CN113093240A - Positioning correction method, device and equipment and computer readable storage medium - Google Patents
Positioning correction method, device and equipment and computer readable storage medium Download PDFInfo
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- CN113093240A CN113093240A CN202110304392.0A CN202110304392A CN113093240A CN 113093240 A CN113093240 A CN 113093240A CN 202110304392 A CN202110304392 A CN 202110304392A CN 113093240 A CN113093240 A CN 113093240A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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Abstract
The invention discloses a positioning correction method, a positioning correction device, positioning correction equipment and a computer readable storage medium, wherein the method comprises the following steps: determining a maximum elevation value, a minimum elevation value, a maximum longitude and latitude and a minimum longitude and latitude within a network coverage range of a Continuous Operation Reference Station (CORS); determining a three-dimensional virtual grid in the coverage range of the CORS network according to a set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude; obtaining a Global Navigation Satellite System (GNSS) differential correction number based on global satellite system (GPS) position information of a user and the three-dimensional virtual grid; the GNSS difference correction is used for guiding the user to determine the position of the user.
Description
Technical Field
The present invention relates to satellite navigation positioning technologies, and in particular, to a positioning correction method, apparatus, device, and computer readable storage medium.
Background
In a Continuous Operation Reference Station (CORS) network enhanced location service technology, under a complex terrain condition, a large-span and narrow ground elevation change such as a road and a railway engineering is severe, and a large height difference is easy to occur between a Global Navigation Satellite System (GNSS) mobile Station and a virtual Reference Station, so that influence of troposphere delay is increased, and the problem that the positioning accuracy of a terminal device is not high in the complex terrain condition is caused.
Disclosure of Invention
In view of the above, the present invention provides a positioning correction method, apparatus, device and computer readable storage medium, which can solve the problem of poor user positioning accuracy caused by a large height difference between a virtual reference station and an end user in a large height difference complex environment.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a positioning correction method, where the method includes: determining a maximum elevation value, a minimum elevation value, a maximum longitude and latitude and a minimum longitude and latitude within a continuous operation reference station CORS network coverage range; determining a three-dimensional virtual grid in the coverage range of the CORS network according to a set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude; obtaining a Global Navigation Satellite System (GNSS) differential correction number based on the position information of the Global Satellite System (GPS) of the user and the three-dimensional virtual grid; the GNSS difference correction is used for guiding the user to determine the position of the user.
In the above solution, the determining a three-dimensional virtual grid within the coverage area of the CORS network according to the set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude, and the minimum longitude and latitude includes:
determining a planar grid in the CORS network coverage range based on the minimum longitude and latitude in the CORS network coverage range, the minimum elevation value in the CORS network coverage range and the set longitude and latitude step length; determining an elevation grid in the CORS network coverage range based on the set vertical gradient, the maximum elevation value in the CORS network coverage range and the minimum elevation value in the CORS network coverage range; and determining the three-dimensional virtual grid based on the planar grid and the elevation grid.
In the above solution, the determining the planar grid within the coverage area of the CORS network based on the minimum longitude and latitude within the coverage area of the CORS network, the minimum elevation value within the coverage area of the CORS network, and the set longitude and latitude step length includes:
obtaining a plurality of longitude and latitude coordinates of the longitude and latitude direction in the CORS network coverage range based on the minimum longitude and latitude and the set longitude and latitude step length; determining a plurality of geodetic coordinates in a minimum elevation plane within the coverage area of the CORS network based on the plurality of longitude and latitude coordinates and the minimum elevation value; the minimum elevation plane is a horizontal plane where the minimum elevation value is located within the coverage range of the CORS network; and determining a planar grid within the coverage range of the CORS network based on the geodetic coordinates.
In the foregoing solution, determining an elevation grid within the coverage area of the CORS network based on the set vertical gradient, the maximum elevation value within the coverage area of the CORS network, and the minimum elevation value within the coverage area of the CORS network includes:
obtaining the number of layers of division in the elevation direction within the coverage range of the CORS network by solving an integral function upwards according to the set vertical gradient, the maximum elevation value and the minimum elevation value; and performing elevation division on the coverage range of the CORS network based on the number of division layers and the set vertical gradient to obtain the elevation grid.
