CN112255650A - Positioning method, equipment, service terminal equipment and storage medium - Google Patents
Positioning method, equipment, service terminal equipment and storage medium Download PDFInfo
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- CN112255650A CN112255650A CN202011016132.5A CN202011016132A CN112255650A CN 112255650 A CN112255650 A CN 112255650A CN 202011016132 A CN202011016132 A CN 202011016132A CN 112255650 A CN112255650 A CN 112255650A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—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
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application provides a positioning method, a device, a service terminal device and a storage medium, which are used for judging whether a common grid point exists in a preset range of a central grid point or not; if yes, sending elevation data of the common grid points and longitude and latitude data of the central grid points to a reference network for calculation to obtain VRS data, and positioning the client based on the VRS data; acquiring elevation data of a client in a common grid point in advance; if not, the elevation data of the grid points and the longitude and latitude data of the central grid point, which are acquired in advance through the digital elevation model and the earth gravity field model of the reference network, are sent to the reference network to acquire VRS data, and the client performs positioning based on the VRS data. The technical problem that positioning errors caused by different elevations in a troposphere have great influence in the client positioning process can be effectively solved.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning method, a device, a service terminal device, and a storage medium.
Background
In the process of positioning by the client by using the reference station. The error items influencing the terminal positioning calculation comprise a plurality of error items such as satellite orbit errors, satellite clock errors, troposphere delay, ionosphere delay, receiver clock errors, multipath errors and measurement noise. After the client builds the carrier phase double-difference observation equation, the satellite clock difference and the receiver clock difference can be eliminated. When the client performs RTK positioning, a positioning error is mainly caused by differences in elevation in a convection layer, that is, a positioning error is large mainly caused by differences in elevation at a geographical position where a client user is located.
Disclosure of Invention
The invention solves the technical problem of larger positioning error due to different elevations in the client positioning process in the prior art.
In order to solve the above technical problem, the present invention provides a positioning method applied to a client based on a service terminal, including:
acquiring the client position information, wherein the client position information comprises longitude information and latitude information of the position of the client;
when the client is connected with the service terminal, determining a central grid point where the client is located based on longitude information and latitude information of the client;
judging whether the common grid points exist in the preset range of the central grid points;
if yes, sending the elevation data of the common grid points and the longitude and latitude data of the central grid point to a reference network for calculation to obtain VRS data, and positioning the client based on the VRS data; acquiring elevation data of the common grid points in advance;
if not, the elevation data of the grid points, which are acquired in advance through a digital elevation model and an earth gravity field model of a reference network, and the longitude and latitude data of the central grid point are sent to the reference network to acquire VRS data, and the client side carries out positioning based on the VRS data.
Further, when the latitude information of the client is high latitude information, the step of judging whether the common grid points exist in the predetermined range of the central grid point comprises the following steps: judging whether the common grid points exist in the first threshold range of the central grid points;
when the latitude information of the client is the middle latitude information, the step of judging whether the common grid points exist in the preset range of the central grid point comprises the following steps: judging whether the common grid points exist in the second threshold range of the central grid points;
when the latitude information of the client is low latitude information, the step of judging whether the common grid points exist in the preset range of the central grid point comprises the following steps: and judging whether the common grid points exist in the third threshold range of the central grid point.
Further, the first threshold is greater than the second threshold and greater than the third threshold.
Further, the step of sending the elevation data of the common grid points and the longitude and latitude data of the central grid point to a reference network to calculate and obtain VRS data, and the step of positioning the client based on the VRS data specifically includes: and sending the elevation data of the common grid and the longitude and latitude data of the central grid point to a reference network to calculate and obtain VRS data, and constructing a double-difference observation equation between the mobile service terminal and the service terminal by the client based on the VRS data and utilizing a carrier phase observation value to position.
Further, the step of sending the elevation data of the grid points, which is obtained in advance through the digital elevation model and the earth gravity field model of the reference network, and the longitude and latitude data of the central grid point to the reference network to obtain the VRS data, wherein the step of the client positioning based on the VRS data specifically includes: the method comprises the steps that altitude data of grid points are obtained through calculation by utilizing a digital altitude model and an earth gravity field model in advance based on longitude and latitude information of the grid points of the service terminal, wherein the altitude data of a central grid point are included, the altitude data of the grid points are stored in a software memory of a reference network in combination with the longitude and latitude information of the grid points, when no common grid point exists in a preset range of the central grid point, the reference network calculates VRS data based on the prestored altitude data of the central grid point and the longitude and latitude data of the central grid point, and the client side constructs a double-difference observation equation between the mobile service terminal and the service terminal based on the VRS data and a carrier phase observation value to position.
