CN111158033B - Differential positioning method, device, equipment and storage medium based on GNSS - Google Patents
Differential positioning method, device, equipment and storage medium based on GNSS Download PDFInfo
- Publication number
- CN111158033B CN111158033B CN201811323147.9A CN201811323147A CN111158033B CN 111158033 B CN111158033 B CN 111158033B CN 201811323147 A CN201811323147 A CN 201811323147A CN 111158033 B CN111158033 B CN 111158033B
- Authority
- CN
- China
- Prior art keywords
- vrs
- terminal
- differential
- positioning
- data center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- 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)
Abstract
The embodiment of the application discloses a differential positioning method, a differential positioning device, differential positioning equipment and a storage medium based on GNSS. The method comprises the following steps: in the ith positioning process, receiving differential information corresponding to a first VRS (virtual router system) sent by a data center, wherein i is a positive integer; storing differential information corresponding to the first VRS; in the (i + k) th positioning process, judging whether a differential information multiplexing condition is met, wherein k is a positive integer; if the difference information multiplexing condition is met, acquiring the stored difference information corresponding to the first VRS; and carrying out differential positioning according to the differential information corresponding to the first VRS. According to the embodiment of the application, on one hand, the calculation and processing overhead of the data center is reduced, and on the other hand, the transmission load between the data center and the terminal is reduced, so that the data center is not easy to generate a congestion condition when serving more terminals, and the real-time positioning of the terminal is further ensured.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a differential positioning method, device, apparatus, and storage medium based on a GNSS (Global Navigation Satellite System).
Background
The GNSS differential positioning technology is to synchronously receive satellite signals with a terminal through a CORS (Continuously Operating Reference Stations) with accurately known coordinates, consider that the terminal has the same error with a nearby CORS, and realize error elimination through a differential mode.
In order to obtain higher positioning accuracy, differential positioning is usually performed by using multiple CORSs. This technique of performing differential positioning based on multiple CORSs is also called VRS (Virtual Reference Stations) differential positioning technique. The implementation flow of the VRS differential positioning technology is roughly as follows: the CORS transmits the acquired observation values to a data center in real time; meanwhile, the terminal sends the obtained approximate position to a data center; then, the data center creates a VRS at the approximate position, calculates the difference information corresponding to the VRS by combining the observation value of the actual CORS, and sends the difference information corresponding to the VRS to the terminal through a data link; after receiving the differential information corresponding to the VRS, the terminal performs differential calculation by combining the observation value obtained by the terminal, and finally determines the geographical position of the terminal.
In the VRS differential location technology, when there are many terminals simultaneously requesting location services, the data center is likely to be congested because the data center needs to calculate and transmit a large amount of data.
Disclosure of Invention
The embodiment of the application provides a differential positioning method, a differential positioning device, a differential positioning equipment and a storage medium based on GNSS, which can be used for solving the problem that in the prior art, when a plurality of terminals simultaneously requesting positioning service exist, the data center is easy to be congested due to a large amount of data required to be calculated and transmitted by the data center. The technical scheme is as follows:
in one aspect, an embodiment of the present application provides a differential positioning method based on a GNSS, where the method includes:
in the ith positioning process, receiving differential information corresponding to a first VRS (virtual router system) sent by a data center, wherein i is a positive integer;
in the ith positioning process, receiving differential information corresponding to a first VRS (virtual router system) sent by a data center, wherein i is a positive integer;
storing the difference information corresponding to the first VRS;
in the (i + k) th positioning process, judging whether a differential information multiplexing condition is met, wherein k is a positive integer;
if the difference information multiplexing condition is determined to be met, the stored difference information corresponding to the first VRS is obtained;
and carrying out differential positioning according to the differential information corresponding to the first VRS.
In another aspect, an embodiment of the present application provides a differential positioning method based on a GNSS, where the method includes:
in the ith positioning process, sending differential information corresponding to a first VRS to a terminal, wherein the terminal is used for storing the differential information corresponding to the first VRS, and i is a positive integer;
in the (i + k) th positioning process, judging whether a differential information multiplexing condition is met, wherein k is a positive integer;
and if the differential information multiplexing condition is determined to be met, triggering the terminal to perform differential positioning according to the stored differential information corresponding to the first VRS.
In another aspect, an embodiment of the present application provides a GNSS based differential positioning apparatus, including:
the receiving module is used for receiving differential information corresponding to the first VRS sent by the data center in the ith positioning process, wherein i is a positive integer;
the storage module is used for storing the difference information corresponding to the first VRS;
the judgment module is used for judging whether a differential information multiplexing condition is met or not in the (i + k) th positioning process, wherein k is a positive integer;
the acquisition module is used for acquiring the stored differential information corresponding to the first VRS if the differential information multiplexing condition is determined to be met;
and the positioning module is used for carrying out differential positioning according to the differential information corresponding to the first VRS.
In another aspect, an embodiment of the present application provides a GNSS based differential positioning apparatus, including:
the terminal is used for storing the differential information corresponding to the first VRS, and i is a positive integer;
the judgment module is used for judging whether a differential information multiplexing condition is met or not in the (i + k) th positioning process, wherein k is a positive integer;
and the processing module is used for triggering the terminal to perform differential positioning according to the stored differential information corresponding to the first VRS if the differential information multiplexing condition is determined to be met.
In yet another aspect, an embodiment of the present application provides a terminal, which includes a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the above-mentioned GNSS based differential positioning method.
In yet another aspect, an embodiment of the present application provides a server, which includes a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the above-mentioned GNSS based differential positioning method.
In yet another aspect, an embodiment of the present application provides a computer-readable storage medium, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the storage medium, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by a processor to implement the GNSS based differential positioning method.
In yet another aspect, an embodiment of the present application provides a computer program product, which when executed, is configured to perform the GNSS based differential positioning method of the above aspect.
