the following description of exemplary embodiments do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of apparatuses and methods consistent with aspects related to the present disclosure as recited in the appended claims.
[0022] Terms used in the present disclosure are only adopted for the purpose of describing specific embodiments and not intended to limit the present disclosure. "A/an", "said" and "the" in a singular form in the present disclosure and the appended claims are also intended to include a plural form, unless other meanings are clearly denoted throughout the present disclosure. It should also be understood that term "and/or" used in the present disclosure refers to and includes one or any or all possible combinations of multiple associated items that are listed.
[0023] It should be understood that although terms first, second, third and the like may be adopted to describe various information in the present disclosure, the information should not be limited to these terms. These terms are only adopted to distinguish the information of the same type. For example, without departing from the scope of the present disclosure, indication information may also be called second information and, similarly, second information may also be called indication information. For example, term "if' used here may be explained as "while" or "when" or "in response to determining", which depends on the context.
[0024] In the field of unmanned driving, a high accuracy positioning technology is a necessary condition to realize the unmanned driving. At present, a positioning technology suitable for the unmanned mining vehicles is a real-time kinematic (RTK) carrier phase differential technology. The biggest problem of a traditional RTK technology in practical applications is an effective action distance of correction data of reference stations. A linearity A of a spatial correlation of global positioning system (GPS) errors gradually decreases as a distance between the reference station and a mobile station increases. Therefore, in case of a long distance (for example, single frequency greater than 10 kilometers, dual frequency greater than 30 kilometers), user data after differential processing still has a significant measurement error, which leads to reduction in positioning accuracy and the non-computability of the ambiguity of whole cycles of the carrier phase. Therefore, for guaranteeing a satisfying positioning accuracy, the working range of the traditional stand-alone RTK is very limited.
[0025] For the purpose of overcoming drawbacks in the traditional RTK technology, a network RTK technology was proposed. In the network RTK technology, a single-point GPS error model with linear attenuation is replaced by a regional GPS network error model, that is, a GPS error model of one region is estimated by using a GPS network composed of multiple reference stations and correction data is provided for users in the region covered by the network. The data received by the users is not data from an actual reference station, but rather data from a virtual reference station (VRS) and correction data of a reference grid close to their own location. Therefore, the network RTK technology is also called a VRS technology. However, in remote areas or areas with complex geographic environments, for example, mines and tunnels, since there is no continuous operational reference system (CORS), a network RTK service cannot be used.
[0026] At present, in the prior art, unmanned driving devices are positioned using a positioning method based on the traditional RTK technology. Next, a scenario of a positioning method based on the traditional RTK technology in the related art will be described in detail with reference to the accompanying drawings. FIG. 1 is a schematic diagram of an overall architecture illustrating a positioning method based on a traditional real-time kinematic (RTK) technology in the related art in a practical application scenario. As shown in FIG. 1, a system architecture in this application scenario mainly includes the following contents.
[0027] A GPS receiver of a reference station 10 observes and receives satellite signals sent by one or more satellites 11 through an antenna, measures three-dimensional coordinates of a position of the reference station 10 according to the received satellite signals (it should be noted that the three-dimensional coordinates are single-point solutions, that is, inaccurate values), and sends carrier phase observation values, station coordinate information and the like in real time through a data link (corresponding to a radio station 101 in FIG. 1). A GPS receiver of a mobile station (corresponding to an unmanned mining vehicle 12 in FIG. 1) located near the reference station 10 not only observes one or more satellites 11, but also receives radio signals from the reference station 10, and forms an equation group with the two groups of received carrier phase observation values (that is, the satellite signals and the radio signals); and further, calculates three-dimensional coordinates of a position of the unmanned mining vehicle 12 in real time according to a relative positioning principle.
[0028] It can be seen that the existing RTK positioning is to set up a reference station with known coordinates and erected in an open environment, and the reference station transmits the carrier phase observation values to the mobile station through the data link. The mobile station receives the carrier phase observation values from the reference station, and combines the carrier phase observation values with its own carrier phase observation values to obtain differential correction values; and then uses the differential correction values to correct a positioning result of the GPS receiver of the mobile station to obtain an accurate position of the mobile station. However, this positioning method is only applicable to situations that a distance between the reference station and the mobile station is relatively close (for example, less than or equal to 15 kilometers) and there are no big obstacles between the reference station and the mobile station, but not to the situations that the distance is relatively far (for example, more than 15 kilometers) and/or there are big obstacles between the reference station and the mobile station.
[0029] Next, a scenario of an improved positioning method based on the traditional RTK technology according to the embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. FIG. 2 is a schematic diagram of an overall architecture illustrating a positioning method according to an embodiment of the present disclosure in a practical application scenario. As shown in FIG. 2, a system architecture in this application scenario mainly includes the following contents.
[0030] A radio station 21 is erected within a preset range of a reference station 20 and is located between the reference station 20 and a working area 221 of an unmanned mining vehicle 22. A GPS receiver of the reference station 20 receives satellite positioning data sent by one or more satellites 23 and sends the received satellite positioning data to the unmanned mining vehicle 22 working in the working area 221 in real time through the radio station 21. After a GPS receiver of the unmanned mining vehicle 22 receives the satellite positioning data, the unmanned mining vehicle 22 processes current positioning data and the satellite positioning data using RTK technology based on the current positioning data and the satellite positioning data of the unmanned mining vehicle 22 to obtain accurate positioning information of the unmanned mining vehicle 22, that is, three-dimensional coordinates of the unmanned mining vehicle 22.