There is also provided a service terminal device comprising:
the acquisition module is used for acquiring the client position information, and the client position information comprises longitude information and latitude information of the position of the client;
the position processing module is used for determining a central grid point where the client is located based on longitude information and latitude information of the client when the client is connected with the service terminal;
the information processing module is used for judging whether the common grid points exist in the preset range of the central grid point;
the sending module is used for judging whether a common grid point exists in the preset range of the central grid point; sending the elevation data of the common grid points and the longitude and latitude data of the central grid point to a reference network to calculate and obtain VRS data, and positioning the client based on the VRS data; if no common grid point exists in the preset range of the central grid point; and sending the elevation data of the grid points, which are acquired in advance through a digital elevation model and an earth gravity field model of a reference network, and the longitude and latitude data of the central grid point to the reference network to acquire VRS data, and positioning the client based on the VRS data.
There is also provided a positioning apparatus comprising: a processor and a memory coupled to each other;
the memory is for storing program instructions for implementing the positioning method as described above and the processor is for executing the program instructions stored by the memory.
There is also provided a computer readable storage medium storing a program file capable of being executed to implement the above positioning method.
The invention judges whether the common grid points exist in the preset range of the central grid point; if yes, sending the elevation data of the common grid points and the longitude and latitude data of the central grid point to a reference network for calculation to obtain VRS data, and positioning the client based on the VRS data; acquiring elevation data of the client in the common grid points in advance; if not, the elevation data of the grid points, which are acquired in advance through a digital elevation model and an earth gravity field model of a reference network, and the longitude and latitude data of the central grid point are sent to the reference network to acquire VRS data, and the client side carries out positioning based on the VRS data. The technical problem that positioning errors caused by different elevations in a troposphere have great influence in the client positioning process can be effectively solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an application scenario of the positioning method of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating an embodiment of a positioning method of the present invention;
FIG. 3 is a block diagram of a service terminal device of the present invention;
FIG. 4 is a block diagram of an embodiment of the positioning apparatus of the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Likewise, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive step are within the scope of the present invention.
The terms "first", "second" and "third" in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. All directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly. The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or may alternatively include other steps or elements inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Please refer to fig. 1, which is a schematic view of an application scenario of the positioning method according to the present invention. Please refer to fig. 2, which is a flowchart illustrating a positioning method according to an embodiment of the present invention.
In step S01, client location information is acquired.
In the present embodiment, the location information of the client 3 needs to be acquired first. The position information of the client 3 can be acquired by a sensor arranged at the client 3, and the sensor is connected with a GPS (global positioning system) or a Beidou system of China. And acquiring the position coordinate information of the client 3. Once the position coordinate information of the client 3 is acquired, the mesh point of the client 3 at the service terminal 2, that is, the center mesh point, is determined. The grid points of the service area of the service terminal 2 have been divided in advance. The client 3 position coordinate information in the present embodiment includes longitude information and latitude information of the position where the service terminal 2 is located.
And step S02, when the client is connected with the service terminal, determining the central grid point where the client is located based on the longitude information and the latitude information of the client.
When the client 3 needs to be positioned, the client 3 is connected with the service terminal 2, and the service terminal 2 acquires longitude and latitude information of a central grid point of the position where the client 3 is located based on the longitude and latitude information of the client 3. Wherein the central grid point may be one of a plurality of grid points of the service terminal 2.
And step S03, judging whether the common grid points exist in the preset range of the central grid point.
The latitude and longitude information of the client 3 is obtained in the above steps. When the latitude information of the client 3 is greater than 60 degrees, the latitude information of the client 3 is high latitude information. And judging whether the common grid point 4 exists in the range of 18 kilometers of the central grid point. The common grid point 4 is a grid point which is already positioned and calculates and acquires elevation data and VRS data through the reference network 1. If the common grid point 4 exists within 18 km of the central grid point, the step S04 is executed, and if the common grid point 4 does not exist within 18 km of the central grid point, the step S05 is executed.
When the latitude information of the client 3 is smaller than 60 degrees and larger than 30 degrees, the latitude information of the client 3 is the middle latitude information. And judging whether the common grid point 4 exists in the range of 15 kilometers of the central grid point. If the common halftone dots exist within the 15 km range of the central halftone dot, the step S04 is executed, and if the common halftone dots do not exist within the 15 km range of the central halftone dot, the step S05 is executed.