In the technical scheme provided by the embodiment of the application, the differential information corresponding to the VRS acquired from the data center is stored through the terminal, and when the condition that the multiplexing of the differential information is met is determined, the stored differential information corresponding to the VRS is directly acquired for differential positioning, so that the differential information corresponding to the VRS does not need to be acquired from the data center in each positioning process.
Drawings
FIG. 1 is a schematic illustration of an implementation environment provided by one embodiment of the present application;
FIG. 2 is a flowchart illustrating a GNSS based differential positioning method according to an embodiment of the present application;
FIG. 3 is a flowchart of a GNSS based differential positioning method according to another embodiment of the present application;
FIG. 4 is a flowchart illustrating a GNSS based differential positioning method according to another embodiment of the present application;
FIG. 5 is a block diagram of a GNSS based differential positioning apparatus provided in an embodiment of the present application;
FIG. 6 is a block diagram of a GNSS based differential positioning apparatus according to another embodiment of the present application;
FIG. 7 is a block diagram of a GNSS based differential positioning apparatus according to another embodiment of the present application;
FIG. 8 is a block diagram of a GNSS based differential positioning apparatus according to another embodiment of the present application;
fig. 9 is a block diagram of a terminal according to an embodiment of the present application;
fig. 10 is a block diagram of a server according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, a schematic diagram of an implementation environment provided by an embodiment of the present application is shown. The implementation environment may include: at least one terminal 10, at least one reference station 20, a data center 30, and a satellite 40.
The terminal 10 may be an electronic device having a Positioning function, such as a mobile phone, a tablet Computer, a wearable device (e.g., a smart band, a smart watch), a PC (Personal Computer), or other receiving devices capable of receiving, tracking, transforming, and measuring GPS (Global Positioning System) signals. The terminal 10 can provide its own approximate location to the data center 30 so that the data center 30 can provide services in a targeted manner. The terminal 10 may also obtain differential information from the data center 30 to improve its positioning accuracy. In addition, the terminal 10 may also receive signals transmitted from the satellite 40, and the terminal 10 processes the signals to obtain service information required by the terminal, such as satellite orbit data.
The reference station 20, i.e., a fixed reference station, is generally provided with a GPS receiver, a data transmission device, a weather device, and the like. The reference station 20 may continuously observe the satellite signals for a long period of time and receive and record signals transmitted by the satellites 50, and may provide data to the data center 30 periodically or in real time over a communications network. The reference stations 20 constitute a network of reference stations (or referred to as a network of reference stations), and at least three reference stations are required to enable the data center 30 to generate VRSs.
The data center 30 is generally provided in a data room of a construction unit, and includes a server, a workstation, a network transmission device, an electric power device, a data recording device, a system security device, and the like. The data center 30 is mainly responsible for data processing, data analysis and calculation storage, system differential correction number modeling, generation, transmission, recording, data management, maintenance and distribution of the whole system. The data center 30 can provide services in a targeted manner depending on the approximate location provided by the terminal 10, for example, selecting the reference station 20 that is most suitable for the location of the terminal 10, and calculating the VRS closer to the terminal 10. The data center 30 may package data in a message according to a format of RTCM (Radio Technical Commission for Maritime Services), and may transmit all or part of the data according to a requirement.
The terminal 10, the reference station 20 and the data center 30 are coupled through a communication network. The terminal 10 and the data center 30 are usually connected by a wireless method, for example, a GSM (Global System for Mobile Communication), a GPRS (General Packet Radio Service) network, a CDMA (Code Division Multiple Access) network, an LTE (Long Term Evolution) network, and the like, and the reference station 20 and the data center 30 are usually connected by a wired method (such as an optical fiber).
Referring to fig. 2, a flowchart of a GNSS based differential positioning method according to an embodiment of the present application is shown. In the present embodiment, the method is mainly illustrated as being applied to the terminal 10 in the implementation environment shown in fig. 1. The method may include the steps of:
And the terminal sends the position information to the data center when positioning for the ith time. The location information may be a rough location obtained by the terminal at the time of the 1 st location. The rough location is a rough location obtained by the terminal, and can be obtained through single-point positioning or from other systems, for example, the base station location of the currently connected wireless network is used as the rough location of the terminal. The single-point positioning may be pseudo-range single-point positioning or phase single-point positioning. Because the pseudorange single-point positioning has the advantages of high speed, no integer ambiguity, low receiver price and the like, the pseudorange single-point positioning is usually adopted, namely, a terminal obtains the approximate position of the terminal through data processing directly according to a received satellite signal (which can be satellite coordinates). In subsequent positioning, the position information may be a geographical position obtained through differential positioning in the last positioning process of the terminal. The position information may be expressed in coordinates.
After receiving the position information sent by the terminal, the data center generates a first VRS, and obtains differential information corresponding to the first VRS through calculation; then, the data center sends the difference information corresponding to the first VRS to the terminal. The difference information corresponding to the first VRS may include at least one of a propagation error corresponding to the first VRS, a position coordinate corresponding to the first VRS, and an observed quantity corresponding to the first VRS, and the data center may transmit all or part of the data to the terminal according to a requirement. The propagation errors mainly include errors caused by ionospheric propagation delay and tropospheric propagation delay.
After receiving the differential information corresponding to the first VRS sent by the data center, the terminal stores the differential information corresponding to the first VRS, so that the terminal can directly acquire the stored differential information corresponding to the first VRS for differential positioning under the condition that the differential information multiplexing condition is determined to be met.
In the (i + k) th positioning process, the terminal or the data center can judge whether the differential information multiplexing condition is met.
