CN116068596A

CN116068596A - Positioning method, system and street lamp

Info

Publication number: CN116068596A
Application number: CN202111268475.5A
Authority: CN
Inventors: 程睿哲; 黄健; 黄庭; 谢中伍; 张柏豪
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Shanghai ICT Co Ltd; CM Intelligent Mobility Network Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Shanghai ICT Co Ltd; CM Intelligent Mobility Network Co Ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2023-05-05

Abstract

The invention provides a positioning method, a positioning system and a street lamp, and relates to the technical field of positioning, wherein the positioning method comprises the following steps: receiving original position observation data sent by a user terminal, wherein the distance between the user terminal and the first road lamp meets a preset condition; receiving grid differential correction data of the grid where the first street lamp is located, which is sent by a server; and carrying out position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal. The embodiment of the invention can improve the positioning precision of the navigation satellite system and reduce the work load and power consumption of the user terminal.

Description

Positioning method, system and street lamp

Technical Field

The invention relates to the technical field of positioning, in particular to a positioning method, a positioning system and a street lamp.

Background

Along with the development of technology, the demands of people for position information are increasing, and then a navigation positioning system is appeared. Global navigation satellite system (Global Navigation Satellite System, GNSS), refers to all satellite navigation systems including GPS (Global Positioning System), beidou satellite navigation system, etc. The user terminal can be positioned by receiving the navigation signal transmitted by the navigation satellite system. However, the accuracy of navigation satellite system positioning is low due to the pseudorange measurement errors during positioning.

Disclosure of Invention

The embodiment of the invention provides a positioning method, a positioning system and a street lamp, which are used for solving the problem that the positioning precision of a navigation satellite system is low due to pseudo-range measurement errors in the existing positioning process.

In order to solve the technical problems, the invention is realized as follows:

in a first aspect, an embodiment of the present invention provides a positioning method, which is applied to a first street lamp, where the method includes:

receiving original position observation data sent by a user terminal, wherein the distance between the user terminal and the first road lamp meets a preset condition;

receiving grid differential correction data of the grid where the first street lamp is located, which is sent by a server;

and carrying out position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal.

Optionally, the performing position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal includes:

under the condition that the current calculation task amount of the first street lamp is smaller than a calculation task amount threshold, carrying out position calculation according to the original position observation data and the grid difference correction data to obtain a positioning result of the user terminal;

The method further comprises the steps of:

when the current calculation task amount of the first street lamp is larger than or equal to a calculation task amount threshold, sending the original position observation data and the grid differential correction data to a second street lamp so that the second street lamp performs position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal;

and receiving the positioning result sent by the second street lamp.

Optionally, the second street lamp and the first street lamp are located in the same grid;

and the second street lamp is closest to the first street lamp, or the second street lamp is the street lamp with the least current calculation task amount in the grid where the first street lamp is located.

Optionally, the receiving the original position observation data sent by the user terminal includes:

receiving a positioning authorization request sent by the user terminal;

and carrying out positioning authentication on the user terminal, and receiving original position observation data sent by the user terminal under the condition that the positioning authentication is passed.

Optionally, the positioning result is GGA data;

the method further comprises the steps of:

transmitting the GGA data to the user terminal when the user terminal has GGA data analysis capability;

And when the user terminal does not have GGA data analysis capability, analyzing the GGA data, and sending the analysis result of the GGA data to the user terminal.

In a second aspect, an embodiment of the present invention provides a positioning system, where the positioning system includes a server, a user terminal, and at least one street lamp, where the at least one street lamp includes a first street lamp, and a distance between the user terminal and the first street lamp meets a preset condition;

the first street lamp is used for receiving original position observation data sent by the user terminal and receiving grid differential correction data of a grid where the first street lamp is located, sent by a server;

and the first street lamp is also used for carrying out position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal.

Optionally, the server is configured to receive reference station observation data sent by a reference station, and determine grid differential correction data of each grid in the multiple grids according to the reference station observation data;

the server is used for sending grid differential correction data of grids where the target street lamp is located to the target street lamp, and the target street lamp is any street lamp in the at least one street lamp.

Optionally, the first street lamp is provided with an active antenna unit, and the first street lamp is configured to receive, through the active antenna unit, original position observation data sent by the user terminal, and receive, through the active antenna unit, grid differential correction data of a grid where the first street lamp is located, where the grid is sent by the server.

In a third aspect, an embodiment of the present invention provides a street lamp, where the street lamp is a first street lamp, and the street lamp is characterized in that the street lamp includes:

the first receiving module is used for receiving original position observation data sent by a user terminal, wherein the distance between the user terminal and the first street lamp meets a preset condition;

the second receiving module is used for receiving grid differential correction data of the grid where the first street lamp is located, which is sent by the server;

and the resolving module is used for resolving the position according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal.

Optionally, the resolving module is specifically configured to:

The resolving module is further configured to:

and receiving the positioning result sent by the second street lamp.

Optionally, the first receiving module is specifically configured to:

receiving a positioning authorization request sent by the user terminal;

Optionally, the positioning result is GGA data;

the resolving module is further configured to:

In a fourth aspect, an embodiment of the present invention provides a street lamp, including: a processor, a memory and a program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the positioning method of the first aspect.

In a fifth aspect, an embodiment of the present invention provides a computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the positioning method according to the first aspect.

In the embodiment of the invention, original position observation data sent by a user terminal is received, wherein the distance between the user terminal and the first street lamp meets the preset condition; receiving grid differential correction data of the grid where the first street lamp is located, which is sent by a server; and carrying out position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal. In this way, the positioning result of the user terminal is obtained according to the original position observation data and the grid differential correction data, so that the positioning precision of a navigation satellite system can be improved; and the position resolving task is arranged on the street lamp side, so that the workload and the power consumption of the user terminal can be reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

FIG. 1 is a flow chart of a positioning method provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a positioning system according to an embodiment of the present invention;

FIG. 3 is a second schematic diagram of a positioning system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a street lamp according to an embodiment of the present invention;

fig. 5 is a second schematic structural diagram of a street lamp according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, fig. 1 is a flowchart of a positioning method provided by an embodiment of the present invention, for a first street lamp, as shown in fig. 1, the method includes the following steps:

step 101, receiving original position observation data sent by a user terminal, wherein the distance between the user terminal and the first street lamp meets a preset condition.