In the foregoing solution, the determining the three-dimensional virtual grid based on the planar grid and the elevation grid includes:
determining geodetic coordinates contained in each elevation plane in the elevation grid based on the plurality of longitude and latitude coordinates; each elevation plane is a horizontal plane where each elevation value contained in the elevation grid is located; obtaining the three-dimensional virtual grid based on each of the geodetic coordinates.
In the above solution, the obtaining a GNSS differential correction number based on the user's GPS location information and the three-dimensional virtual grid includes:
determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid; and obtaining the GNSS differential correction number based on the three-dimensional lattice point.
In the foregoing solution, the determining a three-dimensional grid point corresponding to the GPS location information in the three-dimensional virtual grid includes:
determining plane grid coordinates on a minimum elevation plane grid in the three-dimensional virtual grid based on longitude and latitude coordinates in the GPS position information; the absolute value of the difference between the longitude in the plane grid coordinate and the longitude in the GPS position information satisfies a first set threshold and the absolute value of the difference between the latitude in the plane grid coordinate and the latitude in the GPS position information satisfies a second set threshold; determining a grid elevation value of which the absolute value of the difference value between the elevation value and the three-dimensional virtual grid meets a third set threshold value based on the elevation value in the GPS position information; and determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid based on the plane grid coordinates and the grid elevation value.
In the above aspect, the method further includes: and sending the GNSS differential correction number to a terminal held by the user, so that the terminal determines the position of the user based on the GNSS differential correction number.
In a second aspect, an embodiment of the present invention provides a positioning correction apparatus, where the positioning correction apparatus includes: a first determination unit, a second determination unit, and a third determination unit, wherein,
the first determining unit is used for determining a maximum elevation value, a minimum elevation value, a maximum longitude and latitude and a minimum longitude and latitude within a continuous operation reference station CORS network coverage range;
the second determining unit is used for determining the three-dimensional virtual grid in the coverage range of the CORS network according to the set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude;
the third determining unit is used for obtaining a GNSS differential correction number based on the GPS position information of the user and the three-dimensional virtual grid; the GNSS difference correction is used for guiding the user to determine the position of the user. In the above solution, the second determining unit includes a first determining subunit, a second determining subunit, and a third determining subunit, wherein,
the first determining subunit is used for determining a planar grid in the CORS network coverage range based on the minimum longitude and latitude in the CORS network coverage range, the minimum elevation value in the CORS network coverage range and the set longitude and latitude step length;
the second determining subunit is configured to determine an elevation grid within the coverage range of the CORS network based on the set vertical gradient, the maximum elevation value within the coverage range of the CORS network, and the minimum elevation value within the coverage range of the CORS network;
and the third determining subunit is configured to determine the three-dimensional virtual grid based on the planar grid and the elevation grid.
In the above scheme, the first determining subunit is specifically configured to obtain, based on the minimum longitude and latitude and the set longitude and latitude step length, a plurality of longitude and latitude coordinates of the longitude and latitude direction within the coverage area of the CORS network; determining a plurality of geodetic coordinates in a minimum elevation plane within the coverage area of the CORS network based on the plurality of longitude and latitude coordinates and the minimum elevation value; the minimum elevation plane is a horizontal plane where the minimum elevation value is located within the coverage range of the CORS network; and determining a planar grid within the coverage range of the CORS network based on the geodetic coordinates.
In the foregoing solution, the second determining subunit is specifically configured to: obtaining the number of layers of division in the elevation direction within the coverage range of the CORS network by solving an integral function upwards according to the set vertical gradient, the maximum elevation value and the minimum elevation value; and performing elevation division on the coverage range of the CORS network based on the number of division layers and the set vertical gradient to obtain the elevation grid.
In the foregoing solution, the third determining subunit is specifically configured to: determining geodetic coordinates contained in each elevation plane in the elevation grid based on the plurality of longitude and latitude coordinates; each elevation plane is a horizontal plane where each elevation value contained in the elevation grid is located; obtaining the three-dimensional virtual grid based on each of the geodetic coordinates.
In the foregoing solution, the third determining unit is specifically configured to determine a three-dimensional grid point corresponding to the GPS location information in the three-dimensional virtual grid; and obtaining the GNSS differential correction number based on the three-dimensional lattice point.