In one example, in the i + k-th positioning process, the terminal first determines whether a differential information multiplexing condition is satisfied, wherein determining whether the differential information multiplexing condition is satisfied includes: and in the (i + k) th positioning process, judging whether the time-space change information is smaller than a preset variable quantity, and if the time-space change information is smaller than the preset variable quantity, determining that a differential information multiplexing condition is met. The time-space variation information is used for indicating the variation of time and/or the geographic position of the terminal from the ith positioning process to the (i + k) th positioning process. And when the terminal determines that the differential information multiplexing condition is met, the terminal acquires the differential information corresponding to the first VRS stored by the terminal. Above-mentioned in the (i + k) th positioning process, judge whether the space-time variation information is less than and predetermine the variation, include: in the (i + k) -th positioning process, judging whether the distance between the geographical position obtained by differential positioning in the last (i.e. the (i + k-1) -th positioning process and the position coordinate corresponding to the first VRS is smaller than a first threshold value or not; and/or judging whether the time interval between the current time and the generation time corresponding to the first VRS is smaller than a second threshold value or not in the (i + k) th positioning process. The first threshold and the second threshold may be preset according to actual conditions, which is not limited in this application.
In the subsequent positioning process after the 1 st positioning process, the terminal may acquire the approximate position of the terminal each time, compare the distance between the approximate position and the position coordinate corresponding to the first VRS with the first threshold, and satisfy the differential information multiplexing condition if the distance is smaller than the first threshold.
It should be noted that, since the approximate location of the terminal is obtained by a single-point positioning, or obtained from other systems, for example, the location of the base station of the currently connected wireless network is used as the approximate location of the terminal. However, the general position accuracy of the terminal positioning is low due to the large systematic deviation of the single-point positioning; however, to obtain the approximate location from other systems, such as the location based on the base station, the terminal is not accessed to which base station when the terminal is close to which base station due to the influence of various factors such as the density of the base stations and the number of users of the base stations, so that the accuracy of the approximate location of the terminal location is very low. In addition, terminals are typically separated by a very short time per positioning. Therefore, in the subsequent positioning process, the terminal carries out differential positioning based on the geographical position obtained by differential positioning in the last positioning process, and the positioning precision of the differential positioning carried out by the terminal is higher than that of the differential positioning carried out by the approximate position obtained by adopting the method.
The generation time corresponding to the first VRS may be a time when the data center generates the first VRS. The data center may inform the terminal of the generation time of the first VRS, for example, the data center may provide the terminal with the generation time corresponding to the first VRS while transmitting the difference information corresponding to the first VRS to the terminal. In some other embodiments, the terminal may also directly use the time when the differential information corresponding to the first VRS is received as the generation time corresponding to the first VRS.
In another example, in the (i + k) th positioning process, the terminal sends the geographic position obtained through differential positioning in the last positioning process to the data center, the data center is used for judging whether the spatio-temporal change information is smaller than a preset change amount, and the spatio-temporal change information is used for indicating the change amount of the time and/or the geographic position of the terminal from the (i) th positioning process to the (i + k) th positioning process; and if the judgment result of the data center is that the time-space change information is smaller than the preset change amount, determining that the difference information multiplexing condition is met. And meanwhile, informing the terminal of the judgment result, and acquiring the stored differential information corresponding to the first VRS by the terminal when the terminal determines that the differential information multiplexing condition is met.
After the data center determines that the differential information multiplexing condition is satisfied, the data center may send, to the terminal, indication information for indicating that the terminal multiplexes differential information, and explicitly inform the terminal that the differential information multiplexing condition is satisfied. In addition, the data center can also not send any information to the terminal, and the terminal determines that the differential information multiplexing condition is met by default under the condition that the terminal does not receive any information.
Optionally, when determining whether the temporal-spatial variation information is smaller than the preset variation includes determining whether a time interval between the current time and the generation time corresponding to the first VRS is smaller than a second threshold, the terminal needs to update the generation time corresponding to the first VRS to the generation time corresponding to the second VRS after acquiring the difference information corresponding to the second VRS from the data center. Regarding the determining manner and the obtaining manner of the generation time corresponding to the second VRS, the determining manner and the obtaining manner of the generation time corresponding to the first VRS are the same or similar, and are not described herein again.
And step 204, if the difference information multiplexing condition is determined to be met, acquiring the stored difference information corresponding to the first VRS.
In the (i + k) th positioning process, when the terminal determines that the differential information multiplexing condition is met, the terminal acquires the stored differential information corresponding to the first VRS so that the terminal can execute the subsequent differential positioning step.
In addition, in the (i + k) th positioning process, if the terminal determines that the differential information multiplexing condition is not met, the terminal acquires the differential information corresponding to the second VRS, which is generated by the data center according to the geographical position obtained through differential positioning in the last positioning process, from the data center. Then, the terminal performs differential positioning according to the differential information corresponding to the second VRS, and the terminal updates the stored differential information corresponding to the first VRS to the differential information corresponding to the second VRS.
And step 205, performing differential positioning according to the differential information corresponding to the first VRS.
In one possible implementation, when the differential information corresponding to the first VRS includes the propagation error corresponding to the first VRS and the position coordinate corresponding to the first VRS, the performing, by the terminal, differential positioning according to the differential information corresponding to the first VRS includes: the terminal calculates the observed quantity corresponding to the first VRS according to the propagation error corresponding to the first VRS and the position coordinate corresponding to the first VRS; and then carrying out differential positioning according to the observation quantity corresponding to the first VRS obtained by calculation.
Illustratively, the ionospheric propagation delay is set to TionTropospheric propagation delay is set to Ttro. The position coordinate corresponding to the first VRS is set as (x)v，yv，zv) The coordinates of the nth satellite are set to (x)s，ys，zs). The nth satellite is a satellite of the current service terminal, and the coordinates of the satellite can be obtained in real time through ephemeris. The terminal recovers the calculation according to the informationAnd obtaining the observed quantity corresponding to the first VRS. The observation corresponding to the first VRS may include a phase observation and a pseudo-range observation. The phase observed quantity Φ can be calculated by the following formula:
the pseudorange observations P can be calculated using the following equation:
where c represents the speed of light.
In another possible implementation manner, when the differential information corresponding to the first VRS includes the observed quantity corresponding to the first VRS, the performing, by the terminal, differential positioning according to the differential information corresponding to the first VRS includes: and the terminal carries out differential positioning according to the observed quantity corresponding to the first VRS.