The user terminal may include, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted mobile terminal, a wearable device, a pedometer and the like. The user terminal may act as a mobile station and the raw position observations may be GNSS (Global Navigation Satellite System, global satellite navigation system) data observed by the user terminal. The distance between the first street lamp and the user terminal can be smaller than a preset distance; or the first street lamp can be the street lamp closest to the user terminal in the plurality of street lamps; or, the first street lamp may be a street lamp, in which the distance between the first street lamp and the user terminal is smaller than a preset distance, and the amount of calculation tasks is the smallest, and the embodiment does not limit the preset condition.

It should be noted that the data of the user terminal may be one or more. The user terminal may be at least one of: the system comprises a first user terminal, a second user terminal and a third user terminal. The first user terminal can be multisource fusion positioning equipment capable of performing auxiliary positioning based on a Beidou satellite navigation system and/or a global positioning system, and the functions of data storage, intercom, alarm and the like are supported. The external antenna of the first user terminal can solve the satellite signal receiving problem under the partial shielding environment, double-mode single-frequency guarantee can be achieved, and continuous and reliable auxiliary positioning functions can be achieved. The second user terminal may be a user terminal without a GGA resolution module, such as a mobile phone, a tablet computer, etc., and has a data requirement of high-precision position data, such as longitude and latitude, etc. The third user terminal may be a user terminal with a GGA parsing module, such as a mobile phone, a tablet computer, etc., capable of directly receiving and parsing GGA data including high-precision location data, and may have data requirements of UTC (Universal Time Coordinated, coordinated universal time) time, positioning quality determination, satellite number usage or altitude. GGA, collectively referred to as GPGGA, is a GPS data output format statement that includes 17 fields, the 17 fields including a statement identification header, world time, latitude hemisphere, longitude hemisphere, positioning quality indication, using satellite number, HDOP-level precision factor, ellipsoid height, altitude unit, ground level altitude anomaly difference, altitude unit, differential GPS data deadline, differential reference base station number, checksum end tag.

Step 102, grid differential correction data of the grid where the first street lamp is located, which is sent by a server, are received.

The geographic position can be divided into a plurality of grids according to the reference station observation data, each grid can correspond to one grid difference correction data, the grid difference correction data can be the difference correction data of the grid, and the positioning result of the user terminal can be obtained through position calculation of the grid difference correction data and the original position observation data. The server can be used for receiving reference station observation data sent by a reference station and determining grid differential correction data of each grid in a plurality of grids according to the reference station observation data; the server is used for sending grid differential correction data of grids where the target street lamp is located to the target street lamp, and the target street lamp is any street lamp in the at least one street lamp. The reference station may be a CORS (Continuously Operating Reference Stations, continuous operation reference station) reference station, for example. The CORS reference station is mainly responsible for capturing, tracking, collecting and transmitting Beidou satellite signals and monitoring the integrity of equipment data, and comprises a high-precision geodetic receiver, a diameter-restraining antenna, an uninterruptible power supply and the like.

In an embodiment, the server may be a cloud platform server, and the functions of the server mainly include Real-Time Kinematic (RTK) calculation of reference station observation data, adaptation of a platform gateway and a protocol, system management and maintenance, generation of services, user management, and the like. The RTK solution of the original positioning information (reference side) is achieved by a computer, a network device, a data communication device, a power supply device, or the like. The server mainly aims to support a distributed and cross-platform automatic driving auxiliary positioning system with high reliability based on edge RTK (real time kinematic) resolving and broadcasting capability and position calculation.

In addition, the reference station can receive satellite navigation data sent by the Beidou satellite navigation system and/or the global positioning system, form reference station observation data by storing and packaging the satellite navigation data, and send the reference station observation data to the server.

The Beidou satellite navigation system consists of a space section, a ground section and a user section, can provide high-precision, high-reliability positioning, navigation and time service for various users all around the world, has short message communication capability, has the regional navigation, positioning and time service capability preliminarily, and has the positioning precision of decimeter and centimeter level, the speed measurement precision of 0.2 meter/second and the time service precision of 10 nanoseconds.

The global positioning system (Global Positioning System, GPS) is a satellite-based high-precision radio navigation positioning system that provides accurate geographic location, vehicle speed, and accurate time information anywhere in the world and near earth space.

And 103, performing position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal.

And performing differential calculation according to the original position observation data and the grid differential correction data, so as to obtain a positioning result of the user terminal. The positioning result of the user terminal may be GGA data. For a first user terminal, GGA data of the first user terminal or an analysis result of the GGA data can be sent to a management platform for managing the first user terminal; for the second user terminal, the GGA data can be analyzed, and the analysis result of the GGA data is sent to the second user terminal; for a third user terminal, GGA data of the third user terminal may be transmitted to the third user terminal.

It should be noted that, the first street lamp may be a multifunctional street lamp, a base station and an edge resolving platform may be deployed on the multifunctional street lamp, and the base station may be a 5G base station or a 4G or other mobile communication base station.

As a specific embodiment, the positioning method may be applied to a positioning system, as shown in fig. 2, where the positioning system may include a navigation system 11, a reference station 12, a server 13, a multifunctional street lamp 14, a user terminal 15, and a management platform 16. The reference station 12 receives satellite navigation data of the navigation system 11, sends reference observation data to the server 13, the server 13 sends grid differential correction data to the multifunctional street lamp 14, the multifunctional street lamp 14 receives original position observation data sent by the user terminal 15, performs position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal, and sends the positioning result of the user terminal to the user terminal or a management platform for managing the user terminal.