In the foregoing solution, the third determining unit is specifically configured to: determining plane grid coordinates on a minimum elevation plane grid in the three-dimensional virtual grid based on longitude and latitude coordinates in the GPS position information; the absolute value of the difference between the longitude in the plane grid coordinate and the longitude in the GPS position information satisfies a first set threshold and the absolute value of the difference between the latitude in the plane grid coordinate and the latitude in the GPS position information satisfies a second set threshold; determining a grid elevation value of which the absolute value of the difference value between the elevation value and the three-dimensional virtual grid meets a third set threshold value based on the elevation value in the GPS position information; and determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid based on the plane grid coordinates and the grid elevation value.
In the above solution, the positioning correction apparatus further includes: and the sending unit is used for sending the GNSS differential correction number to the terminal held by the user so that the terminal can determine the position of the user based on the GNSS differential correction number.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored; the computer program, when executed by a processor, implements the steps of any of the methods described above.
In a fourth aspect, an embodiment of the present invention provides a positioning correction apparatus, where the positioning correction apparatus includes: a processor and a memory for storing a computer program operable on the processor, wherein the processor is operable to perform the steps of any of the above methods when executing the computer program.
The embodiment of the invention provides a positioning correction method, a positioning correction device, positioning correction equipment and a computer readable storage medium, wherein the method comprises the following steps: determining a maximum elevation value, a minimum elevation value, a maximum longitude and latitude and a minimum longitude and latitude within a continuous operation reference station CORS network coverage range; determining a three-dimensional virtual grid in the coverage range of the CORS network according to a set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude; obtaining a GNSS differential correction number based on the GPS position information of the user and the three-dimensional virtual grid; the GNSS difference correction is used for guiding the user to determine the position of the user. According to the method, the set vertical gradient in the coverage range of the CORS network is obtained, the three-dimensional virtual grid in the coverage range of the CORS network is determined by utilizing the set vertical gradient, and finally the position of the user is determined based on the GGA coordinate of the user and the three-dimensional virtual grid.
Drawings
Fig. 1 is a schematic flow chart of a positioning correction method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a three-dimensional virtual grid formed in a positioning correction method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of obtaining GNSS differential corrections in a three-dimensional virtual grid when the positioning correction method provided by the embodiment of the present invention is used;
fig. 4 is a schematic structural diagram of a positioning correction apparatus according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a hardware structure of a positioning correction apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following describes specific technical solutions of the present invention in further detail with reference to the accompanying drawings in the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The CORS network enhanced location service technology has the advantages of wide coverage range, high positioning precision, quick initialization time and the like, and is widely applied to the fields of road and railway engineering, estuary and coast, intelligent traffic, disaster rescue, fine agriculture and the like. As the most mature Real Time Kinematic (RTK) technology at present, a Virtual Reference Station (VRS) technology becomes one of the most common CORS network ground-based enhanced location service technologies, and a service end needs to generate a Virtual Reference Station for each positioning terminal.
In order to optimize the multi-purpose service performance in the VRS technology, the traditional method firstly obtains the coverage range of the CORS network; then, grid division is carried out according to the step length experience threshold values in the east-west direction, the south-north direction, and grid points are used as virtual reference stations; and finally, acquiring differential data by matching the GGA approximate coordinate of the terminal equipment with the nearest grid point. However, under the condition of complex terrain, the elevation change of large-span and narrow earth surfaces of roads, railway projects and the like is severe, and a large height difference exists between a mobile station and a virtual reference station, so that the influence on troposphere delay is increased, and the problem that the positioning accuracy of terminal equipment is not high in the condition of complex terrain is caused. Aiming at the problem, the invention provides a position service technology considering the vertical gradient of the road and railway zonal terrain. The technology is a virtual grid position service technology which is formed by improvement and evolution on the basis of the position service of the traditional virtual reference station and considers complex terrains with large altitude difference.
The main idea of the position service technology considering the vertical gradient of the road and railway zonal topography is as follows: determining a maximum elevation value, a minimum elevation value, a maximum longitude and latitude and a minimum longitude and latitude within a coverage range of a CORS network; according to the set vertical gradient and the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude within the coverage range of the CORS network, carrying out three-dimensional grid division taking the terrain vertical gradient information into consideration; and matching a three-dimensional grid differential data source according to the GGA approximate coordinate obtained by the terminal held by the user to obtain a GNSS differential correction number, so that the terminal obtains the accurate position of the user based on the GNSS differential correction number, namely, accurate positioning.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic flow chart of a positioning correction method according to an embodiment of the present invention. As shown in fig. 1, the method includes:
s101: and determining the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude within the network coverage range of the continuous operation reference station CORS.
Here, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude, and the minimum longitude and latitude are basic information of the CORS network, and if the CORS network determines that the coverage range is also known, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude, and the minimum longitude and latitude included in the CORS network are also known. That is, determining the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude within the coverage area of the CORS network may be reading from a database storing basic information of the CORS network.
S102: and determining the three-dimensional virtual grid in the coverage range of the CORS network according to the set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude.
It should be noted that, the setting of the vertical gradient or the vertical grid pitch in elevation referred to herein means the grid pitch of the grid divided in the elevation direction, and the data for setting the vertical gradient may be set manually according to experience. On the basis of determining the maximum elevation value in the coverage range of the CORS network, the minimum elevation value in the coverage range of the CORS network, the maximum longitude and latitude in the coverage range of the CORS network, and the minimum longitude and latitude in the coverage range of the CORS network, which are included in the coverage range of the CORS network, for S102, the method may include:
s1021: determining a planar grid in the CORS network coverage range based on the minimum longitude and latitude in the CORS network coverage range, the minimum elevation value in the CORS network coverage range and the set longitude and latitude step length;
s1022: determining an elevation grid in the CORS network coverage range based on the set vertical gradient, the maximum elevation value in the CORS network coverage range and the minimum elevation value in the CORS network coverage range;
s1023: and determining the three-dimensional virtual grid based on the planar grid and the elevation grid.
S1021 specifically includes: obtaining a plurality of longitude and latitude coordinates of the longitude and latitude direction in the CORS network coverage range based on the minimum longitude and latitude and the set longitude and latitude step length; determining a plurality of geodetic coordinates in a minimum elevation plane within the coverage area of the CORS network based on the plurality of longitude and latitude coordinates and the minimum elevation value; the minimum elevation plane is a horizontal plane where the minimum elevation value is located within the coverage range of the CORS network; and determining a planar grid within the coverage range of the CORS network based on the geodetic coordinates.
Here, the specific process of S1021 is: starting from the position with the minimum latitude in the coverage range of the CORS network, recording the longitude and the latitude of the point as B1、L1. Carrying out plane grid division on the CORS network coverage range according to the set longitude and latitude direction step length threshold values m and n to obtain the plane grid, and taking the minimum elevation of the CORS network coverage area from the elevation of each grid point in the plane gridThe geodetic coordinate of each grid point in the planar grid is (B)i，Li，Hmin) Wherein B isi＝B1+(i-1)×m，Li＝L1+ (i-1) × n, where subscript i is the grid point number, i ═ 1, 2, 3, HminAnd the minimum elevation value in the coverage range of the CORS network is obtained.
For S1022, specifically, the method includes: obtaining the number of layers of division in the elevation direction within the coverage range of the CORS network by solving an integral function upwards according to the set vertical gradient, the maximum elevation value and the minimum elevation value; and performing elevation division on the coverage range of the CORS network based on the number of division layers and the set vertical gradient to obtain the elevation grid.
Here, the specific process of S1022 is: using z ═ roundup ((H) based on the set vertical gradient Δ H obtained abovemax-Hmin) Δ h) formula, wherein: hmaxIs the maximum elevation, H, in the coverage area of the CORS networkminThe minimum elevation in the coverage range of the CORS network is obtained; and the round function is an upward integral function, the number z of grid layers required to be divided in the elevation direction in the coverage range of the CORS network is calculated, then grid division is carried out on the coverage range of the CORS network in the elevation direction, and the elevation grid is obtained.
Based on the foregoing steps, for S1023, the method may include: determining geodetic coordinates contained in each elevation plane in the elevation grid based on the plurality of longitude and latitude coordinates; each elevation plane is a horizontal plane where each elevation value contained in the elevation grid is located; obtaining the three-dimensional virtual grid based on each of the geodetic coordinates. In other words, S1023 specifically determines geodetic coordinates with elevation values from a plurality of geodetic coordinates in the planar grid and different elevation values in the elevation grid, and then the expression of these geodetic coordinates may be: (B)i，Li，Hmin+ j × Δ h), j ═ 0, 1, 2, 3. (z-1). These geodetic coordinates form a three-dimensional virtual grid, which may also be referred to as a three-dimensional virtual grid considering information of vertical gradients of the terrain, and a schematic diagram thereof may be shown in fig. 2.