After the terminal obtains the observed quantity corresponding to the first VRS, the terminal performs difference calculation by combining the observed quantity obtained by the terminal according to the position information of the terminal, and calculates the geographical position of the terminal.
To sum up, in the technical solution provided in the embodiment of the present application, the terminal stores the differential information corresponding to the VRS obtained from the data center, and when it is determined that the differential information multiplexing condition is satisfied, the stored differential information corresponding to the VRS is directly obtained to perform differential positioning, so that it is not necessary to request to obtain the differential information corresponding to the VRS from the data center in each positioning process.
Please refer to fig. 3, which illustrates a flowchart of a GNSS based differential positioning method according to another embodiment of the present application. In the present embodiment, the method is mainly applied to the implementation environment shown in fig. 1 for illustration. The method may include the steps of:
step 301, in the positioning process of the ith time, the terminal acquires the position information thereof.
When i is 1, that is, in the 1 st positioning process, the position information may be an approximate position acquired by the terminal.
When i > 1, if the terminal determines that the differential information multiplexing condition is not satisfied in the ith positioning process, the position information may be the geographical position obtained by differential positioning in the last (i.e., ith-1) positioning process.
Step 302, the terminal sends the acquired position information to a data center.
When i is equal to 1, that is, in the 1 st positioning process, the terminal sends the approximate position acquired in the 1 st positioning process to the data center, requests the data center to generate a VRS according to the approximate position, and sends differential information corresponding to the VRS to the terminal.
And when i is larger than 1, if the terminal determines that the differential information multiplexing condition is not met in the ith positioning process, the terminal sends the geographical position obtained by differential positioning in the last positioning process to the data center, requests the data center to generate the VRS according to the geographical position, and sends the differential information corresponding to the VRS to the terminal.
Step 303, the data center generates differential information corresponding to the first VRS according to the received location information.
And step 304, the data center sends the difference information corresponding to the first VRS to the terminal.
And 305, the terminal carries out differential positioning according to the differential information corresponding to the first VRS.
And step 306, the terminal stores the difference information corresponding to the first VRS sent by the data center.
Step 307, in the (i + k) th positioning process, the terminal sends the geographical position obtained by differential positioning in the last positioning process to the data center, and triggers the data center to judge whether the differential information multiplexing condition is met.
Step 308, the data center determines whether the differential information multiplexing condition is satisfied.
The data center judges whether the differential information multiplexing condition is met, and the method comprises the following steps: judging whether the time-space change information is smaller than a preset change amount or not, wherein the time-space change information is used for indicating the change amount of time and/or the terminal geographical position from the ith positioning process to the (i + k) th positioning process; and if the time-space change information is smaller than the preset change amount, determining that the difference information multiplexing condition is met.
Step 309, if the data center determines that the differential information multiplexing condition is satisfied, the data center sends the determination result to the terminal, and triggers the terminal to perform differential positioning according to the stored differential information corresponding to the first VRS.
In one example, after the data center determines that the differential information multiplexing condition is satisfied, the data center may send, to the terminal, indication information for indicating that the terminal multiplexes the differential information, explicitly informing the terminal that the differential information multiplexing condition is determined to be satisfied. Otherwise, if the terminal does not receive the indication information for indicating the terminal to multiplex the differential information, the terminal determines that the differential information multiplexing condition is not satisfied.
In another example, after the data center determines that the differential information multiplexing condition is satisfied, the data center may also not send any information to the terminal, and the terminal defaults to satisfy the differential information multiplexing condition in the case that no information is received. Otherwise, if the terminal receives the indication information which is sent by the data center and used for indicating the terminal not to multiplex the differential information, the terminal determines that the differential information multiplexing condition is not met.
In the two modes that the data center informs the terminal that the differential information multiplexing condition is met, if the data center clearly informs the terminal, the terminal directly confirms that the differential information multiplexing condition is met when receiving the indication information without waiting for a period of time, so that whether the differential information multiplexing condition is met can be more efficiently determined; if the data center informs the terminal in an implicit mode, the processing overhead of the data center can be reduced to a certain extent, and the transmission load of a data link between the data center and the terminal can be reduced. In practical applications, an appropriate manner may be selected according to practical situations, and the embodiment of the present application is not limited thereto.
And step 310, if the terminal determines that the difference information multiplexing condition is met according to the judgment result, acquiring the stored difference information corresponding to the first VRS.
And when the terminal determines that the differential information multiplexing condition is met according to the judgment result sent by the data center, the terminal directly acquires the stored differential information corresponding to the first VRS, so that the terminal can perform differential positioning subsequently and directly according to the stored differential information corresponding to the first VRS.
In addition, if the differential information multiplexing condition is not met, the data center generates differential information corresponding to the second VRS according to the geographical position obtained by differential positioning in the last positioning process of the terminal; then, the data center sends the differential information corresponding to the second VRS to the terminal, and the terminal performs differential positioning according to the differential information corresponding to the second VRS and updates the stored differential information corresponding to the first VRS into the differential information corresponding to the second VRS.
And 311, the terminal performs differential positioning according to the differential information corresponding to the first VRS.
To sum up, in the technical solution provided in the embodiment of the present application, the terminal stores the differential information corresponding to the VRS obtained from the data center, and when it is determined that the differential information multiplexing condition is satisfied, the stored differential information corresponding to the VRS is directly obtained to perform differential positioning, so that it is not necessary to request to obtain the differential information corresponding to the VRS from the data center in each positioning process.
Next, as shown in fig. 4, the technical solution provided by the present application will be described with reference to a specific example. In this embodiment, a terminal is taken as a mobile phone as an example to describe the technical solution of the present application.
Step 401, a user opens a certain target application program with a positioning function on a mobile phone.