In addition, the reference station 12 may be a CORS reference station, as shown in fig. 3, where the CORS reference station includes a high-precision geodetic receiver, a path-inhibiting antenna, an uninterruptible power supply, and an observation data transmitting module; the server 13 may be a core cloud platform, and the core cloud platform may include an RTK resolving module and a data transceiver management module, where the data transceiver management module receives the reference observation data sent by the observation data sending module; the multifunctional street lamp 14 takes power frequency alternating current as a working energy source, and can bear the deployment operation of the 5G base station and the edge resolving platform. Specifically, an active antenna unit (Active Antenna Unit, AAU) of the 5G base station may be disposed at the uppermost end of the base station, a commercial power supply, a high-precision position resolving module, a resolving capacity determining module, a GGA resolving module, a positioning service authentication module and the like may be disposed in the middle equipment box, and further, a baseband processing unit or a distributed unit DU of the 5G base station may be disposed in the equipment box. To achieve the illumination function, one or more LED lights may be deployed on one or more sides of the tall pole extension of the first street light to provide roadway or area illumination. The 5G base station receives the grid differential correction data sent by the data receiving and transmitting management module and sends a positioning result to the mobile data receiving and transmitting module of the user terminal 15.

The 5G base station may refer to a 5G public mobile communication base station, and may refer to a radio transceiver node for transmitting information with a terminal through a mobile communication switching center in a certain radio coverage area. In one embodiment, the signal baseband processing section, the signal radio frequency processing section, and the antenna may be disposed on the street lamp side.

The edge resolving platform can conduct differential resolving according to grid differential correction data and original position observation data sent by the user terminal, and finally a high-precision positioning result of the user terminal is generated. The high accuracy positioning result can be characterized by GGA data. Furthermore, the GGA data can be analyzed on an edge resolving platform as required to generate simple information such as longitude and latitude. The system is transmitted back to the user terminal through a 5G mobile communication link or transmitted to a management platform of a special scene through a wired mode (such as optical fiber), such as a port TOS system, an intelligent coal mine platform, an intelligent park management platform in the industrial Internet category and other industrial parks with high-precision positioning requirements.

It should be noted that, the edge resolving platform of the multifunctional street lamp is connected with the management platform in a special or closed scene in a wired mode, so as to meet the service requirement of normalizing the high-precision position of the management user, avoid the possibility that the wireless transmission data link is interfered, fluctuated and attenuated, reduce the complexity of the communication protocol and the data interface, and improve the stability, safety and practicability of the high-precision positioning service.

In an embodiment, the server may be a core cloud platform, the first street lamp may be a multifunctional street lamp, and the user terminal may include a first user terminal, a second user terminal, and a third user terminal. The first user terminal is a user terminal A, the second user terminal is a user terminal B, and the third user terminal is a user terminal C. For the ue A, B, C, the original position observation data is transmitted through a mobile communication link established with the 5G base station of the multifunctional street lamp, so that the street lamp with the greatest 5G wireless signal strength monitored by the ue A, B, C is the street lamp with the shortest relative distance to the ue. When the user terminal A, B, C needs to use the high-precision positioning service, the street lamp having the shortest relative distance thereto, i.e., the first street lamp, first establishes communication with the user terminal A, B, C. As shown in fig. 3, the user terminal a includes a mobile data transceiver module, a storage chip and a real-time tracking module; the user terminal B comprises a mobile data receiving and transmitting module, a storage chip and a real-time tracking module; the user terminal C comprises a mobile data receiving and transmitting module, a storage chip, a real-time tracking module and a GGA analysis module.

Specifically, the positioning method may include the following steps:

The navigation system respectively transmits satellite navigation data to a geodetic receiver of a CORS reference station and a real-time tracking module of a user terminal A, a user terminal B and a user terminal C, and the navigation system can be a Beidou satellite navigation system, a global positioning system, a George Navigator navigation system, a Galileo navigation system and the like;

the CORS reference station forms original reference station observation data by storing and packaging the observed satellite navigation data, and sends the original reference station observation data to a data receiving and transmitting management module of the core cloud platform;

the user terminal A, the user terminal B and the user terminal C respectively acquire satellite navigation data through a real-time tracking module, and transmit original position observation data observed by the mobile station to a 5G base station deployed on the multifunctional street lamp in a wireless mode; simultaneously, the user terminal B and the user terminal C also send authorization requests to a positioning service authentication module of an edge resolving platform deployed on the multifunctional street lamp; the user terminal B also sends a GGA analysis request to the edge calculation platform;

the core cloud platform stores and classifies the reference station observation data observed by the CORS reference station, performs RTK (real time kinematic) calculation according to grid division to generate grid differential correction data, and broadcasts the corresponding grid differential correction data to an edge resolving platform of the multifunctional street lamp in each grid;

The 5G base station demodulates the received original position observation data of the user terminal A, the user terminal B and the user terminal C respectively to form digital signals through the signal radio frequency processing unit, the digital signals are transmitted to an edge resolving platform arranged on the multifunctional street lamp, and the street lamp where the 5G base station is located is the street lamp closest to the user terminals A, B and C;

the edge resolving platform receives the original position observation data sent by the user terminal A and grid differential correction data generated by resolving of the core cloud platform, performs position resolving according to the original position observation data and the grid differential correction data, generates GGA data of the user terminal A, and directly transmits the GGA data to the management platform in a wired mode (such as optical fiber);

the edge resolving platform receives a positioning authorization request of the user terminal B and carries out positioning authentication, and if the authentication fails, the positioning authorization request is refused; if the positioning authentication passes, receiving original position observation data of the user terminal B; because the GGA analysis request of the user terminal B is received before the calculation task starts, the edge calculation platform carries out position calculation according to the grid difference correction data and the original position observation data of the user terminal B to generate GGA data of the user terminal B, generates high-precision position data of the user terminal B in a GGA analysis module of the edge calculation platform, modulates the high-precision position data on a 5G carrier wave by a signal baseband processing unit of a 5G base station, and transmits the high-precision position data back to the user terminal B in a wireless mode by depending on an active antenna unit and a mobile communication data link;

The edge resolving platform receives a positioning authorization request of the user terminal C and carries out positioning authentication, and if the authentication fails, the positioning authorization request is refused; if the positioning authentication passes, receiving original position observation data of the user terminal C; the edge resolving platform carries out position resolving according to the grid differential correction data and the original position observation data of the user terminal C, GGA data of the user terminal C is generated, the GGA data is modulated on a 5G carrier wave by a signal baseband processing unit of a 5G base station, and the GGA data is transmitted back to the user mobile terminal C in a wireless mode by depending on an active antenna unit and a mobile communication data link.