When the latitude information of the client 3 is less than 30 degrees, the latitude information of the client 3 is low latitude information. And judging whether the common grid point 4 exists in the range of 10 kilometers of the central grid point. If the common grid point 4 exists within the range of 10 km of the central grid point, the step S04 is executed, and if the common grid point 4 does not exist within the range of 10 km of the central grid point, the step S05 is executed.
And step S04, sending the elevation data of the common grid points and the longitude and latitude data of the central grid points to a reference network for calculation to obtain VRS data, and positioning the client based on the VRS data.
Within a predetermined range of the central grid point there are commonly used grid points 4 for which elevation data has been acquired. The method comprises the steps that a reference network 1 sends elevation data of common grid points 4 and longitude and latitude data of central grid points to an RTK algorithm of the reference network 1 to calculate and obtain VRS data and sends the VRS data to a client 3, and the client 3 constructs a double-difference observation equation between a mobile service terminal 2 and the service terminal 2 by utilizing a carrier phase observation value based on the VRS data to perform positioning.
Step S05, the elevation data of grid points and the longitude and latitude data of the central grid point, which are acquired in advance through the digital elevation model and the earth gravity field model of the reference network, are sent to the reference network to acquire VRS data, and the client performs positioning based on the VRS data.
The reference network 1 calculates and acquires elevation data of grid points in advance by using a digital elevation model and an earth gravity field model based on longitude and latitude information of the grid points of the service terminal, wherein the elevation data comprises the elevation data of a central grid point. And storing the altitude data of the grid points and longitude and latitude information of the qualified grid points in a software memory of the reference network 1. When the common grid points 4 do not exist in the preset range of the central grid point, the reference network 1 calculates and obtains VRS data based on the prestored elevation data of the central grid point and the latitude and longitude data of the central grid point, and sends the VRS data to the client 3. The client 3 constructs a double-difference observation equation between the mobile service terminal 2 and the service terminal 2 by utilizing the carrier phase observation value based on the VRS data for positioning.
The embodiment judges whether the common grid points exist in the preset range of the central grid point; if yes, sending elevation data of the common grid points and longitude and latitude data of the central grid points to a reference network for calculation to obtain VRS data, and positioning the client based on the VRS data; if not, the elevation data of the grid points and the longitude and latitude data of the central grid point, which are acquired in advance through the digital elevation model and the earth gravity field model of the reference network, are sent to the reference network to acquire VRS data, and the client performs positioning based on the VRS data. The technical problem that positioning errors caused by different elevations in a troposphere have great influence in the client positioning process can be effectively solved.
Please refer to fig. 3, which is a block diagram of a service terminal device according to the present invention.
There is also provided a service terminal device comprising:
the acquisition module 1 is used for acquiring the client position information, and the client position information comprises longitude information and latitude information of the position of the client;
the position processing module 2 is used for determining a central grid point where the client is located based on longitude information and latitude information of the client when the client is connected with the service terminal;
the information processing module 3 is used for judging whether the common grid points exist in the preset range of the central grid point;
the sending module 4 is used for judging whether a common grid point exists in the preset range of the central grid point or not; sending the elevation data of the common grid points and the longitude and latitude data of the central grid point to a reference network to calculate and obtain VRS data, and positioning the client based on the VRS data; if no common grid point exists in the preset range of the central grid point; and sending the elevation data of the grid points, which are acquired in advance through a digital elevation model and an earth gravity field model of a reference network, and the longitude and latitude data of the central grid point to the reference network to acquire VRS data, and positioning the client based on the VRS data.
Referring to fig. 4, fig. 4 is a schematic diagram of a positioning apparatus according to an embodiment of the present invention. The positioning apparatus 80 comprises a processor 81 and a memory 82 coupled to each other, the processor 81 being configured to execute program instructions stored in the memory 82 to implement the steps of any of the above-mentioned method embodiments or the steps correspondingly performed by the positioning method in any of the above-mentioned method embodiments.
In particular, the processor 81 is configured to control itself and the memory 82 to implement the steps in any of the above-described embodiments of the positioning method. The processor 81 may also be referred to as a CPU (Central processing unit). The processor 81 may be an integrated circuit chip having signal processing capabilities. The Processor 81 may also be a general purpose Processor 81, a Digital Signal Processor 81 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, the processor 81 may be commonly implemented by a plurality of integrated circuit chips.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application.