The target application program has a positioning function, for example, the target application program can be a navigation application program, a social application program, a life service application program, and the like. For example, the user clicks an icon of a target application on the desktop of the mobile phone, and the target application starts running.
Step 402, the target application program calls a mobile phone positioning module.
The mobile phone is usually provided with a positioning module, which may be a wireless chip arranged on a main board of the mobile phone, and can perform information transmission with the GNSS, and perform positioning or navigation under the condition of network signals.
And 403, the mobile phone positioning module sends the acquired approximate position to the positioning background during the 1 st positioning.
The positioning module can obtain the approximate position of the mobile phone in a single-point positioning mode and send the approximate position to the positioning background.
Step 404, the data center in the positioning background generates differential information corresponding to the first VRS according to the received general position.
The differential information corresponding to the first VRS may include at least one of a propagation error corresponding to the first VRS, a position coordinate corresponding to the first VRS, and an observed quantity corresponding to the first VRS, and the data center may send all or part of the data to the mobile phone according to a requirement.
And 405, the positioning background sends the generated differential information corresponding to the first VRS to the mobile phone positioning module.
And step 406, the mobile phone positioning module stores the differential information corresponding to the first VRS sent by the positioning background.
Step 407, the mobile phone positioning module performs differential positioning according to the differential information corresponding to the first VRS to obtain the geographic position of the mobile phone.
And step 408, in the 2 nd positioning, the mobile phone positioning module judges whether the time-space change information is smaller than a preset change amount.
The time-space variation information is used for indicating the variation of time and/or the terminal geographical position from the ith positioning process to the (i + k) th positioning process.
If yes, execute the following steps 409-411; if not, the following steps 412-417 are executed.
And if the time-space change information is smaller than the preset change amount, determining that the difference information multiplexing condition is met. And if the space-time change information is not less than the preset variable quantity, determining that the difference information multiplexing condition is not met.
It should be noted that the mobile phone performs positioning once every predetermined time, which may be set in a background program or in a foreground target application.
Wherein, judge whether the space-time change information is less than and predetermine the variation, include: judging whether the distance between the geographical position obtained through differential positioning in the last positioning process and the position coordinate corresponding to the first VRS is smaller than a first threshold value or not; and/or judging whether the time interval between the current time and the generation time corresponding to the first VRS is smaller than a second threshold value.
In addition, the positioning background can also judge whether the time-space change information is smaller than the preset change amount, and inform the judgment result to the mobile phone positioning module, and the mobile phone positioning module determines whether the difference information multiplexing condition is met according to the judgment result. At this time, before the mobile phone needs to determine in the positioning background, the geographic position obtained through differential positioning in the 1 st positioning process is sent to the positioning background.
Step 409, the mobile phone positioning module determines that the difference information multiplexing condition is met.
In step 410, the mobile phone positioning module obtains the stored difference information corresponding to the first VRS.
In step 411, the mobile phone positioning module performs differential positioning according to the differential information corresponding to the first VRS.
In step 412, the mobile phone location module determines that the differential information multiplexing condition is not satisfied.
Step 413, the mobile phone positioning module sends the geographical position obtained through differential positioning in the 1 st positioning process to the positioning background.
Step 414, the data center in the positioning background generates the differential information corresponding to the second VRS according to the geographic position obtained by differential positioning in the 1 st positioning process.
Step 415, the data center in the positioning background sends the differential information corresponding to the second VRS to the mobile phone positioning module.
And step 416, the mobile phone positioning module performs differential positioning according to the differential information corresponding to the second VRS.
In step 417, the handset positioning module updates the stored difference information corresponding to the first VRS to the difference information corresponding to the second VRS.
In the subsequent positioning process, the same or similar steps as those in the above step 408-417 may be repeatedly performed, and first, whether the temporal-spatial variation information is smaller than the preset variation is determined according to the above determination logic, and the corresponding positioning step is further performed, thereby implementing the differential positioning.
It should be noted that, in the embodiments of fig. 3 and fig. 4, the technical solution of the present application is described only from the perspective of interaction between the terminal and the data center, the steps executed by the terminal may be implemented separately as a GNSS-based differential positioning method on the terminal side, and the steps executed by the data center may be implemented separately as a GNSS-based differential positioning method on the data center side.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Referring to fig. 5, a block diagram of a GNSS based differential positioning apparatus according to an embodiment of the present application is shown. The apparatus has a function of implementing the above method example at the terminal side, and the function may be implemented by hardware or by hardware executing corresponding software. The device can be a terminal or be arranged on the terminal. The apparatus 500 may comprise: a receiving module 501, a storing module 502, an obtaining module 503 and a positioning module 504.
The receiving module 501 is configured to receive, in the ith positioning process, differential information corresponding to the first VRS sent by the data center, where i is a positive integer.
A storage module 502, configured to store the difference information corresponding to the first VRS.
A determining module 503, configured to determine whether a differential information multiplexing condition is met in the (i + k) th positioning process, where k is a positive integer.
An obtaining module 504, configured to obtain the stored differential information corresponding to the first VRS if it is determined that the differential information multiplexing condition is met.
And a positioning module 505, configured to perform differential positioning according to the differential information corresponding to the first VRS.
To sum up, in the technical solution provided in the embodiment of the present application, the terminal stores the differential information corresponding to the VRS obtained from the data center, and when it is determined that the differential information multiplexing condition is satisfied, the stored differential information corresponding to the VRS is directly obtained to perform differential positioning, so that it is not necessary to request to obtain the differential information corresponding to the VRS from the data center in each positioning process.
In an alternative embodiment provided based on the embodiment of fig. 5, as shown in fig. 6, the apparatus 500 further includes: a determination module 506.
A determining module 503, configured to determine whether time-space variation information is smaller than a preset variation in the (i + k) th positioning process, where the time-space variation information is used to indicate a variation in time and/or a terminal geographic location from the (i) th positioning process to the (i + k) th positioning process.