[0031] It should be noted that the specific type, number and combination of the reference 1< station 20, the radio station 21, the satellites 23 and the unmanned mining vehicle 22 can be adjusted according to actual needs of the application scenario, which is not limited thereto in the embodiment of the present disclosure.
[0032] According to the system architecture provided by the embodiment of the present disclosure, by erecting the radio station within the preset range of the reference station and locating the radio station between the reference station and the working area of the unmanned mining vehicle, the unmanned mining vehicle can obtain centimeter level positioning accuracy in a short time without increasing the construction cost and maintenance cost of the reference station, thereby solving the problems that during the process of transmitting the satellite positioning data through the built-in or plug-in radio station of the existing reference station, the radio station may be affected by electromagnetic environments and/or obstacles between the reference station and the unmanned mining vehicle, so that the unmanned mining vehicle cannot receive the satellite positioning data in real time, thereby affecting the positioning stability and work efficiency of the unmanned mining vehicle.
[0033] Next, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
[0034] FIG. 3 is a schematic flowchart illustrating a positioning method according to an embodiment of the present disclosure. The positioning method of FIG. 3 can be performed by an electronic device in the unmanned mining vehicle 22 of FIG. 2. As shown in FIG. 3, the positioning method includes:
[0035] S301, first positioning data sent by a reference station through a radio station is received, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and
[0036] S302, the first positioning data and current positioning data of the first vehicle are processed using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle.
[0037] Specifically, the radio station is erected within the preset range of the reference station, and is located between the reference station and a working area of a first vehicle. When the GPS receiver of the reference station observes and collects the satellite positioning data sent by one or more satellites in GNSS, the reference station takes the collected satellite positioning data as the first positioning data and sends the first positioning data in real time through the radio station. Further, after the GPS receiver of the first vehicle receives the first positioning data, the first vehicle obtains the current positioning data of the first vehicle, and performs resolution processing on the first positioning data and the current positioning data using the RTK technology to obtain the first positioning information of the first vehicle.
'7
[0038] Herein, the reference station is a fixed observation station on the ground that continuously observes satellite signals for a long time, and transmits satellite observation data to a data center in real time or regularly through communication facilities. In practical applications, the reference station can be a physical station erected at a fixed location that meets conditions for erecting the reference station, or a virtual reference station generated by the VRS technology.
[0039] The mobile station is a detection station provided on devices that can move and work within a certain range of the reference station. For example, in open pit mining scenarios, reference stations can be fixedly installed in some open spaces around working areas of unmanned mining vehicles, and mobile stations can be installed on the unmanned mining vehicles or the unmanned mining vehicles themselves. In practical applications, both the reference stations and the mobile stations will observe some satellites in GNSS and obtain corresponding satellite observation data.
[0040] The radio station is a kind of wireless terminal device for point-to-multipoint communication. The radio station can be a universal communication data transmission radio station or a long-distance communication data transmission radio station supporting long-distance communication, which is not limited thereto in the embodiment of the present disclosure. In addition, in order to avoid unstable signal quality caused by signal interference, the radio station can be erected within 500 meters from the reference station.
[0041] The preset range refers to an effective coverage range of the reference station, that is, an area formed by taking the longest distance that wireless signals transmitted by the reference station can transmit as a radius. In practical applications, in order to avoid communication interruption caused by signal obstruction or long distance during the operation of the unmanned mining vehicles, when using the traditional RTK technology, the reference station can be erected within 15 kilometers from the mobile station; and when using the network RTK technology, multiple reference stations can be erected within a range of 50 kilometers to 100 kilometers from the working area of the mining vehicle, therefore, the distance between the mobile station and the nearest reference station may exceed 15 kilometers.
[0042] The first vehicle can be an ordinary vehicle driving in a mining area, which can obtain satellite observation data and a precise position of the vehicle itself; or can also be a vehicle with autonomous driving function. In generally, the first vehicle only needs to have the function of providing the satellite observation data obtained by the GPS receiver and the precise position of the vehicle itself. Although the ordinary vehicle can also be used as the first vehicle, considering cost and scenario factors, the vehicle with advanced autonomous Q driving function can fully automatically carry out the corresponding collection, and thus it is more suitable as the first vehicle. Preferably, in the embodiment of the present disclosure, in order to improve the collection efficiency and the accuracy of data collection, the first vehicle is an unmanned mining vehicle or an autonomous mining vehicle.
[0043] The working area (namely, operation area) refers to an area where the first vehicle is located during the loading, transportation, dumping and other operations in a mining area, that is, an area range that the first vehicle can identify along a traveling direction. The working area can be in an enclosed space, an open space, or a space environment without roads. The enclosed space can be, for example, a mining area environment, and the mining area can be divided into loading areas, dumping sites, roads and unclassified areas according to actual operation situations.
[0044] The RTK technology is a method for processing the difference of the observed carrier phase of two measuring stations in real time, in which a carrier phase collected by a base station is transmitted to a user's receiving device to perform the difference calculation to identify the coordinates. The key point of the RTK technology lies in eliminating a majority of the errors in measurement data of a mobile station by means of the differential method by using the carrier phase measurement of GPS and by utilizing the spatial correlation of the measurement error between the reference station and the mobile station, thereby realizing a positioning with high accuracy (of decimeter level, even centimeter level).
[0045] The first positioning data is satellite observation data collected by the GPS receiver of the reference station from one or more satellites in GNSS. The first positioning data can include one or more of information such as the number of satellites, satellite numbers, dilution of precision (DOP), locations of terminal devices, locations of base stations, and the like. The current positioning data is positioning data currently being used by the first vehicle. The first positioning information is positioning information obtained by performing RTK resolution based on the first positioning data and the current positioning data, including but not limited to longitude information, latitude information, positioning time information, satellite elevation information and signal-to-noise ratio information of the position where the first vehicle is located.