S103: obtaining a GNSS differential correction number based on the GPS position information of the user and the three-dimensional virtual grid; the GNSS difference correction is used for guiding the user to determine the position of the user.
In some embodiments, for S103, may include:
s1031: determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid;
s1032: and obtaining the GNSS differential correction number based on the three-dimensional lattice point.
It should be noted that the GPS location information may be GGA coordinates of the user. The GGA coordinates comprise longitude and latitude and elevation values of the user.
Based on this, for S1031, it may include:
s1031-1: determining plane grid coordinates on a minimum elevation plane grid in the three-dimensional virtual grid based on longitude and latitude coordinates in the GPS position information; the absolute value of the difference between the longitude in the plane grid coordinate and the longitude in the GPS position information satisfies a first set threshold and the absolute value of the difference between the latitude in the plane grid coordinate and the latitude in the GPS position information satisfies a second set threshold;
s1031-2: determining a grid elevation value of which the absolute value of the difference value between the elevation value and the three-dimensional virtual grid meets a second set threshold value based on the elevation value in the GPS position information;
s1031-3: and determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid based on the plane grid coordinates and the grid elevation value.
In other words, "first", "second", and "third" are used herein only for convenience of describing two different steps, and are not intended to limit the present invention.
In practical applications, the first set threshold may be m/2, and then the longitude and the latitude in the coordinates of the planar grid are determinedThe absolute value of the difference between the longitudes in the GPS position information satisfying the first set threshold may be the filter longitude BiA column of lattice points with the absolute value of the longitude difference from the longitude coordinate of the user being less than or equal to m/2; the second set threshold may be n/2, and then the absolute value of the difference between the latitude in the plane grid coordinates and the latitude in the GPS position information satisfies the second set threshold; screening out latitude LiThe absolute value of the latitude difference value with the dimension coordinate of the user is less than or equal to n/2. m and n are positive integers.
For S1031-1, the specific implementation process may include:
(1) is equal to H in elevationminOn the plane of (2), filter longitude BiA column of lattice points with the absolute value of the longitude difference from the longitude coordinate of the user being less than or equal to m/2;
(2) then, in the grid point, the latitude L is screened outiAnd the absolute value of the latitude difference value of the dimension coordinate of the user is less than or equal to n/2 of the unique lattice point. Wherein m and n are positive integers. The longitude and latitude coordinates (B) obtained according to the two conditionsi，Li) The absolute value of the difference value on the minimum elevation plane grid in the three-dimensional virtual grid is the coordinate of the plane grid closest to the user.
Here, S1031-2 may include: according to the elevation value of the user position, taking the point as a starting point, and finding out the grid elevation H in the three-dimensional virtual grid, wherein the absolute value of the elevation difference value between the three-dimensional virtual grid and the user is less than or equal to delta H/2 in the direction of increasing the elevationmin+ j × h. The HminAnd + j × h is the grid elevation closest to the user, which is the absolute value of the difference value in the three-dimensional virtual grid. Δ h/2 is a specific embodiment of the third set threshold.
For, S1031-3 may include: and forming a three-dimensional coordinate based on the longitude and latitude obtained in the step S1031-1 and the elevation value obtained in the step S1031-2, wherein a point corresponding to the three-dimensional coordinate in the three-dimensional virtual grid is a three-dimensional grid point corresponding to the GPS position information, and a schematic diagram of the three-dimensional grid point is shown in fig. 3. That is, the coordinates of the planar grid closest to the user are obtained and usedThree-dimensional geodetic coordinates (B) formed by nearest grid elevationsi，Li，Hmin+ j × h), the three-dimensional geodetic coordinate is the three-dimensional grid point.
For step S1032, the GNSS differential correction number is obtained based on the three-dimensional lattice point, that is, the GNSS differential correction number is obtained based on the obtained coordinates included in the three-dimensional lattice point and a mapping relationship stored in advance. The mapping relationship is a relationship between coordinates corresponding to each grid point in the three-dimensional virtual grid and the GNSS differential correction. In other words, one three-dimensional grid coordinate corresponds to one GNSS difference correction.
It should be noted that the process of S103 actually is: firstly, according to longitude and latitude information of a user contained in GGA coordinates sent by a user terminal, in HminSearching a grid point closest to the absolute value of the user position difference value on the plane; at HminAfter finding such a point on the plane, the height information of the user's position is calculated as HminAnd taking the point screened in the plane as a starting point, and finding out the unique grid point with the nearest user position of the absolute value of the difference value in the three-dimensional virtual grid in the coverage range of the CORS network in the direction of increasing the elevation. The unique grid points are the three-dimensional grid points. And after the three-dimensional grid point is obtained, obtaining a GNSS differential correction number corresponding to the three-dimensional grid point based on the geodetic coordinates corresponding to the three-dimensional grid point.
In practical application, the method further comprises:
and sending the GNSS differential correction number to a terminal held by the user, so that the terminal determines the position of the user based on the GNSS differential correction number.
It should be noted that, after the GNSS differential correction number is obtained according to the positioning correction method provided in the embodiment of the present invention, the GNSS differential correction number may be sent to a terminal held by a user, so that the user can determine the location of the user.
The positioning correction method provided by the embodiment of the invention is a position service technology which can be applied to the field of railway traffic and considers the vertical gradient information of road and railway banded terrain, and the technology is characterized in that on the basis of the traditional longitude and latitude virtual grid, the vertical gradient information of the terrain is added through improvement and evolution to form a spatial three-dimensional virtual grid, and grid points which are most suitable for a user GGA coordinate are matched by using longitude, latitude and elevation data, so that differential positioning is carried out. The method comprises the steps of firstly, acquiring set vertical gradients at different positions with the same longitude and latitude and the same elevation in a network coverage area in CORS network enhanced position service, then, carrying out grid division considering terrain vertical Gradient information according to the height difference and basic information of the CORS network coverage area, including the minimum and maximum longitude and latitude information of the CORS network and the minimum and maximum elevation values in the area, and finally, carrying out three-dimensional grid differential data source matching according to Generalized Gradient Approximation (GGA) approximate coordinates of terminal equipment. Compared with the traditional virtual grid, the virtual reference station position service technology taking the vertical gradient information of the terrain into consideration has the advantages that: when the CORS network is under the condition of complex terrain, a large height difference exists between a rover station and a virtual reference station of a traditional grid network, the influence on troposphere delay is increased, and therefore the positioning accuracy of terminal equipment is reduced under the condition of complex terrain, and the problem can be effectively solved by the position service technology taking the vertical gradient of the road and the railway zonal terrain into consideration.
Based on the same inventive concept as above, fig. 4 is a schematic structural diagram of a positioning correction apparatus according to an embodiment of the present invention, where the positioning correction apparatus 40 includes: a first determining unit 401, a second determining unit 402, and a third determining unit 403, wherein,
the first determining unit 401 is configured to determine a maximum elevation value, a minimum elevation value, a maximum longitude and latitude, and a minimum longitude and latitude within a coverage area of a continuously operating reference station CORS network;
the second determining unit 402 is configured to determine a three-dimensional virtual grid within the coverage area of the CORS network according to a set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude, and the minimum longitude and latitude;
the third determining unit 403 is configured to obtain a GNSS differential correction number based on the user's GPS location information and the three-dimensional virtual grid; the GNSS difference correction is used for guiding the user to determine the position of the user.
In some embodiments, the second determining unit 402 comprises a first determining subunit, a second determining subunit, and a third determining subunit, wherein,
the first determining subunit is used for determining a planar grid in the CORS network coverage range based on the minimum longitude and latitude in the CORS network coverage range, the minimum elevation value in the CORS network coverage range and the set longitude and latitude step length;
the second determining subunit is configured to determine an elevation grid within the coverage range of the CORS network based on the set vertical gradient, the maximum elevation value within the coverage range of the CORS network, and the minimum elevation value within the coverage range of the CORS network;
and the third determining subunit is configured to determine the three-dimensional virtual grid based on the planar grid and the elevation grid.
In some embodiments, the first determining subunit is specifically configured to obtain, based on the minimum longitude and latitude and the set longitude and latitude step length, a plurality of longitude and latitude coordinates of the longitude and latitude direction within the coverage area of the CORS network; determining a plurality of geodetic coordinates in a minimum elevation plane within the coverage area of the CORS network based on the plurality of longitude and latitude coordinates and the minimum elevation value; the minimum elevation plane is a horizontal plane where the minimum elevation value is located within the coverage range of the CORS network; and determining a planar grid within the coverage range of the CORS network based on the geodetic coordinates.
In some embodiments, the second determining subunit is specifically configured to: obtaining the number of layers of division in the elevation direction within the coverage range of the CORS network by solving an integral function upwards according to the set vertical gradient, the maximum elevation value and the minimum elevation value; and performing elevation division on the coverage range of the CORS network based on the number of division layers and the set vertical gradient to obtain the elevation grid.
In some embodiments, the third determining subunit is specifically configured to: determining geodetic coordinates contained in each elevation plane in the elevation grid based on the plurality of longitude and latitude coordinates; each elevation plane is a horizontal plane where each elevation value contained in the elevation grid is located; obtaining the three-dimensional virtual grid based on each of the geodetic coordinates.
In some embodiments, the third determining unit 403 is specifically configured to: determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid; and obtaining the GNSS differential correction number based on the three-dimensional lattice point.
In some embodiments, the third determining unit 403 is specifically configured to: determining plane grid coordinates on a minimum elevation plane grid in the three-dimensional virtual grid based on longitude and latitude coordinates in the GPS position information; the absolute value of the difference between the longitude in the plane grid coordinate and the longitude in the GPS position information satisfies a first set threshold and the absolute value of the difference between the latitude in the plane grid coordinate and the latitude in the GPS position information satisfies a second set threshold; determining a grid elevation value of which the absolute value of the difference value between the elevation value and the three-dimensional virtual grid meets a third set threshold value based on the elevation value in the GPS position information; and determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid based on the plane grid coordinates and the grid elevation value.
In some embodiments, the positioning correction apparatus further includes: and the sending unit is used for sending the GNSS differential correction number to the terminal held by the user so that the terminal can determine the position of the user based on the GNSS differential correction number.
The positioning correction device provided by the embodiment of the invention belongs to the same concept as the method, and the terms presented here are clearly described in the method, and are not described again.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the foregoing method embodiments, and the foregoing storage medium includes: a mobile storage device, 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.
An embodiment of the present invention further provides a positioning correction apparatus, where the positioning correction apparatus includes: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is configured to execute the steps of the above-described method embodiments stored in the memory when running the computer program.
Fig. 5 is a schematic diagram of a hardware structure of a positioning correction apparatus according to an embodiment of the present invention, where the positioning correction apparatus 50 includes: the at least one processor 501, the memory 502, and optionally the positioning correction device 50 may further include at least one communication interface 503, and the various components in the positioning correction device 50 are coupled together by a bus system 504, it being understood that the bus system 504 is used to implement the connection communication between these components. The bus system 504 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 504 in fig. 5.
It will be appreciated that the memory 502 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic Random access Memory (FRAM), a magnetic Random access Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM, Double Data Synchronous Random Access Memory), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), Synchronous link Dynamic Random Access Memory (SLDRAM, Synchronous Dynamic Random Access Memory), Direct Memory (DRMbus Random Access Memory, Random Access Memory). The memory 502 described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 502 in the embodiment of the present invention is used to store various types of data to support the operation of the positioning correction apparatus 50. Examples of such data include: any computer program for operating on the positioning correction device 50, such as an implementation of determining a decision pattern matching the first bit based on the forward decision result and the backward decision result, etc., may be embodied in the memory 502 for implementing the method of an embodiment of the present invention.
The method disclosed by the above-mentioned embodiments of the present invention may be applied to the processor 501, or implemented by the processor 501. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor described above may be a general purpose Processor, a Digital SigNal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium having a memory and a processor reading the information in the memory and combining the hardware to perform the steps of the method.
In an exemplary embodiment, the positioning correction Device 50 may be implemented by one or more ApplicatioN Specific INtegrated Circuits (ASICs), DSPs, PrograMMable Logic Devices (PLDs), CoMplex PrograMMable Logic Devices (CPLDs), Field PrograMMable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the above-described methods.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit. The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A method of position location correction, the method comprising:
determining a maximum elevation value, a minimum elevation value, a maximum longitude and latitude and a minimum longitude and latitude within a continuous operation reference station CORS network coverage range;
determining a three-dimensional virtual grid in the coverage range of the CORS network according to a set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude;
obtaining a GNSS differential correction number based on the GPS position information of the user and the three-dimensional virtual grid; the GNSS difference correction is used for guiding the user to determine the position of the user.
2. The method according to claim 1, wherein said determining a three-dimensional virtual grid within the coverage of said CORS network based on a set vertical gradient, said maximum elevation value, said minimum elevation value, said maximum latitude and longitude, and said minimum latitude and longitude comprises:
determining a planar grid in the CORS network coverage range based on the minimum longitude and latitude in the CORS network coverage range, the minimum elevation value in the CORS network coverage range and the set longitude and latitude step length;
determining an elevation grid in the CORS network coverage range based on the set vertical gradient, the maximum elevation value in the CORS network coverage range and the minimum elevation value in the CORS network coverage range;
and determining the three-dimensional virtual grid based on the planar grid and the elevation grid.
3. The method of claim 2, wherein determining the planar mesh within the CORS network coverage based on a minimum longitude and latitude within the CORS network coverage, a minimum elevation value within the CORS network coverage, and a set longitude and latitude step size comprises:
obtaining a plurality of longitude and latitude coordinates of the longitude and latitude direction in the CORS network coverage range based on the minimum longitude and latitude and the set longitude and latitude step length;
determining a plurality of geodetic coordinates in a minimum elevation plane within the coverage area of the CORS network based on the plurality of longitude and latitude coordinates and the minimum elevation value; the minimum elevation plane is a horizontal plane where the minimum elevation value is located within the coverage range of the CORS network;
and determining a planar grid within the coverage range of the CORS network based on the geodetic coordinates.
4. A method as claimed in claim 3, wherein said determining an elevation grid within coverage of the CORS network based on said set vertical gradient, maximum elevation values within coverage of the CORS network, and minimum elevation values within coverage of the CORS network comprises:
obtaining the number of layers of division in the elevation direction within the coverage range of the CORS network by solving an integral function upwards according to the set vertical gradient, the maximum elevation value and the minimum elevation value;
and performing elevation division on the coverage range of the CORS network based on the number of division layers and the set vertical gradient to obtain the elevation grid.
5. The method according to claim 4, wherein said determining the three-dimensional virtual mesh based on the planar mesh and the elevation mesh comprises:
determining geodetic coordinates contained in each elevation plane in the elevation grid based on the plurality of longitude and latitude coordinates; each elevation plane is a horizontal plane where each elevation value contained in the elevation grid is located;
obtaining the three-dimensional virtual grid based on each of the geodetic coordinates.
6. The method of claim 2, wherein obtaining Global Navigation Satellite System (GNSS) differential corrections based on the user's global satellite system (GPS) location information and the three-dimensional virtual grid comprises:
determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid; and obtaining the GNSS differential correction number based on the three-dimensional lattice point.
7. The method as claimed in claim 6, wherein said determining a three-dimensional grid point corresponding to said GPS location information in said three-dimensional virtual grid comprises:
determining plane grid coordinates on a minimum elevation plane grid in the three-dimensional virtual grid based on longitude and latitude coordinates in the GPS position information; the absolute value of the difference between the longitude in the plane grid coordinate and the longitude in the GPS position information satisfies a first set threshold and the absolute value of the difference between the latitude in the plane grid coordinate and the latitude in the GPS position information satisfies a second set threshold;
determining a grid elevation value of which the absolute value of the difference value between the elevation value and the three-dimensional virtual grid meets a third set threshold value based on the elevation value in the GPS position information;
and determining a three-dimensional grid point corresponding to the GPS position information in the three-dimensional virtual grid based on the plane grid coordinates and the grid elevation value.
8. A positioning correction apparatus, characterized by comprising: a first determination unit, a second determination unit, and a third determination unit, wherein,
the first determining unit is used for determining a maximum elevation value, a minimum elevation value, a maximum longitude and latitude and a minimum longitude and latitude within a continuous operation reference station CORS network coverage range;
the second determining unit is used for determining the three-dimensional virtual grid in the coverage range of the CORS network according to the set vertical gradient, the maximum elevation value, the minimum elevation value, the maximum longitude and latitude and the minimum longitude and latitude;
the third determining unit is used for obtaining a GNSS differential correction number based on the GPS position information of the user and the three-dimensional virtual grid; the GNSS difference correction is used for guiding the user to determine the position of the user.
9. A computer-readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program when executed by a processor implements the steps of the method of any one of claims 1 to 7.
10. A positioning correction apparatus characterized by comprising: a processor and a memory for storing a computer program operable on the processor, wherein the processor is operable to perform the steps of the method of any of claims 1 to 7 when the computer program is executed.
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