A determining module 506, configured to determine that the difference information multiplexing condition is satisfied if the temporal-spatial variation information is smaller than the preset variation.
Optionally, the determining module 503 is further configured to:
in the (i + k) th positioning process, judging whether the distance between the geographical position obtained by differential positioning in the last positioning process and the position coordinate corresponding to the first VRS is smaller than a first threshold value; and/or judging whether the time interval between the current time and the generation time corresponding to the first VRS is smaller than a second threshold value or not in the (i + k) th positioning process.
In another optional embodiment provided based on the embodiment of fig. 5 or any one of the above optional embodiments, as shown in fig. 6, the apparatus 500 further includes: a sending module 507.
A sending module 507, configured to send, in the (i + k) th positioning process, the geographic position obtained through differential positioning in the last positioning process to the data center, where the data center is configured to determine whether temporal-spatial variation information is smaller than a preset variation, and the temporal-spatial variation information is configured to indicate variation of time and/or a geographic position of a terminal from the (i) th positioning process to the (i + k) th positioning process.
A determining module 506, configured to determine that the difference information multiplexing condition is satisfied if the determination result of the data center is that the temporal-spatial variation information is smaller than the preset variation.
In another optional embodiment provided based on the embodiment of fig. 5 or any one of the optional embodiments described above, the difference information corresponding to the first VRS includes: the propagation error corresponding to the first VRS and the position coordinate corresponding to the first VRS;
a positioning module 505, configured to calculate an observed quantity corresponding to the first VRS according to the propagation error corresponding to the first VRS and the position coordinate corresponding to the first VRS; and carrying out differential positioning according to the observed quantity corresponding to the first VRS.
In another optional embodiment provided based on the embodiment of fig. 5 or any one of the above optional embodiments, as shown in fig. 6, the apparatus 500 further includes: and an update module 508.
The obtaining module 504 is further configured to, in the i + k-th positioning process, if it is determined that the differential information multiplexing condition is not satisfied, obtain, from the data center, differential information corresponding to a second VRS generated by the data center according to the geographic position obtained through differential positioning in the last positioning process.
The positioning module 505 is further configured to perform differential positioning according to the differential information corresponding to the second VRS.
An updating module 508, configured to update the stored difference information corresponding to the first VRS to the difference information corresponding to the second VRS.
Referring to fig. 7, a block diagram of a GNSS based differential positioning apparatus according to another embodiment of the present application is shown. The device has the function of realizing the method example of the data center side, and the function can be realized by hardware or by hardware executing corresponding software. The device can be a server in the data center, and can also be arranged on the server in the data center. The apparatus 700 may include: a sending module 701, a judging module 702 and a processing module 703.
A sending module 701, configured to send, in an ith positioning process, differential information corresponding to a first VRS to a terminal, where the terminal is configured to store the differential information corresponding to the first VRS, and i is a positive integer.
A determining module 702, configured to determine whether a differential information multiplexing condition is met in an i + k-th positioning process, where k is a positive integer.
The processing module 703 is configured to trigger the terminal to perform differential positioning according to the stored differential information corresponding to the first VRS if it is determined that the differential information multiplexing condition is met.
To sum up, in the technical solution provided in the embodiment of the present application, the terminal stores the differential information corresponding to the VRS obtained from the data center, and when it is determined that the differential information multiplexing condition is satisfied, the stored differential information corresponding to the VRS is directly obtained to perform differential positioning, so that it is not necessary to request to obtain the differential information corresponding to the VRS from the data center in each positioning process.
In an optional embodiment provided based on the embodiment of fig. 7, the determining module 702 is configured to determine whether spatiotemporal change information is smaller than a preset change amount, where the spatiotemporal change information is used to indicate a change amount of time and/or a terminal geographic location from the i-th positioning process to the i + k-th positioning process; and if the time-space change information is smaller than the preset variable quantity, determining that the differential information multiplexing condition is met.
In another optional embodiment provided based on the embodiment of fig. 7 or any one of the above optional embodiments, as shown in fig. 8, the apparatus 700 further includes: a generation module 704.
A generating module 704, configured to, in the i + k-th positioning process, if it is determined that the differential information multiplexing condition is not satisfied, generate differential information corresponding to a second VRS according to a geographic position obtained by differential positioning in a last positioning process of the terminal.
The sending module 701 is further configured to send differential information corresponding to the second VRS to the terminal, where the terminal is configured to perform differential positioning according to the differential information corresponding to the second VRS, and update the stored differential information corresponding to the first VRS to the differential information corresponding to the second VRS.
It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.
Referring to fig. 9, a block diagram of a terminal 900 according to an embodiment of the present application is shown. In general, terminal 900 includes: a processor 901 and a memory 902.
In some embodiments, terminal 900 can also optionally include: a peripheral interface 903 and at least one peripheral. The processor 901, memory 902, and peripheral interface 903 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 903 via a bus, signal line, or circuit board. Specifically, the peripheral device may include: at least one of a communication interface 904, a display screen 905, audio circuitry 906, a camera assembly 907, a positioning assembly 908, and a power supply 909.
Those skilled in the art will appreciate that the configuration shown in fig. 9 does not constitute a limitation of terminal 900, and may include more or fewer components than those shown, or may combine certain components, or may employ a different arrangement of components.
Referring to fig. 10, a schematic structural diagram of a server according to an embodiment of the present application is shown. The server is used for implementing the GNSS-based differential positioning method on the data center side provided in the above embodiments, and the server may be a server in the data center. Specifically, the method comprises the following steps:
the server 1000 includes a Central Processing Unit (CPU)1001, a system memory 1004 including a Random Access Memory (RAM)1002 and a Read Only Memory (ROM)1003, and a system bus 1005 connecting the system memory 1004 and the central processing unit 1001. The server 1000 also includes a basic input/output system (I/O system) 1006, which facilitates the transfer of information between devices within the computer, and a mass storage device 1007, which stores an operating system 1013, application programs 1014, and other program modules 1015.