[0046] According to the technical solutions provided by the embodiments of the present disclosure, by receiving first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and processing the first positioning data and current positioning data of the first vehicle using a real-time kinematic carrier phase differential technology to obtain first positioning information of the
a first vehicle, the first vehicle can obtain centimeter level positioning accuracy in a short time without increasing the construction cost and maintenance cost of the reference station, thereby improving the positioning stability of the first vehicle and further improving the work efficiency of the first vehicle.
[0047] In some embodiments, the positioning method further includes: receiving second positioning information sent by a cloud server through a second base station, wherein the second positioning information is obtained by the cloud server processing second positioning data and third positioning data using the real-time kinematic carrier phase differential technology, the second positioning data is uploaded by the reference station through a first base station, and the third positioning data is uploaded by the first vehicle through the second base station; and determining that the first positioning information or the second positioning information is target positioning information of the first vehicle based on a sequence of the first positioning information and the second positioning information received within a preset time interval.
[0048] Specifically, after the GPS receiver of the reference station observes and collects the satellite observation data sent by one or more satellites in GNSS, the reference station takes the collected satellite observation data as the second positioning data and uploads the second positioning data to the cloud server in real time through the first base station; and the first vehicle takes the obtained current positioning data of the first vehicle as the third positioning data and uploads the third positioning data to the cloud server in real time through the second base station. After receiving the second positioning data and the third positioning data, the cloud server performs resolution processing on the second positioning data and the third positioning data using the RTK technology to obtain second positioning information, and sends the second positioning information to the first vehicle through the second base station. Further, the first vehicle can determine the first positioning information or the second positioning information as the target positioning information of the first vehicle according to the sequence of the first positioning information and the second positioning information received within the preset time interval.
[0049] Herein, the cloud server can be an independent physical cloud server, a cloud server cluster or a distributed system composed of multiple physical cloud servers, or a server that provides basic cloud computing services such as cloud database, cloud storage, cloud computing and cloud communication. In the embodiment of the present disclosure, the cloud server refers to a server that runs in the cloud and has functions such as RTK resolution.
[0050] The base station, that is, a public mobile communication base station, refers to a radio transceiver station that transmits information between a mobile communication
1i switching center and a mobile phone terminal in a certain radio coverage area. In the embodiment of the present disclosure, the first base station refers to a base station erected within the preset range of the reference station and located between the reference station and the cloud server, and the second base station refers to a base station erected within the working area of the first vehicle. In addition, in order to improve the transmission rate and anti-interference ability of the signals, the first base station can be erected within 500 meters from the reference station.
[0051] It should be noted that the types and numbers of the first base station and the second base station can be adjusted according to actual needs of the application scenario, which is not limited thereto in the embodiment of the present disclosure.
[0052] The preset time interval can be a time interval preset by a user according to empirical data, or can be a time interval obtained by adjusting the preset time interval by the user according to actual needs, and the embodiment of the present disclosure does not limit this. The preset time interval can be any value in a range of1 millisecond to 10 milliseconds. Preferably, in the embodiment of the present disclosure, the preset time interval is 5 milliseconds.
[0053] The second positioning data is satellite observation data collected by the GPS receiver of the reference station from one or more satellites in GNSS. The third positioning data is the current positioning data of the first vehicle. The second positioning information is positioning information obtained by performing RTK resolution based on the second positioning data and the third positioning data, including but not limited to longitude information, latitude information, positioning time information, satellite elevation information and signal-to-noise ratio information of the position of the first vehicle.
[0054] According to the technical solutions provided by the embodiments of the present disclosure, by performing RTK resolution on the second positioning data uploaded by the reference station and the third positioning data uploaded by the first vehicle using the cloud server, the calculation amount of the first vehicle can be reduced, the calculation pressure of the first vehicle can be reduced, and the working efficiency of the first vehicle can be improved. In addition, since the second positioning information is resolved based on the positioning data uploaded by the reference station and the first vehicle, the validity and accuracy of the positioning information can be ensured.
[0055] In some embodiments, the second positioning information includes target positioning information of one or more second vehicles in the working area, the positioning method further includes: when it is determined that the second positioning information is the target positioning information of the first vehicle, sending the second positioning information to a second vehicle closest to the first vehicle in the second vehicles.
[0056] Specifically, there may be one or more second vehicles in the working area of the first vehicle. When it is determined that the second positioning information is the target positioning information of the first vehicle, the first vehicle can select a second vehicle closest to the first vehicle from the second vehicles and send the second positioning information to the second vehicle. Since the second positioning information includes the target positioning information of the second vehicle, the second vehicle can be positioned based on the second positioning information. Herein, the target positioning information can include, but is not limited to, longitude information, latitude information, positioning time information, satellite elevation information and signal-to-noise ratio information of the position where the second vehicle is located.
[0057] The second vehicle can be an ordinary vehicle driving in a mining area, which can obtain satellite observation data and a precise position of the vehicle itself; a vehicle with autonomous driving function, or an autonomous driving fleet composed of vehicles with autonomous driving function. In the case that there are multiple second vehicles in the work area, a vehicle network (i.e., a fleet local area network) can be constructed based on the first vehicle and the multiple second vehicles. Herein, the vehicle network refers to a network that performs wireless communication and information exchange between vehicles with objects (such as cars, pedestrians, roadside devices and the internet) according to communication protocols and data interaction standards. Vehicle network communication can include, but is not limited to, vehicle-to-vehicle (V2V), vehicle-to-network (V2N), vehicle-to-infrastructure (V21), vehicle-to-people (V2P) and WiFi.
[0058] According to the technical solutions provided by the embodiments of the present disclosure, by constructing the vehicle network, the ability of sharing the vehicle information can be improved, and the perception ability of the vehicles can be further improved.
[0059] In some embodiments, sending the second positioning information to the second vehicle closest to the first vehicle in the second vehicles includes: obtaining current positions of respective second vehicles of the second vehicles, and respectively calculating first distances between a current position of the first vehicle with the current positions of the respective second vehicles; and selecting a second vehicle corresponding to the smallest distance in the first distances as a first target vehicle, and sending the second positioning information to the first target vehicle.
[0060] Specifically, after receiving the second positioning information sent by the cloud server, the first vehicle obtains the current position of each of the one or more second vehicles, and respectively calculates the first distance between the first vehicle and the second vehicle 11) based on the current position of the first vehicle. Further, the first vehicle selects the second vehicle corresponding to the smallest distance from all the calculated first distances as the first target vehicle, and sends the second positioning information to the first target vehicle.
[0061] According to the technical solutions provided by the embodiments of the present disclosure, by constructing the vehicle network to send the second positioning information, the ability of sharing the vehicle information and the transmission speed of the vehicle information can be improved, thereby improving the positioning stability and work efficiency of the second vehicles.
[0062] In some embodiments, the positioning method further includes: obtaining current positions of respective other second vehicles of one or more other second vehicles in the second vehicles, and respectively calculating second distances between a current position of the first target vehicle with the current positions of the respective other second vehicles; and selecting an other second vehicle corresponding to the smallest distance in the second distances as a second target vehicle, sending the second positioning information to the second target vehicle, and performing the above iterative processing until each of the second vehicles receives the second positioning information.
[0063] Specifically, after determining the first target vehicle, the first target vehicle obtains the current position of each of one or more other second vehicles in one or more second vehicles, and respectively calculates the second distance between the first target vehicle and the other second vehicle based on the current position of the first target vehicle. Further, the first target vehicle selects the other second vehicle corresponding to the smallest second distance from all the calculated second distances as the second target vehicle, and sends the second positioning information to the second target vehicle. The above iterative processing is performed until all the second vehicles receive the second positioning information.
[0064] According to the technical solutions provided by the embodiments of the present disclosure, by calculating the distances between the first target vehicle with the second vehicles and sending the second positioning information to respective second vehicles one by one according to the order of distance from near to far, the sending efficiency of the second positioning information can be improved, and the timeliness of sending the second positioning information can be ensured, thereby improving the positioning stability and work efficiency of the second vehicles.
[0065] In some embodiments, the positioning method further includes: receiving satellite positioning data sent by one or more satellites in a global navigation satellite system; processing the satellite positioning data and the current positioning data using the real-time kinematic carrier phase differential technology to obtain third positioning information of the first vehicle; when it is determined that a signal receiving quality meets a preset quality requirement, selecting the third positioning information as target positioning information of the first vehicle; and when it is determined that the signal receiving quality does not meet the preset quality requirement, selecting the first positioning information as the target positioning information of the first vehicle.
[0066] Specifically, the unmanned mining vehicle observes and collects satellite positioning data sent by one or more satellites in GNSS in real time through a GPS receiver, and calibrates the current positioning data of the unmanned mining vehicle based on the received satellite positioning data and the RTK carrier phase differential positioning principle to obtain the third positioning information of the unmanned mining vehicle. Further, when it is determined that the signal receiving quality meets the preset quality requirement, the unmanned mining vehicle takes the third positioning information as the target positioning information; and when it is determined that the signal receiving quality does not meet the preset quality requirement, the unmanned mining vehicle takes the first positioning information as the target positioning information.
[0067] Herein, GNSS is a space-based radio navigation positioning system that can provide users with all-weather three-dimensional coordinates and speed and time information at any place of the earth surface or the near-earth space. GNSS can include, but is not limited to, a GPS, a global navigation satellite system (GLONASS), a Galileo satellite navigation system (Galileo), a Beidou navigation satellite system (BDS), a regional system and an augmented system.
[0068] The satellites can be one or more of GPS satellites, GLONASS satellites, Galileo satellites, or Beidou satellites, and the embodiment of the present disclosure does not limit the specific types and number of satellites. Satellite positioning refers to determining the position of the receiver by using the two-way communication between the satellite and the receiver, and can provide the users with accurate position coordinates and related attribute characteristics in real time on a global scale. Satellite positioning data can include, but is not limited to, longitude data, latitude data, elevation (altitude) data, time data and measurement accuracy data.
[0069] In practical applications, when the GPS receiver installed in the unmanned mining vehicle receives the satellite positioning signal sent by the satellite, if the GPS receiver has a clock accurately synchronized with a satellite clock, an arrival time of the satellite positioning signal can be measured, and a propagation time of the satellite positioning signal in space can be calculated. Then, the distance (also called "pseudorange") between the GPS receiver and the satellite can be calculated by multiplying the propagation time by a propagation speed of
1A the satellite positioning signal in space. After observing the satellite positioning signals sent by multiple satellites (for example, four satellites), distances between respective satellites with the unmanned mining vehicle can be calculated respectively (for example, equations are listed and solved), and the three-dimensional coordinates (i.e., longitude, latitude and elevation) of the unmanned mining vehicle can be obtained, and then the unmanned mining vehicle can be positioned according to the three-dimensional coordinates.
[0070] The quality of signal reception can be characterized by data such as received signal strength indication (RSSI), symbol error rate (SER), and image loss rate. Herein, the received signal strength indication is an indication of the received signal strength, which measures a distance between a signal point and a receiving point based on received signal strength, and then performs positioning calculation based on the corresponding data to determine the link quality and whether to increase the broadcast transmission strength. The symbol error rate (namely, bit error rate) is an indicator that measures the accuracy of data transmission within a specified time, and the bit error rate=bit errors in transmission/total quantity of transmitted bitsx100%. The image loss rate is a ratio between the number of images received during transmission and the total number of images that should be received.
[0071] The preset quality requirement can be that the received signal strength indication is greater than a first preset threshold, the symbol error rate is less than a second preset threshold, and the image loss rate is less than a third preset threshold; or can be that the received signal strength indication is greater than the first preset threshold and the symbol error rate is less than the second preset threshold, the received signal strength indication is greater than the first preset threshold and the image loss rate is less than the third preset threshold, and the symbol error rate is less than the second preset threshold and the image loss rate is less than the third preset threshold; or can also be that the received signal strength indication is greater than the first preset threshold, the symbol error rate is less than the second preset threshold, and the image loss rate is less than the third preset threshold.
[0072] It should be noted that the first preset threshold, the second preset threshold and the third preset threshold can be set to the same or different values according to actual needs.
[0073] According to the technical solutions provided by the embodiments of the present disclosure, by determining whether the signal receiving quality meets the preset quality requirement, it can be ensured that the accurate positioning information of the unmanned mining vehicles can still be obtained under the condition of weak signals, thereby improving the positioning stability of the unmanned mining vehicles.
[0074] All the optional technical solutions mentioned above can be combined to form the optional embodiments disclosed in the present disclosure, and will not be elaborated here. In
1 1; addition, a serial number of each step in the above embodiments does not mean an order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
[0075] FIG. 4 is a schematic diagram of an overall architecture illustrating another positioning method according to an embodiment of the present disclosure in a practical application scenario. As shown in FIG. 4, a system architecture in this application scenario mainly includes the following contents.
[0076] A GPS receiver of a reference station 40 observes and collects satellite observation data sent by one or more satellites 41 in GNSS, the reference station 40 takes the collected satellite observation data as first positioning data and sends the first positioning data to a first vehicle 43 in a working area 431 in real time through a radio station 42. Further, the reference station 40 takes the collected satellite observation data as second positioning data and uploads the second positioning data to a cloud server 45 in real time through a first base station 44; the first vehicle 43 takes the obtained current positioning data of the first vehicle 43 as third positioning data and uploads the third positioning data to the cloud server 45 in real time through a second base station 46. After receiving the second positioning data and the third positioning data, the cloud server 45 performs resolution processing on the second positioning data and the third positioning data using a RTK technology to obtain second positioning information, and sends the second positioning information to the first vehicle 43 through the second base station 46. The first vehicle 43 can determine the first positioning information or the second positioning information as target positioning information of the first vehicle 43 according to a sequence of the first positioning information and the second positioning information received within a preset time interval.
[0077] According to the technical solutions provided by the embodiments of the present disclosure, by performing RTK resolution on the second positioning data uploaded by the reference station and the third positioning data uploaded by the first vehicle using the cloud server, the calculation amount of the first vehicle can be reduced, the calculation pressure of the first vehicle can be reduced, and the working efficiency of the first vehicle can be improved. In addition, since the second positioning information is resolved based on the positioning data uploaded by the reference station and the first vehicle, the validity and accuracy of the positioning information can be ensured.
[0078] FIG. 5 is a schematic flowchart illustrating another positioning method according to an embodiment of the present disclosure. The positioning method of FIG. 5 can be performed by an electronic device in the unmanned mining vehicle 43 of FIG. 4. As shown in FIG. 5, the 1 1< positioning method includes:
[0079] S501, first positioning data sent by a reference station through a radio station is received, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of afirst vehicle;
[0080] S502, the first positioning data and current positioning data of the first vehicle are processed using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle;
[0081] S503, second positioning information sent by a cloud server through a second base station is received, wherein the second positioning information is obtained by the cloud server processing second positioning data and third positioning data using the real-time kinematic carrier phase differential technology, the second positioning data is uploaded by the reference station through a first base station, and the third positioning data is uploaded by the first vehicle through the second base station; and
[0082] S504, it is determined that the first positioning information or the second positioning information is target positioning information of the first vehicle based on a sequence of the first positioning information and the second positioning information received within a preset time interval.
[0083] According to the technical solutions provided by the embodiments of the present disclosure, by performing RTK resolution on the second positioning data uploaded by the reference station and the third positioning data uploaded by the first vehicle using the cloud server, the calculation amount of the first vehicle can be reduced, the calculation pressure of the first vehicle can be reduced, and the working efficiency of the first vehicle can be improved. In addition, since the second positioning information is resolved based on the positioning data uploaded by the reference station and the first vehicle, the validity and accuracy of the positioning information can be ensured.
[0084] FIG. 6 is a schematic diagram of an overall architecture illustrating another positioning method according to an embodiment of the present disclosure in a practical application scenario. As shown in FIG. 6, a system architecture in this application scenario mainly includes the following contents.
[0085] A radio station 62 is erected within a preset range of a reference station 60 and is located between the reference station 60 and a working area 631 of an unmanned mining vehicle 63. A GPS receiver of the reference station 60 observes and collects satellite observation data sent by one or more satellites 61 in GNSS, and the reference station 60 takes the collected satellite observation data as first positioning data and sends the first positioning data to the first vehicle 63 in the working area 631 in real time through the radio station 62.
Further, the reference station 60 takes the collected satellite observation data as second positioning data and uploads the second positioning data to a cloud server 65 in real time through a first base station 64. The first vehicle 63 obtains current positioning data of the first vehicle 63 as third positioning data, and uploads the third positioning data to the cloud server in real time through a second base station 66.
[0086] After receiving the second positioning data and the third positioning data, the cloud server 65 performs resolution processing on the second positioning data and the third positioning data using a RTK technology to obtain second positioning information, and sends the second positioning information to the first vehicle 63 through the second base station 66. After receiving the second positioning information sent by the cloud server 65, the first vehicle 63 obtains current positions of a second vehicle 67, a second vehicle 68 and a second vehicle 69 in the working area 631, and calculates first distances between the first vehicle 63 with the second vehicle 67, the second vehicle 68 and the second vehicle 69 based on the current position of the first vehicle 63. Further, the first vehicle 63 selects a second vehicle (i.e., the second vehicle 67) corresponding to the smallest first distance from the calculated first distances as a first target vehicle, and sends the second positioning information to the second vehicle 67.
[0087] After determining that the second vehicle 67 is the first target vehicle, the second vehicle 67 obtains current positions of one or more other second vehicles (i.e., the second vehicle 68 and the second vehicle 69) in one or more second vehicles, and calculates second distances between the second vehicle 67 with the second vehicle 68 and the second vehicle 69 based on the current position of the second vehicle 67, respectively. Further, the second vehicle 67 selects a second vehicle (i.e., the second vehicle 68) corresponding to the smallest second distance from all the calculated second distances as a second target vehicle, and sends the second positioning information to the second vehicle 68. The above iterative processing is performed until the second vehicle 68 sends the second positioning information to the second vehicle 69.
[0088] According to the technical solutions provided by the embodiments of the present disclosure, by constructing the vehicle network to send the second positioning information, the ability of sharing the vehicle information and the transmission speed of the vehicle information can be improved. In addition, by calculating the distances between the first target vehicle with the second vehicles and sending the second positioning information to respective second vehicles one by one according to the order of distance from near to far, the sending efficiency of the second positioning information can be improved, and the timeliness of sending the second positioning information can be ensured, thereby improving the positioning 1Q stability and work efficiency of the second vehicles.
[0089] FIG. 7 is a schematic flowchart illustrating another positioning method according to an embodiment of the present disclosure. The interactive subjects involved in FIG. 7 are a reference station (corresponding to the reference station 60 in FIG. 6), a cloud server (corresponding to the cloud server 65 in FIG. 6), a first vehicle (corresponding to the first vehicle 63 in FIG. 6), a second vehicle (corresponding to the second vehicle 67 in FIG. 6), and other second vehicles (corresponding to the second vehicle 68 and the second vehicle 69 in FIG. 6). As shown in FIG. 7, the positioning method includes:
[0090] S701, a reference station receives satellite positioning data sent by one or more satellites in GNSS, takes the received satellite positioning data as first positioning data, and sends the first positioning data to a first vehicle in real time through a radio station;
[0091] S702, the reference station receives satellite positioning data sent by one or more satellites in GNSS, takes the received satellite positioning data as second positioning data, and uploads the second positioning data to a cloud server in real time through a first base station;
[0092] S703, the first vehicle performs resolution processing on the first positioning data and current positioning data of the first vehicle using a RTK technology to obtain first positioning information;
[0093] S704, the first vehicle takes the obtained current positioning data of the first vehicle as third positioning data, and uploads the third positioning data to the cloud server in real time through a second base station;
[0094] S705, the cloud server performs resolution processing on the second positioning data and the third positioning data using the RTK technology to obtain second positioning information;
[0095] S706, the cloud server sends the second positioning information to the first vehicle;
[0096] S707, the first vehicle determines the second positioning information as target positioning information of the first vehicle based on a sequence of the received first positioning information and the second positioning information;
[0097] S708, the first vehicle obtains current position of respective second vehicles of one or more second vehicles in a working area of the first vehicle;
[0098] S709, the first vehicle calculates first distances between the first vehicle with respective second vehicles based on a current position of the first vehicle;
[0099] S710, the first vehicle selects a second vehicle corresponding to the smallest distance from the first distances;
[0100] S711, the first vehicle sends the second positioning information to the second vehicle;
[0101] S712, the second vehicle obtains current positions of respective other second vehicles of one or more other second vehicles in second vehicles;
[0102] S713, the second vehicle calculates second distances between the second vehicle with respective other second vehicles based on a current position of the second vehicle;
[0103] S714, the second vehicle selects an other second vehicle corresponding to the smallest distance from the second distances; and
[0104] S715, the second vehicle sends the second positioning information to the other second vehicle, and turns back to perform S712 until all the second vehicles receive the second positioning information.
[0105] According to the technical solutions provided by the embodiments of the present disclosure, by calculating the distances between the first target vehicle with the second vehicles and sending the second positioning information to respective second vehicles one by one according to the order of distance from near to far, the sending efficiency of the second positioning information can be improved, and the timeliness of sending the second positioning information can be ensured, thereby improving the positioning stability and work efficiency of the second vehicles.
[0106] The following are apparatus embodiments of the present disclosure, which can be used to implement the method embodiments of the present disclosure. For the details that are not disclosed in the apparatus embodiments of the present disclosure, please refer to the method embodiments of the present disclosure.
[0107] FIG. 8 is a schematic structural diagram illustrating a positioning apparatus according to an embodiment of the present disclosure. As shown in FIG. 8, the positioning apparatus includes:
[0108] a receiving module 801 configured to receive first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and
[0109] a processing module 802 configured to process the first positioning data and current positioning data of the first vehicle using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle.
[0110] According to the technical solutions provided by the embodiments of the present disclosure, by receiving first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and processing the first positioning data and current positioning data of the first vehicle using a real-time
InA kinematic carrier phase differential technology to obtain first positioning information of the first vehicle, the first vehicle can obtain centimeter level positioning accuracy in a short time without increasing the construction cost and maintenance cost of the reference station, thereby improving the positioning stability of the first vehicle and further improving the work efficiency of the first vehicle.
[0111] In some embodiments, the positioning apparatus of FIG. 8 further includes a determining module 803, wherein the receiving module 801 further receives second positioning information sent by a cloud server through a second base station, wherein the second positioning information is obtained by the cloud server processing second positioning data and third positioning data using the real-time kinematic carrier phase differential technology, the second positioning data is uploaded by the reference station through a first base station, and the third positioning data is uploaded by the first vehicle through the second base station; and the determining module 803 is configured to determine that the first positioning information or the second positioning information is target positioning information of the first vehicle based on a sequence of the first positioning information and the second positioning information received within a preset time interval.
[0112] In some embodiments, the second positioning information includes target positioning information of one or more second vehicles in the working area, the positioning apparatus of FIG. 8 further includes a sending module 804 configured to when it is determined that the second positioning information is the target positioning information of the first vehicle, send the second positioning information to a second vehicle closest to the first vehicle in the second vehicles.
[0113] In some embodiments, the sending module 804 of FIG. 8 obtains current positions of respective second vehicles of the second vehicles, and respectively calculates first distances between a current position of the first vehicle with the current positions of the respective second vehicles; and selects a second vehicle corresponding to the smallest distance in the first distances as a first target vehicle, and sends the second positioning information to the first target vehicle.
[0114] In some embodiments, the sending module 804 of FIG. 8 further obtains current positions of respective other second vehicles of one or more other second vehicles in the second vehicles, and respectively calculates second distances between a current position of the first target vehicle with the current positions of the respective other second vehicles; and selects an other second vehicle corresponding to the smallest distance in the second distances as a second target vehicle, sends the second positioning information to the second target vehicle, and performs the above iterative processing until each of the second vehicles receives
)1 the second positioning information.
[0115] In some embodiments, the positioning apparatus of FIG. 8 further includes a selecting module 805, wherein the receiving module 801 further receives satellite positioning data sent by one or more satellites in a global navigation satellite system; the processing module 802 further processes the satellite positioning data and the current positioning data using the real-time kinematic carrier phase differential technology to obtain third positioning information of the first vehicle; the selecting module 805 is configured to when it is determined that a signal receiving quality meets a preset quality requirement, select the third positioning information as target positioning information of the first vehicle; and when it is determined that the signal receiving quality does not meet the preset quality requirement, select the first positioning information as the target positioning information of the first vehicle.
[0116] In some embodiments, the first vehicle includes an unmanned mining vehicle or an autonomous mining vehicle.
[0117] For an implementation process of functions and roles of each module in the apparatus, refer to an implementation process of a corresponding step in the previous method. Details are not described here again.
[0118] FIG. 9 is a schematic structural diagram illustrating an electronic device according to an embodiment of the present disclosure. As shown in FIG. 9, the electronic device 90 in this embodiment includes a processor 901, a memory 902, and a computer program 903 stored in the memory 902 and executable on the processor 901. The processor 901 implements the steps in the above-mentioned method embodiments when it executes the computer program 903; alternatively, the processor 901 implements the functions of the modules/units in the above-mentioned device embodiments when it executes the computer program 903.
[0119] Exemplarily, the computer program 903 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 902 and executed by executed by the processor 901 to realize the present disclosure. The one or more modules/units may be a series of computer program instruction sections capable of performing a specific function, and the computer program instruction sections are used for describing an execution process of the computer program 903 in the electronic device 90.
[0120] The electronic device 90 may be an electronic device such as a desktop computer, a notebook, a palm computer or a cloud server. The electronic device 90 may include, but is not limited to, the processor 901 and the memory 902. A person skilled in the art may understand that a structure shown in FIG. 9 is only an example of the electronic device 90 and does not limit the electronic device 90, which may include more or fewer components than those shown in the drawings, or some components may be combined, or a different component deployment may be used. For example, the electronic device 90 may further include an input/output device, a network access device, a bus, and the like.
[0121] The processor 901 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components or the like. The general-purpose processor may be a microprocessor or the processor may be any general processor or the like.
[0122] The memory 902 may be an internal storage unit of the electronic device 90, for example, a hard disk or memory of the electronic device 90. The memory 902 may also be an external storage device of the electronic device 90, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card or the like configured on the electronic device 90. Further, the memory 902 may also include both the internal storage unit and the external storage device of the electronic device 90. The memory 902 is configured to store the computer program and other programs and data required by the electronic device 90. The memory 902 may be further configured to temporarily store data that has been or will be output.
[0123] A person skilled in the art may clearly understand that, for the purpose of convenient and brief description, only division of the foregoing function units is used as an example for description. In the practical application, the functions may be allocated to and completed by different function modules according to requirements. That is, an internal structure of the device is divided into different functional units or modules, to complete all or some of the functions described above. Functional units and modules in the embodiments may be integrated into one processing unit, or each of the units may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may be implemented in the form of a software function unit. In addition, the specific names of each functional unit and module are only for the purpose of distinguishing each other, and are not used to limit the protection scope of the present disclosure. For specific work processes of the units and modules in the system, reference may be made to corresponding processes in the foregoing method embodiments, and details are not described herein again.
[0124] In the embodiments, descriptions of the embodiments have different emphases. As for parts that are not described in detail in one embodiment, reference can be made to the relevant descriptions of the other embodiments.
[0125] A person of ordinary skill in the art may notice that the exemplary units and algorithm steps described with reference to the embodiments disclosed in this specification can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed by hardware or software depends on particular applications and design constraint conditions of the technical solutions. A person skilled in the art may use different methods to implement the described functions for each particular application, but it is not considered that the implementation goes beyond the scope of the present disclosure.
[0126] In the embodiments provided in the present disclosure, it is to be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the described apparatus/electronic device embodiment is merely exemplary. For example, the modules and units division are merely logical function division and there may be other division manners during actual implementation. For example, a plurality of units or components may be combined or integrated into another system, or some features may be ignored or not performed. In addition, the displayed or discussed mutual couplings or direct couplings or communications connections may be implemented through some interfaces. The indirect couplings or communications connections between the apparatuses or units may be implemented in electronic, mechanical, or other forms.
[0127] The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
[0128] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, and may be located in one place or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
[0129] When the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, the integrated unit may be stored in a computer-readable storage medium. Based on such understanding, all or some of the processes of the methods in the embodiments may be implemented by a computer program instructing relevant hardware. The computer program may be stored in a computer-readable storage medium. During execution of the computer program by the processor, steps in the foregoing method embodiments may be implemented. The computer program includes computer program code. The computer program code may be in source code form, object code form, executable file or some intermediate forms, or the like. The computer-readable medium may include: any entity or apparatus that is capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disc, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium, or the like. The content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in jurisdictions. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include an electric carrier signal and a telecommunicationsignal.
[0130] The foregoing embodiments are merely intended for describing the technical solutions of the present disclosure, but not for limiting the present disclosure. Although the present disclosure is described in detail with reference to the foregoing embodiments, it is to be understood by a person of ordinary skill in the art that they may still make modifications to the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features thereof, without departing from the spirit and scope of the technical solutions of the embodiments of the present disclosure, which being included in the protection scope of the present disclosure.

Claims (10)

1. A positioning method, comprising:
receiving first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and
processing the first positioning data and current positioning data of the first vehicle using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle.
2. The method according to claim 1, further comprising:
receiving second positioning information sent by a cloud server through a second base station, wherein the second positioning information is obtained by the cloud server processing second positioning data and third positioning data using the real-time kinematic carrier phase differential technology, the second positioning data is uploaded by the reference station through a first base station, and the third positioning data is uploaded by the first vehicle through the second base station; and
determining that the first positioning information or the second positioning information is target positioning information of the first vehicle based on a sequence of the first positioning information and the second positioning information received within a preset time interval.
3. The method according to claim 2, wherein the second positioning information comprises target positioning information of one or more second vehicles in the working area, the method further comprises:
when it is determined that the second positioning information is the target positioning information of the first vehicle, sending the second positioning information to a second vehicle closest to the first vehicle in the second vehicles.
4. The method according to claim 3, wherein sending the second positioning information to the second vehicle closest to the first vehicle in the second vehicles comprises:
obtaining current positions of respective second vehicles of the second vehicles, and
1) 1 respectively calculating first distances between a current position of the first vehicle with the current positions of the respective second vehicles; and selecting a second vehicle corresponding to the smallest distance in the first distances as a first target vehicle, and sending the second positioning information to the first target vehicle.
5. The method according to claim 4, further comprising:
obtaining current positions of respective other second vehicles of one or more other second vehicles in the second vehicles, and respectively calculating second distances between a current position of the first target vehicle with the current positions of the respective other second vehicles; and
selecting an other second vehicle corresponding to the smallest distance in the second distances as a second target vehicle, sending the second positioning information to the second target vehicle, and performing the above iterative processing until each of the second vehicles receives the second positioning information.
6. The method according to claim 1, further comprising:
receiving satellite positioning data sent by one or more satellites in a global navigation satellite system;
processing the satellite positioning data and the current positioning data using the real-time kinematic carrier phase differential technology to obtain third positioning information of the first vehicle;
when it is determined that a signal receiving quality meets a preset quality requirement, selecting the third positioning information as target positioning information of the first vehicle; and
when it is determined that the signal receiving quality does not meet the preset quality requirement, selecting the first positioning information as the target positioning information of the first vehicle.
7. The method according to any one of claims 1 to 6, wherein thefirst vehicle comprises an unmanned mining vehicle or an autonomous mining vehicle.
8. A positioning apparatus, comprising:
a receiving module configured to receive first positioning data sent by a reference station through a radio station, wherein the radio station is erected within a preset range of the reference station and is located between the reference station and a working area of a first vehicle; and
a processing module configured to process the first positioning data and current positioning data of the first vehicle using a real-time kinematic carrier phase differential technology to obtain first positioning information of the first vehicle.
9. An electronic device, comprising:
a memory;
a processor; and
a computer program stored in the memory and executable on the processor,
wherein the computer program, when executed by the processor, causing the processor to implement the steps of the method according to any one of claims I to 7.
10. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causing the processor to implement the steps of the method according to any one of claims I to 7.
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