In the embodiment, the scheme of combining the illumination effect of the street lamp, the deployment of the 5G base station and the high-precision edge resolving platform is adopted, so that the infrastructure, the IT and the wireless field are organically combined, the high-precision positioning under a special or closed scene is realized, and the technical effects of low service time delay, high stability and strong safety can be achieved; by adopting the edge computing technology, the high-precision position resolving operation module is moved to the edge side of a special or closed scene, and the scheme of a plurality of edge resolving platforms are arranged in the same grid, the working load, the power consumption and the cost of the user terminal are reduced, and the technical effects of low time delay, high stability and strong safety in the wireless transmission process can be achieved.

It should be noted that, most of the multifunctional or intelligent street lamps in the related art are powered by solar energy, and for high-precision positioning service, the requirement of 24 hours uninterrupted power supply cannot be met with high probability, so that an additional energy storage battery core is also required, and the universality and the practicability are low; and the high-precision positioning service needs to meet a certain degree of risk guarantee, so that the problem that the end-to-end business scene service cannot be provided due to faults is avoided, and the risk that the service cannot be provided by the street lamp powered by solar energy is difficult to reduce. The embodiment adopts the power frequency alternating current as the energy source, so that the universality, the stability and the safety of the high-precision positioning service are greatly improved, and the operation and maintenance risks are also reduced.

In the related art, a street lamp is generally adopted as a reference observation station in the field of high-precision positioning, or generation and broadcasting of differential correction numbers are undertaken, and a specific high-precision position resolving process occurs at the mobile station side, so that the workload and the power consumption of a user terminal can be increased, and the cost and the fault probability of the user terminal are increased. In the embodiment, the position resolving task is arranged at the street lamp side, so that the workload and the power consumption of a user terminal are reduced, the position resolving task is distributed to different street lamps in the same grid, meanwhile, the resolving task quantity threshold value can be set for the edge resolving platform, and excessive workload can not be caused for the edge resolving platform; the street lamps can be communicated with each other in a networking way and are mutually backed up, the characteristics of the street lamps as universal lighting infrastructure are fully utilized, and the street lamps are combined with a high-precision positioning scene, so that the stability and the safety of a business process under the scene are greatly improved.

In the related art, the position calculation is implemented by the edge calculation technology, but if the position calculation operation is moved to the edge side alone or combined with the MEC (Mobile Edge Computing, mobile edge calculation) platform to form an application, the application does not have universality and practicality, does not have the disaster recovery backup capability, and cannot meet the high-precision positioning service requirement under a multiple scene. The multifunctional street lamp in the embodiment can fully and organically combine the infrastructure field, the wireless field and the IT field, and faces to a special scene requiring normalized management of the mobile station, and can be connected with a management platform of the scene in a stable wired mode, so that the conditions of interference, attenuation, fluctuation and the like encountered by various position data in wireless transmission are reduced; meanwhile, various transmission protocols or data interfaces related to high-precision position data broadcasting in different types of the user mobile stations in the special scene are considered, and modes such as GGA analysis request judging mechanism, unified interface wired access and the like can be set, so that requirements in the special scene can be well met.

the method further comprises the steps of:

and receiving the positioning result sent by the second street lamp.

The current calculation task amount of the first street lamp can be used for determining whether the first street lamp has the capability to perform position calculation. The current calculation task quantity of the first street lamp is smaller than the calculation task quantity threshold value, so that the current capability of the first street lamp can be represented to perform position calculation; the current calculation task amount of the first street lamp is larger than or equal to the calculation task amount threshold value, and the fact that the current position calculation capability of the first street lamp is relatively tension can be represented.

In one embodiment, the threshold of the calculated task amount may be a maximum calculated task amount of the first headlight, or may be 80% or 90% of the maximum calculated task amount of the first headlight, which is not limited in this embodiment. The maximum calculation task amount of the first street lamp represents the maximum calculation capability of the first street lamp and is determined by the hardware performance parameters of the first street lamp. For example, the maximum calculation task amount of the first street lamp is n, and the threshold value of the calculation task amount is 0.8n.

In one embodiment, the second street lamp is located within the same grid as the first street lamp;

In one embodiment, the edge resolving platform of the first road lamp judges whether the self resolving task quantity exceeds a threshold value alpha, if not, the edge resolving platform carries out position resolving according to original position observation data and the grid differential correction data; if the position of the street lamp exceeds the preset position, packaging the original position observation data and the grid differential correction data, and transmitting the data to other idle multifunctional street lamps of the same grid through an upper-layer switch to perform position calculation. Further, when the self-calculation task amount of an edge calculation platform exceeds a threshold value alpha, the original position observation data and the grid differential correction data can be sent to a second street lamp, so that the second street lamp performs position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal, and the position calculation task is forwarded to the second street lamp for processing. The control strategy forwarded by the position resolving task can refer to any one of the following three modes:

The first mode is that the position resolving task is forwarded to a street lamp with the nearest relative position in the grid, namely a second street lamp, before the second street lamp carries out the resolving task, whether the self resolving task quantity exceeds a threshold value beta can be judged, if the self resolving task quantity does not exceed the threshold value beta, GGA data or high-precision position data is transmitted to the first street lamp after the second street lamp is resolved, and the GGA data or the high-precision position data is transmitted to a user terminal by the first street lamp; if the calculated position data exceeds the calculated position data, repeating the step, and transmitting the packaged data to other street lamps closest to the second street lamp except the first street lamp, wherein the packaged data can comprise original position observation data of an original calculation task, grid difference correction data, GGA analysis requests and the like, the street lamp transmits GGA data or high-precision position data back to the first street lamp after calculation is completed, and the first street lamp transmits GGA data or high-precision position data to a user terminal;

in a second mode, the position resolving task scheduling is performed by a management platform, namely the management platform can monitor resolving task quantity of an edge resolving platform of each multifunctional street lamp in real time, and the position resolving task is automatically distributed to the street lamp with the nearest or least resolving task quantity in the same grid;

in a third mode, the position resolving task scheduling is executed by a server, that is, the server can monitor resolving task amounts of edge resolving platforms of all the multifunctional street lamps in real time, and automatically distributes the position resolving task to the street lamps with the least nearest or least resolving task amounts in the same grid.

In one embodiment, when the current calculation task amount of the first street lamp is greater than or equal to the calculation task amount threshold, the first street lamp sends the original position observation data, the grid difference correction data and the characteristic value number of the first street lamp to a second street lamp nearest to the first street lamp for calculation; if the current calculation task amount of the second street lamp is larger than or equal to the calculation task amount threshold, the second street lamp sends the original position observation data, the grid difference correction data and the characteristic value number of the second street lamp to a third street lamp which is closest to the second street lamp except the first street lamp for calculation, and the like. The sending mode can be transmitted in a wired mode, and each street lamp can have an accurate coordinate and a characteristic value number, so that the relative distance between the street lamps in the same grid can be easily obtained, and under the special condition that more than two adjacent street lamp calculation tasks are overloaded, the calculation tasks can be smoothly distributed to the edge calculation platforms of the rest multifunctional street lamps in the same grid.

It should be noted that, an edge resolving platform and a 5G access network device may be provided for each street lamp, so that after the user terminal is started, user registration may be performed according to the existing mobile communication rule. In this embodiment, the resolving task and the served user object received by all the network connection street lamps may be in the same area core network by default, so that after any user terminal is successfully registered, no matter which location it moves to, no matter how roaming or re-registration is needed, the user information will be backed up in the corresponding network element of the mobile communication core network, and no whole network broadcasting or paging is needed for each communication request.

In addition, after the positioning calculation task of the user terminal is completed, the street lamp can transmit GGA data or high-precision position data back to the user terminal in a wireless mode, and the process can possibly generate mobile communication cell switching and high-precision positioning cross-grid transmission. When the user terminal moves, switching from one communication cell to another communication cell, wherein the switching rule of the communication cell follows the soft switching rule of the received signal carrier level judgment, namely when the signal carrier level is lower than a set threshold level, switching occurs; when the user terminal moves, the user terminal is switched from one grid to another grid, and each street lamp is provided with an edge resolving platform and 5G access network equipment, so that the situation that cell switching happens at the moment is easy to understand, the rule of establishing a data link is consistent with the rule of switching the mobile communication cell, and the difference is that the received grid difference correction data is inconsistent.

When the first street lamp with the threshold value of the calculation task quantity alpha serves the user terminal and exceeds the work load, and the position calculation task is forwarded to the second street lamp with the less calculation load, the characteristic value number or the accurate coordinate of the first street lamp can be sent together, and the process is embodied in the network application layer. Therefore, after the second street lamp helps the first street lamp to calculate, GGA data or high-precision position data can be returned to the first street lamp in a wired mode according to the characteristic value number or the accurate coordinate, and then the first street lamp sends the GGA data or the high-precision position data to the user terminal in a wireless mode. If the first street lamp and the second street lamp serve the user terminal under a certain management platform, an instruction directly returned to the management platform can be sent when the position resolving task is transferred, so that GGA data or high-precision position data can be directly sent to the management platform without returning to the first street lamp and the user terminal after the position resolving task is completed, and the second street lamp can directly send GGA data or high-precision position data of the user terminal to the management platform.

In addition, when the first road lamp with the threshold value of the calculation task quantity alpha serves the user terminal and exceeds the work load, and the position calculation task is forwarded to the second road lamp with the less than calculation load for calculation, or the user terminal moves to another cell or grid in the process of returning the position calculation task, the process of sending and receiving the position signal by the user terminal in the high-precision positioning process is relatively independent and the frequency is usually about 1 second, so that the probability of the occurrence of the extreme condition is extremely low, the broadcasting and the calculation of the cross-grid differential correction number in the prior art have extremely little influence on the precision, and therefore, after the calculation result is returned to the first road lamp, if an effective communication link cannot be established because the user terminal is already in communication with other access network equipment, the calculation result can be directly discarded. The user terminal re-accepts the high-precision positioning service in the new cell or the new grid according to the above process.

In one embodiment, since all the multifunctional street lamps may serve the user terminal, all the multifunctional street lamps will be interconnected by a wired manner with a special or closed scene management platform for managing the user terminal. Thus, the rough location of the user terminal, the workload of each multifunctional street lamp, and the precise coordinates are easily visually presented on the management platform, wherein the rough location of the user terminal is displayed as a high-precision location after receiving a high-precision positioning service. However, the management platform side is involved in the scheduling work of the position resolving task, the threshold value setting is still required for the multifunctional street lamp, and the edge resolving platform of the multifunctional street lamp is also required to have the functions of packaging data, forwarding and the like. The implementation modes of the management platform participating in the scheduling work are as follows:

In the first way, when the working load of the first street lamp with the threshold value of the resolving task quantity alpha exceeds a set value, the first street lamp does not forward the position resolving task to the street lamp closest to the first street lamp, because the street lamp closest to the first street lamp is possibly full or is full, the management platform can make a real-time decision through internal data retrieval before the first street lamp forwards the position resolving task, and sends an instruction for forwarding the position resolving task to the street lamp closest to the same grid with smaller working load to the first street lamp. In practice, the requirement can be met across grids, because the grid differential correction data, the original position observation data and other business data contained in the position resolving task are all from the original grid. In the mode, the street lamp does not have an automatic forwarding function any more, but can forward the position resolving task only after waiting for the management platform to issue a scheduling instruction;

in the second mode, a model and an algorithm can be set for the management platform, the relation between the distance between the user terminal and the street lamp workload can be calculated, an optimal solution can be obtained actively or passively, and the position resolving task of any user terminal is determined by which street lamp, and the method involves complex modeling, algorithm and variable setting. As a simple example: if the real-time position resolving task quantity of the first street lamp with the resolving task quantity threshold value alpha reaches 0.7alpha, the management platform also sends a command for forwarding the position resolving task to the first street lamp, and forwards the command to the street lamp with the shortest relative distance or the smallest resolving task quantity in the same grid; if more than 50% of the street lamp position resolving task quantity in the same grid reaches 70% of the street lamp position resolving task quantity, a single street lamp resolving task quantity threshold value judgment standard for issuing a position resolving task forwarding instruction can be set to 80% of the street lamp resolving task quantity threshold value judgment standard, and the like, the workload of all edge resolving platforms in the same grid can be dynamically balanced, the resource utilization rate is improved, and the equipment power consumption and the fault risk are reduced.

It should be noted that, taking the server as the core cloud platform as an example, since the edge resolving platforms of all the multifunctional street lamps may receive the grid differential correction data broadcasted by the core cloud platform, all the multifunctional street lamps may be interconnected with the core cloud platform in a wired or wireless manner. If the core cloud platform participates in the scheduling work, the scheduling work can be performed by referring to two implementation manners of the management platform participating in the scheduling work, which is not described herein. Notably, if the core cloud platform participates in dispatching work, the core cloud platform can be connected with the street lamps of each grid in a wired mode, so that the stability of the system is enhanced; if the road lamp is connected in a wireless mode, the self-forwarding function of each road lamp can be reserved, the self-forwarding dispatching instruction of the core cloud platform can not be received under the condition of fluctuation or interruption of a wireless communication link, and task dispatching can be realized by the road lamp self-forwarding position resolving task.

Furthermore, the task scheduling can be uniformly performed by the core cloud platform and the management platform. For example, a part of scheduling task optimization functions can be executed by the core cloud platform, for example, according to the working condition of street lamp implementation, grid differential correction data of a grid where a user terminal is located is broadcast to a cross-grid street lamp which is about to execute a position resolving task before the scheduling task is forwarded. And a part of dispatching task forwarding instructions are issued by the management platform, and the original street lamp only needs to forward the rough position of the user terminal, so that the robustness and the expandability of the system are enhanced.

Particularly, the positioning method can be applied to a positioning system, the positioning system can be a street lamp auxiliary positioning system of a high-precision positioning edge resolving scene, load balancing and resolving task transfer can be carried out according to self or platform capacity, a large network shunting strategy is not required to be modified, a central node is not required, and original position observation data of a user terminal can be mutually transmitted among networking street lamps. The information security is ensured through the special line transmission, and meanwhile, the time delay of the position resolving task transfer is less than that of the position resolving task transferred through the cloud, so that the method is suitable for high-precision positioning time delay sensitive services.

The first street lamp sends the original position observation data and the grid differential correction data to the second street lamp, so that the second street lamp performs position calculation according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal, namely the first street lamp forwards a position calculation task to the second street lamp, the first street lamp serves as a source street lamp, and the second street lamp serves as a target street lamp. The specific implementation of the data transmission from the source street lamp to the target street lamp route can be as follows: the edge resolving platform is provided with a data interconnection port and is connected by a special line, and when a position resolving task to be transferred is received, the source street lamp packages and forwards original position observing data, such as mobile station original observing GNSS data, grid differential correction data, characteristic value numbers and other data to the target street lamp through the special line of the port. If the characteristic value number indicates an IP (Internet Protocol, network protocol) address of the source street lamp, its routing forwarding may follow the following rules:

(a) The grid differential correction data and the original position observation data are received by an edge resolving platform of the multifunctional street lamp, if the current resolving task quantity of the source street lamp is smaller than the resolving task quantity threshold value, the source street lamp normally resolves and broadcasts the data to a user terminal or a management platform; if the current calculation task amount of the source street lamp is greater than or equal to the calculation task amount threshold value, maintaining an IP mapping relation table: source IP (session assigned user terminal IP) -source street lamp IP address (session assigned street lamp IP) -target street lamp IP address (shortest distance neighbor street lamp or street lamp IP assigned under optimal scheduling policy); replacing the source IP address with the source street lamp IP address, replacing the target address with the target street lamp IP address, and transmitting the target street lamp IP address through a special line port;

(b) The target street lamp receives the data packet through the special line port, judges, if the current calculation task amount of the target street lamp is smaller than the calculation task amount threshold value, normally calculates, and then executes (c); otherwise, iteratively executing the step (a), and taking the target street lamp as a source street lamp;

(c) Data return: the source street lamp receives the data packet returned by the target street lamp through the special line port, replaces the target IP address according to the mapping relation maintained before, judges whether the target IP address belongs to the management platform IP or the user terminal IP, if the target IP address is the management platform IP, continues to be returned by the special line port, if the target IP address is the user terminal IP, replaces the target IP address with the mobile terminal IP, and then the 5G access network executes the conventional mobile communication strategy to send to the core network 5G network element and broadcasts to the user terminal.

In particular, only one multifunctional street lamp is arranged in the same grid, the resolving task capacity of the edge resolving platform of the street lamp is full, or the edge resolving platforms of all the multifunctional street lamps exceed the resolving task capacity of the edge resolving platform, and the probability of occurrence of the two conditions is extremely low and can be solved through task quantity priority sorting, cross-grid resolving, backup mechanisms and the like, and the description is omitted here.

In the embodiment, the street lamps are networked through the upper-layer switch, whether the position resolving task is transferred is judged according to the current resolving task quantity of the street lamps, system breakdown caused by accidental overload work of the same edge resolving platform is avoided, fault risk and operation and maintenance cost of the street lamps are reduced, and disaster recovery backup capacity of the street lamps is increased.

In the embodiment, by setting the threshold of the calculation task amount, the position calculation work of the busy scene can be distributed to the idle street lamps in real time according to the calculation task amount, so that the congestion of a data link is avoided, and the fluency of high-precision positioning service is ensured.

receiving a positioning authorization request sent by the user terminal;

In one embodiment, the first street lamp may receive a positioning authorization request sent by a user terminal, perform positioning authentication on the user terminal, and refuse to provide positioning service for the user terminal if the positioning authentication fails; receiving original position observation data and GGA analysis request sent by a user terminal under the condition that positioning authentication passes; the first street lamp judges the relation between the current calculation task amount and the calculation task amount threshold, and when the current calculation task amount of the first street lamp is larger than or equal to the calculation task amount threshold, the original position observation data and the grid differential correction data are sent to a second street lamp, so that the second street lamp performs position calculation according to the original position observation data and the grid differential correction data, and a positioning result of the user terminal is obtained; and under the condition that the current calculation task amount of the first street lamp is smaller than a calculation task amount threshold, performing position calculation according to the original position observation data and the grid difference correction data to obtain GGA data of the user terminal, analyzing the GGA data, and sending an analysis result of the GGA data to the user terminal.

It should be noted that, in this embodiment, location authentication generally refers to accidental, non-long-term, temporary high-precision location service authority authentication, that is, the user terminal a is generally understood as a mobile station that is uniformly managed in a special or closed scenario, so that it defaults to have long-term, non-temporary location service authority enjoyment; if a mobile station newly added or reduced in the special or closed scene is managed in a unified way, a long-term and non-temporary positioning service authority is generally independently opened or cancelled for the user terminal.

In the embodiment, the user terminal is subjected to positioning authentication, so that the common user and the high-precision positioning service user can be distinguished, the high-precision positioning data and the communication service data are distinguished, the data mixing, the channel congestion, the resource waste and the illegal access of the user terminal are avoided, the computing load of an edge resolving platform is reduced, and the high-precision positioning service efficiency and the safety are improved.

Optionally, the positioning result is GGA data;

the method further comprises the steps of:

It should be noted that, the first street lamp may send the GGA data to the user terminal; or analyzing the GGA data, and sending the analysis result of the GGA data to the user terminal; or sending the GGA data or the analysis result of the GGA data to a management platform for managing the user terminal. Therefore, whether to analyze the generated GGA data can be determined according to the need, which data are transmitted to the external and temporary mobile stations and which data are transmitted to the unified management platform for storage or used as the basis of scheduling decision in special scenes can be determined according to the need. The management platform can be a part of special or closed scene data management platform, such as a port TOS system, an intelligent coal mine platform and the like, and comprises the functions of storing and managing high-precision position data, and further performs service scheduling and decision-making according to the data. The management platform can be provided with a fixed data protocol and an interface, and is connected with the multifunctional street lamp in a wired mode to carry out unidirectional or bidirectional communication.

In this embodiment, when the user terminal has GGA data analysis capability, the GGA data is transmitted to the user terminal; under the condition that the user terminal does not have GGA data analysis capability, the GGA data is analyzed, and the analysis result of the GGA data is sent to the user terminal, so that the GGA data can adapt to user terminals with different functions and types, and data types required by different user terminals can be provided, and the GGA data can be widely used and has better universality.

The embodiment of the invention also provides a positioning system, which comprises a server, a user terminal and at least one street lamp, wherein the at least one street lamp comprises a first street lamp, and the distance between the user terminal and the first street lamp meets the preset condition;

In the related art, a street lamp is used as a reference, a known accurate position of the street lamp is sent to a receiving end in a wireless mode, the receiving end judges a distance relation with a signal source by using a received wireless signal, and then the receiving end obtains a position of the receiving end, namely, positions the receiving end and the street lamp by using the relative position of the receiving end and the street lamp. The wireless signal transmission in the mode is extremely easy to be interfered by the outside, and when the distance between the street lamp and the receiving end of the mobile station is far, the attenuation of the wireless signal is large, so that the positioning stability and the positioning precision are not high.

In the related art, in special and closed environments such as a part of parks, mines and ports, the multifunctional street lamp can provide various functions such as intelligent illumination, wireless hotspots, electronic advertisements, intelligent charging piles, security monitoring, broadcasting, fusion positioning and the like, wherein the fusion positioning means auxiliary positioning by using Bluetooth or a WIFI position fingerprint and the like. The Bluetooth beacon is required to be deployed in the Bluetooth positioning, so that a new Bluetooth network is required to be established, compared with the situation that the cost of network construction and maintenance is required to be increased, the Bluetooth is easy to be interfered by other radio waves in the outdoor positioning, and the positioning precision is low; the WIFI positioning has a relatively large workload on the position map, and the WIFI positioning obtains relative coordinates, that is, coordinates of the mobile station relative to a WIFI base station or an AP (Access Point), and the WIFI base station or the AP needs to correct the map after changing; thirdly, the defect of WIFI positioning is that the quality of a WIFI base station or an AP is unstable, so that the positioning accuracy cannot be effectively ensured.

In the related art, grids are divided according to the positions of the street lamps, the street lamps receive differential correction data which are calculated by the cloud server according to differential data observed by the positioning base stations, bluetooth broadcasting is utilized for all mobile stations of the grids where the street lamps are located, and after the mobile stations receive the differential correction data, high-precision position calculation is carried out by combining original GNSS data observed by the mobile stations. According to the scheme, although the corresponding differential correction data are not required to be broadcast according to the grid of the mobile station, the grid is divided according to the position of the street lamp, because the street lamp is taken as an infrastructure mainly taking the lighting function as a main, the density of the street lamp is relatively concentrated, the generated differential correction data are different but have little influence on the improvement of the positioning precision, and compared with the traditional mode of dividing the grid according to the reference station, the load and the power consumption of a differential calculation platform are increased, and the probability of faults and the maintenance cost are correspondingly increased; in addition, the means of broadcasting differential correction data in the scheme is Bluetooth broadcasting, and the scheme has the defects of limited transmission distance, incompatibility of different equipment protocols, requirement of local data record to ensure uninterrupted availability of data and the like.

In the related art, a street lamp is used as a reference observation station, a 5G base station is deployed on the street lamp to provide a data link, a difference calculation unit is loaded to directly combine the original GNSS data observed by the street lamp with the GNSS data observed by the mobile station to generate a difference correction number, the difference correction number is provided for the mobile station through the 5G data link, and the GNSS data observed by the mobile station is transmitted back to the street lamp through the 5G link; in addition, the 5G base station can also provide network communication signals to provide services for mobile stations and surrounding people. According to the scheme, the solar charging panel and the lithium battery are used as energy sources of the street lamp, the conversion rate of converting solar energy into electric energy is very low, usually only 20% is less, the area of a solar panel deployed on the street lamp is small, the charging speed is low, an additional energy storage battery core is needed, and the practicability is low; more importantly, the scheme replaces a foundation enhancement reference station network by the street lamp, but in order to realize accurate positioning of the RTK, the observation station needs to continuously observe for 24 hours and generate differential correction data in real time, if single-point or multi-point faults occur, the whole end-to-end high-precision positioning service in the service range is affected, and the street lamp powered by solar energy is difficult to reduce the risk of incapacity of providing service.

The embodiment of the invention provides a street lamp auxiliary positioning system based on a high-precision positioning edge resolving scene, which relies on a Beidou or GPS global satellite navigation system, combines carrier phase observed quantity of a foundation enhanced reference station network, utilizes RTK high-precision positioning technology, removes most errors in mobile station observed data in a differential resolving mode by a core cloud server, sends formed differential correction numbers to multifunctional street lamps deployed in partial areas, such as urban main roads, parks, mines, ports and the like, receives original position observed data of mobile stations through mobile communication data links of 5G base stations hung on the multifunctional street lamps, performs position resolving on the edge side in combination with the differential correction numbers to form high-precision GGA data, analyzes the high-precision GGA data as required, and broadcasts the high-precision GGA data to the mobile stations through the 5G mobile communication data links, or transmits the high-precision GGA data to management platforms of special areas, such as TOS systems, intelligent coal mine platforms and the like in a wired mode. The street lamp auxiliary positioning system provided by the embodiment of the invention has the characteristics of millisecond time delay, large system capacity, strong disaster tolerance, simple communication protocol and the like.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a street lamp according to an embodiment of the present invention, where the street lamp is a first street lamp, as shown in fig. 4, the street lamp 200 includes:

A first receiving module 201, configured to receive original position observation data sent by a user terminal, where a distance between the user terminal and the first street lamp meets a preset condition;

a second receiving module 202, configured to receive grid differential correction data of a grid where the first street lamp is located, where the grid differential correction data is sent by the server;

a resolving module 203, configured to perform a position resolving according to the original position observation data and the grid differential correction data to obtain a positioning result of the user terminal

Optionally, the resolving module 203 is specifically configured to:

the resolving module 203 is further configured to:

And receiving the positioning result sent by the second street lamp.

Optionally, the first receiving module 201 is specifically configured to:

receiving a positioning authorization request sent by the user terminal;

Optionally, the positioning result is GGA data;

the resolving module 203 is further configured to:

The street lamp can realize each process realized in the method embodiment of fig. 1, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.

As shown in fig. 5, an embodiment of the present invention further provides a street lamp 300, including: the processor 301, the memory 302, and the program stored in the memory 302 and capable of running on the processor 301, when executed by the processor 301, implement the processes of the above positioning method embodiments, and achieve the same technical effects, so that repetition is avoided, and no further description is given here.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the processes of the positioning method embodiment described above, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here. Wherein the computer readable storage medium is such as ROM, RAM, magnetic or optical disk.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.

Claims

1. A positioning method, applied to a first street lamp, the method comprising:

2. The method of claim 1, wherein the performing the position calculation according to the original position observation data and the grid differential correction data to obtain the positioning result of the user terminal includes:

the method further comprises the steps of:

And receiving the positioning result sent by the second street lamp.

3. The method of claim 2, wherein the second street lamp is located within the same grid as the first street lamp;

4. The method of claim 1, wherein receiving the raw position observations sent by the user terminal comprises:

receiving a positioning authorization request sent by the user terminal;

5. The method of claim 1, wherein the positioning result is GGA data;

the method further comprises the steps of:

6. The positioning system is characterized by comprising a server, a user terminal and at least one street lamp, wherein the at least one street lamp comprises a first street lamp, and the distance between the user terminal and the first street lamp meets the preset condition;

7. The system of claim 6, wherein the server is configured to receive reference station observation data transmitted by a reference station and determine grid differential correction data for each of a plurality of grids based on the reference station observation data;

8. The system of claim 6, wherein the first lantern is provided with an active antenna unit, and the first lantern is configured to receive, through the active antenna unit, raw position observation data sent by the user terminal, and receive, through the active antenna unit, grid differential correction data of a grid where the first lantern is located, sent by a server.

9. A street lamp, the street lamp being a first street lamp, characterized in that the street lamp comprises:

10. A street lamp, comprising: a processor, a memory and a program stored on the memory and executable on the processor, which when executed by the processor carries out the steps of the positioning method according to any of claims 1 to 5.