The basic input/output system 1006 includes a display 1008 for displaying information and an input device 1009, such as a mouse, keyboard, etc., for user input of information. Wherein the display 1008 and input device 1009 are connected to the central processing unit 1001 through an input-output controller 1010 connected to the system bus 1005. The basic input/output system 1006 may also include an input/output controller 1010 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, the input-output controller 1010 also provides output to a display screen, a printer, or other type of output device.
The mass storage device 1007 is connected to the central processing unit 1001 through a mass storage controller (not shown) connected to the system bus 1005. The mass storage device 1007 and its associated computer-readable media provide non-volatile storage for the server 1000. That is, the mass storage device 1007 may include a computer readable medium (not shown) such as a hard disk or CD-ROM drive.
Without loss of generality, the computer-readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that the computer storage media is not limited to the foregoing. The system memory 1004 and mass storage device 1007 described above may be collectively referred to as memory.
The server 1000 may also operate as a remote computer connected to a network via a network, such as the internet, according to various embodiments of the present application. That is, the server 1000 may be connected to the network 1012 through the network interface unit 1011 connected to the system bus 1005, or the network interface unit 1011 may be used to connect to another type of network or a remote computer system (not shown).
The memory also includes one or more programs stored in the memory and configured to be executed by one or more processors. The one or more programs include instructions for implementing the GNSS based differential positioning method.
In an exemplary embodiment, there is also provided a terminal comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by the processor to implement the above-mentioned GNSS based differential positioning method at the terminal side.
In an exemplary embodiment, there is also provided a server comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by the processor to implement the above-mentioned GNSS based differential positioning method at the data center side.
An exemplary embodiment of the present application further provides a GNSS based differential positioning system, which may include: a terminal and a server. The terminal may comprise the GNSS based differential positioning apparatus described in the above embodiment of fig. 5 or fig. 6, and the server may comprise the GNSS based differential positioning apparatus described in the above embodiment of fig. 7 or fig. 8.
In an exemplary embodiment, a computer readable storage medium is also provided, in which at least one instruction, at least one program, a set of codes or a set of instructions is stored, which when executed by a processor of a terminal, implements the above-mentioned terminal-side GNSS based differential positioning method.
In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one instruction, at least one program, a set of codes, or a set of instructions is stored, which when executed by a processor of a server in a data center, implements the above-mentioned GNSS based differential positioning method on the data center side.
Alternatively, the computer-readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, a computer program product is also provided for implementing the above-mentioned terminal-side GNSS based differential positioning method, when the computer program product is executed by a processor of the terminal.
In an exemplary embodiment, a computer program product is also provided for implementing the above-mentioned GNSS based differential positioning method at the data center side when being executed by a processor of a server in the data center.
It should be understood that reference to "a plurality" herein means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The above description is only exemplary of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A differential positioning method based on a Global Navigation Satellite System (GNSS), which is characterized by comprising the following steps:
in the ith positioning process, a terminal receives differential information corresponding to a first Virtual Reference Station (VRS) sent by a data center, wherein i is a positive integer;
the terminal stores differential information corresponding to the first VRS;
in the (i + k) th positioning process, the terminal sends the geographical position obtained through differential positioning in the last positioning process to the data center, wherein k is a positive integer;
the data center judges whether a differential information multiplexing condition is met; wherein the differential information multiplexing condition includes at least one of: the distance between the geographic position obtained through differential positioning in the last positioning process and the position coordinate corresponding to the first VRS is smaller than a first threshold value, and the time interval between the current moment and the generation moment corresponding to the first VRS is smaller than a second threshold value;
if the differential information multiplexing condition is determined to be met, the data center sends indication information for indicating the terminal to multiplex differential information to the terminal;
the terminal acquires the stored difference information corresponding to the first VRS according to the indication information;
and the terminal carries out differential positioning according to the differential information corresponding to the first VRS to obtain the geographic position of the terminal.
2. The method of claim 1, wherein the differential information corresponding to the first VRS comprises: the propagation error corresponding to the first VRS and the position coordinate corresponding to the first VRS;
the differential positioning is carried out by the terminal according to the differential information corresponding to the first VRS, and the geographic position of the terminal is obtained, wherein the differential positioning comprises the following steps:
the terminal calculates the observed quantity corresponding to the first VRS according to the propagation error corresponding to the first VRS and the position coordinate corresponding to the first VRS;
and the terminal carries out differential positioning according to the observed quantity corresponding to the first VRS to obtain the geographic position of the terminal.
3. The method of claim 1, further comprising:
in the (i + k) th positioning process, if the differential information multiplexing condition is determined not to be met, the data center generates differential information corresponding to a second VRS according to the geographic position obtained by differential positioning in the last positioning process of the terminal;
the data center sends differential information corresponding to the second VRS to the terminal;
the terminal carries out differential positioning according to the differential information corresponding to the second VRS to obtain the geographic position of the terminal;
and the terminal updates the stored differential information corresponding to the first VRS into the differential information corresponding to the second VRS.
4. A differential positioning system based on a global navigation satellite system GNSS, the system comprising: a terminal and a data center;
the terminal is used for receiving differential information corresponding to a first virtual reference station VRS sent by the data center in the ith positioning process, wherein i is a positive integer; storing the difference information corresponding to the first VRS; in the (i + k) th positioning process, sending the geographical position obtained through differential positioning in the last positioning process to the data center, wherein k is a positive integer;
the data center is used for judging whether a differential information multiplexing condition is met; wherein the differential information multiplexing condition includes at least one of: the distance between the geographic position obtained through differential positioning in the last positioning process and the position coordinate corresponding to the first VRS is smaller than a first threshold value, and the time interval between the current moment and the generation moment corresponding to the first VRS is smaller than a second threshold value; if the differential information multiplexing condition is determined to be met, sending indication information for indicating the terminal to multiplex differential information to the terminal;
the terminal is further used for acquiring the stored difference information corresponding to the first VRS according to the indication information; and carrying out differential positioning according to the differential information corresponding to the first VRS to obtain the geographic position of the terminal.