The computer-readable storage medium 60 comprises a computer program 601 stored on the computer-readable storage medium 60, which computer program 601, when executed by the processor, performs the steps of any of the above-described method embodiments or the steps correspondingly performed by the positioning device in the above-described method embodiments.
In particular, the integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium 60. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a computer-readable storage medium 60 and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned computer-readable storage medium 60 includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A positioning method is applied to a client based on a service terminal, and is characterized by comprising the following steps:
acquiring the client position information, wherein the client position information comprises longitude information and latitude information of the position of the client;
when the client is connected with the service terminal, determining a central grid point where the client is located based on longitude information and latitude information of the client;
judging whether the common grid points exist in the preset range of the central grid points;
if yes, sending the elevation data of the common grid points and the longitude and latitude data of the central grid point to a reference network for calculation to obtain VRS data, and positioning the client based on the VRS data; acquiring elevation data of the common grid points in advance;
if not, the elevation data of the grid points, which are acquired in advance through a digital elevation model and an earth gravity field model of a reference network, and the longitude and latitude data of the central grid point are sent to the reference network to acquire VRS data, and the client side carries out positioning based on the VRS data.
2. The method according to claim 1, wherein when the latitude information of the client is high latitude information, the step of determining whether there is a commonly used grid point within a predetermined range of the central grid point comprises: judging whether the common grid points exist in the first threshold range of the central grid points;
when the latitude information of the client is the middle latitude information, the step of judging whether the common grid points exist in the preset range of the central grid point comprises the following steps: judging whether the common grid points exist in the second threshold range of the central grid points;
when the latitude information of the client is low latitude information, the step of judging whether the common grid points exist in the preset range of the central grid point comprises the following steps: and judging whether the common grid points exist in the third threshold range of the central grid point.
3. The location-based method of claim 2, wherein the first threshold is greater than the second threshold and greater than the third threshold.
4. The positioning method according to claim 1, wherein the step of sending the elevation data of the common grid points and the longitude and latitude data of the central grid point to a reference network to calculate and obtain VRS data, and the step of positioning the client based on the VRS data specifically includes: and sending the elevation data of the common grid and the longitude and latitude data of the central grid point to a reference network to calculate and obtain VRS data, and constructing a double-difference observation equation between the mobile service terminal and the service terminal by the client based on the VRS data and utilizing a carrier phase observation value to position.
5. The positioning method according to claim 1, wherein the step of sending the elevation data of the grid points, which are obtained in advance through the digital elevation model and the earth gravity field model of the reference grid, and the longitude and latitude data of the central grid point to the reference grid to obtain the VRS data, and the step of the client performing positioning based on the VRS data specifically includes: the method comprises the steps that altitude data of grid points are obtained through calculation by utilizing a digital altitude model and an earth gravity field model in advance based on longitude and latitude information of the grid points of the service terminal, wherein the altitude data of a central grid point are included, the altitude data of the grid points are stored in a software memory of a reference network in combination with the longitude and latitude information of the grid points, when no common grid point exists in a preset range of the central grid point, the reference network calculates VRS data based on the prestored altitude data of the central grid point and the longitude and latitude data of the central grid point, and the client side constructs a double-difference observation equation between the mobile service terminal and the service terminal based on the VRS data and a carrier phase observation value to position.
6. A service terminal device, comprising:
the acquisition module is used for acquiring the client position information, and the client position information comprises longitude information and latitude information of the position of the client;
the position processing module is used for determining a central grid point where the client is located based on longitude information and latitude information of the client when the client is connected with the service terminal;
the information processing module is used for judging whether the common grid points exist in the preset range of the central grid point;
the sending module is used for judging whether a common grid point exists in the preset range of the central grid point; sending the elevation data of the common grid points and the longitude and latitude data of the central grid point to a reference network to calculate and obtain VRS data, and positioning the client based on the VRS data; if no common grid point exists in the preset range of the central grid point; and sending the elevation data of the grid points, which are acquired in advance through a digital elevation model and an earth gravity field model of a reference network, and the longitude and latitude data of the central grid point to the reference network to acquire VRS data, and positioning the client based on the VRS data.
7. A positioning apparatus, comprising: a processor and a memory coupled to each other;
the memory is configured to store program instructions for implementing the positioning method according to any one of claims 1 to 5, and the processor is configured to execute the program instructions stored by the memory.
8. A computer-readable storage medium, characterized in that a program file is stored, which can be executed to implement the positioning method according to any one of claims 1-5.
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