5. The system of claim 4, wherein the differential information corresponding to the first VRS comprises: the propagation error corresponding to the first VRS and the position coordinate corresponding to the first VRS;
the terminal is used for calculating the observed quantity corresponding to the first VRS according to the propagation error corresponding to the first VRS and the position coordinate corresponding to the first VRS; and carrying out differential positioning according to the observed quantity corresponding to the first VRS to obtain the geographic position of the terminal.
6. The system of claim 4,
the data center is further configured to, in the (i + k) -th positioning process, if it is determined that the differential information multiplexing condition is not satisfied, generate differential information corresponding to a second VRS according to a geographical position obtained by differential positioning of the terminal in the last positioning process; sending differential information corresponding to the second VRS to the terminal;
the terminal is further used for carrying out differential positioning according to the differential information corresponding to the second VRS to obtain the geographic position of the terminal; and updating the stored difference information corresponding to the first VRS into the difference information corresponding to the second VRS.
7. A terminal, characterized in that it comprises a processor and a memory, in which at least one instruction, at least one program, set of codes or set of instructions is stored, which is loaded and executed by the processor to implement the steps performed by the terminal in the method according to any one of claims 1 to 3.
8. A server, comprising a processor and a memory, wherein at least one instruction, at least one program, set of codes, or set of instructions is stored in the memory, and wherein the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the steps performed by the data center in the method of any one of claims 1 to 3.
9. A computer readable storage medium, having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to carry out the steps performed by the terminal in the method according to any one of claims 1 to 3, or to carry out the steps performed by the data center in the method according to any one of claims 1 to 3.
10. A computer program product for carrying out the steps performed by the terminal in the method according to any one of claims 1 to 3, or the steps performed by the data center in the method according to any one of claims 1 to 3, when the computer program product is executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811323147.9A CN111158033B (en) | 2018-11-08 | 2018-11-08 | Differential positioning method, device, equipment and storage medium based on GNSS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811323147.9A CN111158033B (en) | 2018-11-08 | 2018-11-08 | Differential positioning method, device, equipment and storage medium based on GNSS |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111158033A CN111158033A (en) | 2020-05-15 |
| CN111158033B true CN111158033B (en) | 2022-03-18 |
Family
ID=70554951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811323147.9A Active CN111158033B (en) | 2018-11-08 | 2018-11-08 | Differential positioning method, device, equipment and storage medium based on GNSS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111158033B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113074742B (en) * | 2020-08-14 | 2022-06-10 | 中移(上海)信息通信科技有限公司 | Information sending method, device, equipment and computer storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101943749A (en) * | 2010-09-10 | 2011-01-12 | 东南大学 | Method for positioning network RTK based on star-shaped virtual reference station |
| CN106663050A (en) * | 2014-07-28 | 2017-05-10 | 三菱电机株式会社 | Differential Data Creating System, Data Updating System, And Differential Data Creating Method |
| CN108195283A (en) * | 2017-12-04 | 2018-06-22 | 千寻位置网络有限公司 | GNSS real-time deformations monitoring method and system based on seamless transitions |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8626473B2 (en) * | 2008-08-07 | 2014-01-07 | Trimble Navigation Limited | Real-time transmission of survey data |
-
2018
- 2018-11-08 CN CN201811323147.9A patent/CN111158033B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101943749A (en) * | 2010-09-10 | 2011-01-12 | 东南大学 | Method for positioning network RTK based on star-shaped virtual reference station |
| CN106663050A (en) * | 2014-07-28 | 2017-05-10 | 三菱电机株式会社 | Differential Data Creating System, Data Updating System, And Differential Data Creating Method |
| CN108195283A (en) * | 2017-12-04 | 2018-06-22 | 千寻位置网络有限公司 | GNSS real-time deformations monitoring method and system based on seamless transitions |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111158033A (en) | 2020-05-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109597109B (en) | Positioning method, positioning device and positioning system | |
| US20170013407A1 (en) | Positioning accuracy using 3d building models | |
| US9274229B2 (en) | GNSS architecture | |
| CN110972261A (en) | Base station fingerprint database establishing method, device, server and storage medium | |
| CN109343092B (en) | Performance test method and device, electronic equipment and storage medium | |
| CN110895343A (en) | Data processing method, system and related equipment | |
| CN111781619B (en) | Positioning method, device, equipment and storage medium based on near field communication network | |
| US20230061599A1 (en) | Positioning method, electronic device and storage medium | |
| CN112527932B (en) | Road data processing method, device, equipment and storage medium | |
| CN110954931A (en) | Positioning method, positioning device and computer readable storage medium | |
| CN110023778B (en) | Positioning method and device | |
| US20160124069A1 (en) | Systems and methods for estimating a two-dimensional position of a receiver | |
| CN111158033B (en) | Differential positioning method, device, equipment and storage medium based on GNSS | |
| JP2017015458A (en) | Location conversion system, positioning terminal device and location conversion program | |
| CN113986378A (en) | Data processing method and device | |
| JP2017508988A (en) | Method and apparatus for sharing data between positioning devices | |
| CN111273324A (en) | Satellite positioning enhancement method, device, computer equipment and storage medium | |
| CN115843100A (en) | Positioning method and device | |
| CN114047527A (en) | Pseudo-range signal transmission method, pseudo-range signal transmission device, storage medium, and electronic device | |
| CN110837497A (en) | Data quality detection method and device and server | |
| CN110649958B (en) | Method, apparatus, device and medium for processing satellite data | |
| CN111694035A (en) | Differential positioning method, device, terminal and storage medium | |
| CN112099058A (en) | Positioning method, device, system, computer equipment and storage medium | |
| CN113625223B (en) | Positioning method and terminal equipment | |
| EP4290895A1 (en) | Method for controlling a positioning chip and electronic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |