CN104459740A - High-precision position differential positioning method of positioning terminal - Google Patents
High-precision position differential positioning method of positioning terminal Download PDFInfo
- Publication number
- CN104459740A CN104459740A CN201410637845.1A CN201410637845A CN104459740A CN 104459740 A CN104459740 A CN 104459740A CN 201410637845 A CN201410637845 A CN 201410637845A CN 104459740 A CN104459740 A CN 104459740A
- Authority
- CN
- China
- Prior art keywords
- differential
- mobile phone
- value
- reference station
- smart mobile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a high-precision position differential positioning method of a positioning terminal. The method comprises the steps that the positioning terminal obtains an initial position value of the positioning terminal and the serial number of a navigation satellite used for positioning through an API of a navigation application; a reference station receiver selects a navigation satellite the same as the positioning terminal in positioning for navigation positioning according to the obtained serial number of the navigation satellite, and a position value of the reference station receiver is obtained by calculation according to the navigation positioning data; subtraction is carried out on the position value of the reference station receiver and a real position value, obtained by precision measurement, of the reference station receiver so as to obtain a differential corrected value; the initial position of the positioning terminal is corrected according to the differential corrected value, and an accurate position value of the positioning terminal is obtained. It is ensured that the same satellite is used when the reference station receiver and the positioning terminal are subjected to position differential positioning, and the high-precision position differential positioning method of the positioning terminal is low in cost, easy to operate and high in precision.
Description
Technical field
The present invention relates to differential navigation positioning field, more specifically, relate to a kind of high precision position Differential positioning method of locating terminal.
Background technology
GLONASS (Global Navigation Satellite System) (GNSS) comprises GPS, GLONASS, the Big Dipper and Galileo system, for mankind's navigator fix provides huge facility.Satellite navigation receiver catches the pseudo-random code and navigation data that send with track navigation satellite, measure the radio wave transfer time of Navsat to receiver, recycling navigation data calculates position and the speed of satellite, then calculates the Position, Velocity and Time of smart mobile phone.Cheap receiver is normally based on single-frequency multi-mode chip.The precision of the single frequency receiving of autonomous location is subject to the impacts such as ionosphere time delay, troposphere time delay, satellite clock biases, satellite clock frequency drift, satellite ephemeris deviation, multipath error, and positioning precision optimally can only reach 7-10 rice.2014, there were several hundred million smart phone users in China, accounts for first of the whole world.Smart mobile phone, usually with satellite navigation chip, can reach more than 10 meter in the positioning precision of China.In order to improve positioning precision, K.Tysen Mueller has invented network differential gps system, Northwestern Polytechnical University, the Maritime Affairs University Of Dalian etc. are proposed the research of position differential GPS, and The 22nd Reserch Institute Of China Electronics Technology Group Corporation have studied the error analysis of GPS location difference in Vehicle positioning system application.If can utilize differential technique, improve the positioning precision of smart mobile phone, the whole world tens smart phone user will be benefited.Differential GPS location can be divided into 4 classes according to the information mode that differential GPS reference station sends, be differential position, pseudo range difference, smoothing pseudorange difference and carrier phase difference respectively.
Pseudo range difference mode is, reference station receiver broadcast pseudorange correction amount, smart mobile phone process data.At different time, the visible star number order of reference station receiver is different, and the number of the pseudorange that send and rate of change correction thereof is different, and the time of transmitting a frame correction is like this also different.This RTCM-Radio Technical Commission for Maritime Services is complicated, and frame length is long and non-constant.Along with the distance of smart mobile phone to reference station increases, measuring error will increase thereupon.Smoothing pseudorange difference method improves pseudo range difference precision, and computing method are simple, but the method requires that large cycle slip does not appear in carrier phase observable, otherwise its precision may not as simple pseudo range difference.Carrier phase difference mode, reference station broadcast observation carrier phase and survey station coordinate information, smart mobile phone needs to process a large amount of data, high to smart mobile phone end equipment requirement.In addition, the smart mobile phone navigation application api interface comprising IOS system and Android system at present can only provide and participate in location satellite number information used, and cannot obtain the pseudo-range information of navigator fix from api interface.So, pseudorange differential method cannot be utilized on smart mobile phone to realize hi-Fix.
Differential position system then thinks that the positioning error of reference station receiver is relevant to the positioning error of smart mobile phone receiver, it sends, for the direct correction to smart mobile phone receiver locator value as differential corrections value with reference to the difference of the station locator value of receiver and its actual position value by it.The method thinking is quite simple, and be easy to realize, differential data form is simple, and frame length is short and constant, and differential correcting is fast.But there is a fatal shortcoming in it, be exactly that the smart mobile phone satellite that must ensure to observe is consistent with the satellite that reference station receiver observes, if when the satellite in visual field is many, the combination of observation will be a lot, and increase along with the distance of smart mobile phone receiver and reference station receiver, very difficult guarantee smart mobile phone receiver and reference station receiver are observed same group of satellite.If incomplete same combinations of satellites selected by smart mobile phone receiver and reference station receiver, location-based difference method will bring larger positioning error.
Summary of the invention
Can not ensure that reference station receiver and smart mobile phone receiver use same set of satellite and smart mobile phone cannot use a difficult problem for pseudorange differential method to overcome in differential position, the invention provides a kind of high precision position Differential positioning method of low cost, simple to operate, high-precision locating terminal.
For solving the problems of the technologies described above, technical scheme of the present invention is as follows:
A kind of high precision position Differential positioning method of locating terminal, described method is applied to differential position positioning system, described system comprises Navsat, locating terminal and reference station receiver, and described locating terminal is provided with navigation application, said method comprising the steps of:
S1: the Navsat numbering that locating terminal is used by initial position value and the location of the api interface acquisition locating terminal of navigation application;
S2: the Navsat numbering that reference station receiver obtains according to step S2 is chosen and located identical Navsat with locating terminal and carry out navigator fix, calculates the positional value of reference station receiver according to navigation positioning data;
S3: the positional value with reference to station receiver is poor with the actual position value of the reference station receiver obtained through precision measurement, obtains differential corrections value;
S4: revise according to the initial position value of differential corrections value to locating terminal, obtains the exact position value of locating terminal.
In the preferred scheme of one, described method specifically comprises the following steps:
(1) smart mobile phone carries out navigator fix by navigation application, the Navsat numbering that the initial position value after obtaining smart mobile phone location by the api interface of navigation application and location use;
(2) initial position value and Navsat numbering are sent to differential position server by mobile communications network by smart mobile phone;
(3) differential position server receives and preserves the Navsat numbering that smart mobile phone sends over;
(4) differential position server sends smart mobile phone by mobile communications network to reference station receiver and locates the Navsat numbering used;
(5), after reference station receiver receives the Navsat numbering that differential position server sends, choose and locate with smart mobile phone the same Navsat used and carry out navigator fix;
(6) navigation positioning data of self and the prior reference station actual position value obtained through precision measurement are sent to differential position server by mobile communications network by reference station receiver;
(7) differential position server calculates the positional value of reference station according to the navigation positioning data of reference station receiver, and the positional value then with reference to station is poor with the reference station actual position value obtained through precision measurement in advance, obtains differential corrections value;
(8) differential position server stores has the initial position value of smart mobile phone, and differential position server is revised according to the initial position value of differential corrections value to smart mobile phone, obtains the exact position value of smart mobile phone;
(9) the exact position value of revised smart mobile phone is sent to smart mobile phone by mobile communications network by differential position server.
In the preferred scheme of one, described method specifically comprises the following steps:
(1) smart mobile phone carries out navigator fix by navigation application, the Navsat numbering that the initial position value after obtaining smart mobile phone location by the api interface of navigation application and location use;
(2) Navsat numbering is sent to differential position server by mobile communications network by smart mobile phone;
(3) differential position server receives and preserves the Navsat numbering that smart mobile phone sends over;
(4) differential position server sends smart mobile phone by mobile communications network to reference station receiver and locates the Navsat numbering used;
(5), after reference station receiver receives the Navsat numbering that differential position server sends, choose and locate with smart mobile phone the same Navsat used and carry out navigator fix;
(6) navigation positioning data of self and the prior reference station actual position value obtained through precision measurement are sent to differential position server by mobile communications network by reference station receiver;
(7) differential position server sends the navigation positioning data of reference station receiver and the reference station actual position value obtained through precision measurement in advance by mobile communications network to smart mobile phone;
(8) smart mobile phone utilizes the navigation positioning data of reference station receiver to calculate the positional value of reference station, and the positional value then with reference to station is poor with the reference station actual position value obtained through precision measurement in advance, obtains differential corrections value;
(9) smart mobile phone stores the initial position value of self, revises its initial position value according to differential corrections value, obtains the exact position value of smart mobile phone.
In the preferred scheme of one, described method also comprises: locating terminal obtains multiple differential corrections value according to multiple reference station receiver, then the average on average obtaining differential corrections value is weighted to these differential corrections values, then revise according to the initial position value of average to locating terminal of differential corrections value, obtain the exact position value of locating terminal.
In the preferred scheme of one, in step S3, the described step calculating the positional value of reference station receiver according to navigation data is carried out at locating terminal.
In the preferred scheme of one, described locating terminal is smart mobile phone.
In the preferred scheme of one, the operating system that described smart mobile phone adopts is IOS system or Android system.
In the preferred scheme of one, mobile communications network refers to GSM network, GPRS network, cdma network, 3G network or 4G network.
Compared with prior art, the beneficial effect of technical solution of the present invention is: the present invention utilizes the api interface of locating terminal navigation application to read the Navsat participating in locating terminal location and numbers, reference station receiver is chosen according to Navsat numbering and is located identical Navsat with locating terminal and obtain navigation positioning data, the positional value of reference station receiver is calculated according to navigation positioning data, this positional value is poor with the actual position value of the reference station receiver obtained through precision measurement, obtain differential corrections value; Finally revise according to the initial position value of differential corrections value to locating terminal, obtain the exact position value of locating terminal.This invention ensures that reference station receiver and locating terminal employ same group of satellite when carrying out differential position location, is a kind of low cost, simple to operate, high-precision differential position localization method.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the high precision position Differential positioning method of embodiment 1 locating terminal.
The structural drawing of the system used that Fig. 2 is embodiment 2 and embodiment 3.
Fig. 3 is the process flow diagram of the high precision position Differential positioning method of embodiment 2 locating terminal.
Fig. 4 is the process flow diagram of the high precision position Differential positioning method of embodiment 3 locating terminal.
Fig. 5 is that embodiment 4 utilizes many reference stations to improve the method schematic diagram of smart mobile phone position estimation accuracy.
1, Navsat; 2, smart mobile phone; 3, differential position server; 4, reference station receiver; 5, mobile communications network.
Embodiment
Accompanying drawing, only for exemplary illustration, can not be interpreted as the restriction to this patent; To those skilled in the art, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Embodiment 1
As shown in Figure 1, a high precision position Differential positioning method for locating terminal, described method is applied to differential position positioning system, and described system comprises Navsat, locating terminal and reference station receiver, described locating terminal is provided with navigation application, said method comprising the steps of:
S1: the Navsat numbering that locating terminal is used by initial position value and the location of the api interface acquisition locating terminal of navigation application;
S2: the Navsat numbering that reference station receiver obtains according to step S2 is chosen and located identical Navsat with locating terminal and carry out navigator fix, calculates the positional value of reference station receiver according to navigation positioning data;
S3: the positional value with reference to station receiver is poor with the actual position value of the reference station receiver obtained through precision measurement, obtains differential corrections value;
S4: revise according to the initial position value of differential corrections value to locating terminal, obtains the exact position value of locating terminal.
In specific implementation process, locating terminal obtains multiple differential corrections value according to multiple reference station receiver, then the average on average obtaining differential corrections value is weighted to these differential corrections values, then revise according to the initial position value of average to locating terminal of differential corrections value, obtain the exact position value of locating terminal.
The present invention utilizes the api interface of locating terminal navigation application to read the Navsat participating in locating terminal location and numbers, reference station receiver is chosen according to Navsat numbering and is located identical Navsat with locating terminal and obtain navigation positioning data, the positional value of reference station receiver is calculated according to navigation positioning data, this positional value is poor with the actual position value of the reference station receiver obtained through precision measurement, obtain differential corrections value, finally revise according to the initial position value of differential corrections value to locating terminal, obtain the exact position value of locating terminal.This invention ensures that reference station receiver and locating terminal employ same group of satellite when carrying out differential position location, is a kind of low cost, simple to operate, high-precision differential position localization method.
Embodiment 2
As Figure 2-3, a kind of high precision position Differential positioning method of locating terminal, described locating terminal adopts smart mobile phone 2, described method is applied to differential position positioning system, described system comprises Navsat 1, smart mobile phone 2, differential position server 3 and reference station receiver 4, described locating terminal is provided with navigation application, said method comprising the steps of:
(1) smart mobile phone 2 carries out navigator fix by navigation application, the Navsat numbering that the initial position value after obtaining smart mobile phone 2 location by the api interface of navigation application and location use;
(2) initial position value and Navsat numbering are sent to differential position server 3 by mobile communications network 5 by smart mobile phone;
(3) differential position server 3 receives and preserves the Navsat numbering that smart mobile phone sends over;
(4) differential position server 3 sends smart mobile phone 2 by mobile communications network 5 to reference station receiver 4 and locates the Navsat numbering used;
(5), after reference station receiver 4 receives the Navsat numbering that differential position server 3 sends, choose and locate with smart mobile phone 2 the same Navsat 1 used and carry out navigator fix;
(6) navigation positioning data of self and the prior reference station actual position value obtained through precision measurement are sent to differential position server 3 by mobile communications network 5 by reference station receiver 4;
(7) differential position server 3 calculates the positional value of reference station according to the navigation positioning data of reference station receiver 4, and the positional value then with reference to station is poor with the reference station actual position value obtained through precision measurement in advance, obtains differential corrections value;
(8) differential position server 3 stores the initial position value of smart mobile phone, and differential position server 3 is revised according to the initial position value of differential corrections value to smart mobile phone 2, obtains the exact position value of smart mobile phone.
(9) the exact position value of revised smart mobile phone 2 is sent to smart mobile phone 2 by mobile communications network 5 by differential position server 3.
In specific implementation process, the operating system that described intelligent hand 2 machine adopts is IOS system or Android system.
In specific implementation process, described mobile communications network 5 is GSM network, GPRS network, cdma network, 3G network or 4G network, the data transmission of the present embodiment uses the mobile communications network 5 of extensively distribution at present, ensure that the place that smart mobile phone can cover at mobile communications network can have corresponding reference station receiver to communicate with it, and do not need additionally to set up communication network.
Embodiment 3
As shown in Figure 4, in order to the calculated load of the differential server that dips, the present embodiment improves on the basis of embodiment 2, the differential corrections value of smart mobile phone to reference station receiver location is utilized to calculate, then revise according to the initial position value of differential corrections value to self obtained, concrete method step is as follows:
(1) smart mobile phone carries out navigator fix by navigation application, the Navsat numbering that the initial position value after obtaining smart mobile phone location by the api interface of navigation application and location use;
(2) Navsat numbering is sent to differential position server by mobile communications network by smart mobile phone;
(3) differential position server receives and preserves the Navsat numbering that smart mobile phone sends over;
(4) differential position server sends smart mobile phone by mobile communications network to reference station receiver and locates the Navsat numbering used;
(5), after reference station receiver receives the Navsat numbering that differential position server sends, choose and locate with smart mobile phone the same Navsat used and carry out navigator fix;
(6) navigation positioning data of self and the prior reference station actual position value obtained through precision measurement are sent to differential position server by mobile communications network by reference station receiver;
(7) differential position server sends the navigation positioning data of reference station receiver and the reference station actual position value obtained through precision measurement in advance by mobile communications network to smart mobile phone;
(8) smart mobile phone utilizes the navigation positioning data of reference station receiver to calculate the positional value of reference station, and the positional value then with reference to station is poor with the reference station actual position value obtained through precision measurement in advance, obtains differential corrections value;
(9) smart mobile phone stores the initial position value of self, revises its initial position value according to differential corrections value, obtains the exact position value of smart mobile phone.
Embodiment 4
In order to expand the service range of differential position localization method of the present invention, simultaneously in order to break away from the impact on positioning precision caused because of the base length between smart mobile phone and reference station receiver, reduce the stochastic error of reference station modified value, the present embodiment is weighted on average to the exact position value of the smart mobile phone obtained according to multiple reference station respectively on the basis of above-described embodiment, to obtain more accurate smart mobile phone positional value, reduce the statistic bias revised.
As shown in Figure 5, the method utilizing many reference stations to improve smart mobile phone position estimation accuracy mainly contains following two steps: 1, utilize the differential position modified value from each reference station to determine the exact position of smart mobile phone individually; 2, the weighted mean of each exact position is calculated, to provide more accurate final position value.For 3 reference stations, use planimetric rectangular coordinates x, y represents positional value.If the final position value of smart mobile phone is U (x
u, y
u), be respectively L according to the exact position value that neighbouring 3 reference station receivers obtain smart mobile phone
1(x
1, y
1), L
2(x
2, y
2), L
3(x
3, y
3), corresponding weights are respectively w
1, w
2, w
3, then the final position value U (x of smart mobile phone
u, y
u) according to following 3 solving simultaneous equations:
x
u＝w
1x
1+w
2x
2+w
3x
3
y
u＝w
1y
1+w
2y
2+w
3y
3
w
1+w
2+w
3＝1
Wherein, each weights are inverses of a product, and this product is formed to the standard deviation of the distance of reference station and the average valuation of this reference station by smart mobile phone, and each weights need to be normalized according to the summation of all weights.
The term describing position relationship in accompanying drawing, only for exemplary illustration, can not be interpreted as the restriction to this patent;
Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All any amendments done within the spirit and principles in the present invention, equivalent to replace and improvement etc., within the protection domain that all should be included in the claims in the present invention.
Claims (7)
1. the high precision position Differential positioning method of a locating terminal, described method is applied to differential position positioning system, and described system comprises Navsat, locating terminal and reference station receiver, and described locating terminal is provided with navigation application, it is characterized in that, said method comprising the steps of:
S1: the Navsat numbering that locating terminal is used by initial position value and the location of the api interface acquisition locating terminal of navigation application;
S2: the Navsat numbering that reference station receiver obtains according to step S2 is chosen and located identical Navsat with locating terminal and carry out navigator fix, calculates the positional value of reference station receiver according to navigation positioning data;
S3: the positional value with reference to station receiver is poor with the actual position value of the reference station receiver obtained through precision measurement, obtains differential corrections value;
S4: revise according to the initial position value of differential corrections value to locating terminal, obtains the exact position value of locating terminal.
2. the high precision position Differential positioning method of locating terminal according to claim 1, it is characterized in that, described method specifically comprises the following steps:
(1) smart mobile phone carries out navigator fix by navigation application, the Navsat numbering that the initial position value after obtaining smart mobile phone location by the api interface of navigation application and location use;
(2) initial position value and Navsat numbering are sent to differential position server by mobile communications network by smart mobile phone;
(3) differential position server receives and preserves the Navsat numbering that smart mobile phone sends over;
(4) differential position server sends smart mobile phone by mobile communications network to reference station receiver and locates the Navsat numbering used;
(5), after reference station receiver receives the Navsat numbering that differential position server sends, choose and locate with smart mobile phone the same Navsat used and carry out navigator fix;
(6) navigation positioning data of self and the prior reference station actual position value obtained through precision measurement are sent to differential position server by mobile communications network by reference station receiver;
(7) differential position server calculates the positional value of reference station according to the navigation positioning data of reference station receiver, and the positional value then with reference to station is poor with the reference station actual position value obtained through precision measurement in advance, obtains differential corrections value;
(8) differential position server stores has the initial position value of smart mobile phone, and differential position server is revised according to the initial position value of differential corrections value to smart mobile phone, obtains the exact position value of smart mobile phone;
(9) the exact position value of revised smart mobile phone is sent to smart mobile phone by mobile communications network by differential position server.
3. the high precision position Differential positioning method of locating terminal according to claim 1, it is characterized in that, described method specifically comprises the following steps:
(1) smart mobile phone carries out navigator fix by navigation application, the Navsat numbering that the initial position value after obtaining smart mobile phone location by the api interface of navigation application and location use;
(2) Navsat numbering is sent to differential position server by mobile communications network by smart mobile phone;
(3) differential position server receives and preserves the Navsat numbering that smart mobile phone sends over;
(4) differential position server sends smart mobile phone by mobile communications network to reference station receiver and locates the Navsat numbering used;
(5), after reference station receiver receives the Navsat numbering that differential position server sends, choose and locate with smart mobile phone the same Navsat used and carry out navigator fix;
(6) navigation positioning data of self and the prior reference station actual position value obtained through precision measurement are sent to differential position server by mobile communications network by reference station receiver;
(7) differential position server sends the navigation positioning data of reference station receiver and the reference station actual position value obtained through precision measurement in advance by mobile communications network to smart mobile phone;
(8) smart mobile phone utilizes the navigation positioning data of reference station receiver to calculate the positional value of reference station, and the positional value then with reference to station is poor with the reference station actual position value obtained through precision measurement in advance, obtains differential corrections value;
(9) smart mobile phone stores the initial position value of self, revises its initial position value according to differential corrections value, obtains the exact position value of smart mobile phone.
4. the high precision position Differential positioning method of locating terminal according to claim 1, it is characterized in that, described method also comprises: locating terminal obtains multiple differential corrections value according to multiple reference station receiver, then the average on average obtaining differential corrections value is weighted to these differential corrections values, then revise according to the initial position value of average to locating terminal of differential corrections value, obtain the exact position value of locating terminal.
5. the high precision position Differential positioning method of locating terminal according to claim 1, is characterized in that, described locating terminal is smart mobile phone.
6. the high precision position Differential positioning method of locating terminal according to claim 5, is characterized in that, the operating system that described smart mobile phone adopts is IOS system or Android system.
7. the high precision position Differential positioning method of the locating terminal according to any one of Claims 2 or 3, is characterized in that, described mobile communications network is GSM network, GPRS network, cdma network, 3G network or 4G network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410637845.1A CN104459740A (en) | 2014-11-12 | 2014-11-12 | High-precision position differential positioning method of positioning terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410637845.1A CN104459740A (en) | 2014-11-12 | 2014-11-12 | High-precision position differential positioning method of positioning terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104459740A true CN104459740A (en) | 2015-03-25 |
Family
ID=52906089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410637845.1A Pending CN104459740A (en) | 2014-11-12 | 2014-11-12 | High-precision position differential positioning method of positioning terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104459740A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104765056A (en) * | 2015-03-31 | 2015-07-08 | 惠州华阳通用电子有限公司 | Vehicle-mounted sub-meter positioning system and method |
| CN105445769A (en) * | 2015-11-16 | 2016-03-30 | 武汉大学 | GNSS point positioning coordinate correction method based on CORS |
| CN106324621A (en) * | 2016-08-08 | 2017-01-11 | 广东工业大学 | Multi-course parallel difference resolving server and method and navigation system |
| WO2017008766A1 (en) * | 2015-07-16 | 2017-01-19 | 海能达通信股份有限公司 | Communication method and device for realizing information compression, and communication apparatus |
| CN106707316A (en) * | 2016-12-13 | 2017-05-24 | 益阳市首航电子科技有限公司 | Beidou high-precision beacon light location system using standard correction method |
| CN106707317A (en) * | 2016-12-01 | 2017-05-24 | 上海埃威航空电子有限公司 | Regional position differential positioning method and system |
| CN106871982A (en) * | 2017-02-22 | 2017-06-20 | 中国大唐集团科学技术研究院有限公司华中分公司 | The fuzzy parameter measuring method of fluid flow in a kind of measurement generator stator bar |
| CN107182124A (en) * | 2017-05-19 | 2017-09-19 | 北京旋极伏羲大数据技术有限公司 | A kind of high-precision locating method and device based on grid |
| CN107247280A (en) * | 2017-04-21 | 2017-10-13 | 中国科学院光电研究院 | A kind of orientation authentication and processing method and processing device |
| WO2017206037A1 (en) * | 2016-05-31 | 2017-12-07 | 华为技术有限公司 | Positioning method and apparatus |
| CN107643533A (en) * | 2016-07-22 | 2018-01-30 | 北京臻迪机器人有限公司 | A kind of unmanned plane localization method, device, system and unmanned plane |
| CN108230720A (en) * | 2016-12-09 | 2018-06-29 | 深圳市易行网交通科技有限公司 | Parking management method and device |
| CN108594166A (en) * | 2018-04-19 | 2018-09-28 | 广东工业大学 | A kind of estimating two-dimensional direction-of-arrival method and device |
| CN108614574A (en) * | 2018-06-11 | 2018-10-02 | 湖北工业大学 | A kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system and method |
| CN109935098A (en) * | 2017-12-18 | 2019-06-25 | 上海交通大学 | High-precision relative position information distribution device and method based on bus or train route communication for coordination |
| CN110646817A (en) * | 2019-05-09 | 2020-01-03 | 一飞智控(天津)科技有限公司 | Method for calculating positioning error and high-precision positioning method |
| CN110879405A (en) * | 2019-11-29 | 2020-03-13 | 慧众行知科技（北京）有限公司 | Method and system for selecting target reference station in satellite positioning |
| CN112213749A (en) * | 2020-10-13 | 2021-01-12 | 江苏新塔物联网研究院有限公司 | Method for realizing low-power-consumption work of terminal equipment based on satellite positioning |
| CN113835109A (en) * | 2021-11-26 | 2021-12-24 | 腾讯科技（深圳）有限公司 | Terminal positioning method and device, electronic equipment, storage medium and program product |
| CN114185069A (en) * | 2021-12-07 | 2022-03-15 | 西藏金采科技股份有限公司 | Differential positioning method, device and system for improving Beidou positioning accuracy |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1356560A (en) * | 2001-07-24 | 2002-07-03 | 大连海事大学 | High-accuracy user position monitoring system and position differential method using pseudo-distance correction value |
| CN201018478Y (en) * | 2005-09-23 | 2008-02-06 | 北京海洋信通网络技术服务有限公司 | Maritime wireless digital synthetic information terminal based on onshore wireless network system |
| CN101299065A (en) * | 2008-06-19 | 2008-11-05 | 宇龙计算机通信科技(深圳)有限公司 | Method and system for positioning mobile terminal |
| CN103968836A (en) * | 2014-05-16 | 2014-08-06 | 施浒立 | Method and device for calculating position of moving target based on time sequence pseudo-range differential |
-
2014
- 2014-11-12 CN CN201410637845.1A patent/CN104459740A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1356560A (en) * | 2001-07-24 | 2002-07-03 | 大连海事大学 | High-accuracy user position monitoring system and position differential method using pseudo-distance correction value |
| CN201018478Y (en) * | 2005-09-23 | 2008-02-06 | 北京海洋信通网络技术服务有限公司 | Maritime wireless digital synthetic information terminal based on onshore wireless network system |
| CN101299065A (en) * | 2008-06-19 | 2008-11-05 | 宇龙计算机通信科技(深圳)有限公司 | Method and system for positioning mobile terminal |
| CN103968836A (en) * | 2014-05-16 | 2014-08-06 | 施浒立 | Method and device for calculating position of moving target based on time sequence pseudo-range differential |
Non-Patent Citations (2)
| Title |
|---|
| 乔仰文等: "《GPS卫星定位原理及其在测绘中的应用》", 31 May 2000, 教育科学出版社 * |
| 袁安存等: "《全球定位系统（GPS）原理与应用》", 30 November 1999, 大连海事大学出版社 * |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104765056A (en) * | 2015-03-31 | 2015-07-08 | 惠州华阳通用电子有限公司 | Vehicle-mounted sub-meter positioning system and method |
| WO2017008766A1 (en) * | 2015-07-16 | 2017-01-19 | 海能达通信股份有限公司 | Communication method and device for realizing information compression, and communication apparatus |
| CN105445769A (en) * | 2015-11-16 | 2016-03-30 | 武汉大学 | GNSS point positioning coordinate correction method based on CORS |
| CN107835948B (en) * | 2016-05-31 | 2020-11-10 | 华为技术有限公司 | Positioning method and device |
| WO2017206037A1 (en) * | 2016-05-31 | 2017-12-07 | 华为技术有限公司 | Positioning method and apparatus |
| CN107835948A (en) * | 2016-05-31 | 2018-03-23 | 华为技术有限公司 | Localization method and device |
| CN107643533A (en) * | 2016-07-22 | 2018-01-30 | 北京臻迪机器人有限公司 | A kind of unmanned plane localization method, device, system and unmanned plane |
| CN106324621A (en) * | 2016-08-08 | 2017-01-11 | 广东工业大学 | Multi-course parallel difference resolving server and method and navigation system |
| CN106707317A (en) * | 2016-12-01 | 2017-05-24 | 上海埃威航空电子有限公司 | Regional position differential positioning method and system |
| CN106707317B (en) * | 2016-12-01 | 2024-03-29 | 上海埃威航空电子有限公司 | Regional position differential positioning method and system |
| CN108230720B (en) * | 2016-12-09 | 2020-11-03 | 深圳市易行网交通科技有限公司 | Parking management method and device |
| CN108230720A (en) * | 2016-12-09 | 2018-06-29 | 深圳市易行网交通科技有限公司 | Parking management method and device |
| CN106707316A (en) * | 2016-12-13 | 2017-05-24 | 益阳市首航电子科技有限公司 | Beidou high-precision beacon light location system using standard correction method |
| CN106871982A (en) * | 2017-02-22 | 2017-06-20 | 中国大唐集团科学技术研究院有限公司华中分公司 | The fuzzy parameter measuring method of fluid flow in a kind of measurement generator stator bar |
| CN107247280B (en) * | 2017-04-21 | 2020-01-24 | 中国科学院光电研究院 | Positioning authentication and processing method and device |
| CN107247280A (en) * | 2017-04-21 | 2017-10-13 | 中国科学院光电研究院 | A kind of orientation authentication and processing method and processing device |
| CN107182124A (en) * | 2017-05-19 | 2017-09-19 | 北京旋极伏羲大数据技术有限公司 | A kind of high-precision locating method and device based on grid |
| CN109935098B (en) * | 2017-12-18 | 2020-11-06 | 上海交通大学 | High-precision relative position information broadcasting device and method based on vehicle-road cooperative communication |
| CN109935098A (en) * | 2017-12-18 | 2019-06-25 | 上海交通大学 | High-precision relative position information distribution device and method based on bus or train route communication for coordination |
| CN108594166A (en) * | 2018-04-19 | 2018-09-28 | 广东工业大学 | A kind of estimating two-dimensional direction-of-arrival method and device |
| CN108594166B (en) * | 2018-04-19 | 2022-03-25 | 广东工业大学 | Two-dimensional direction of arrival estimation method and device |
| CN108614574A (en) * | 2018-06-11 | 2018-10-02 | 湖北工业大学 | A kind of Centimeter Level satellite positioning Intelligent unattended agricultural machinery control system and method |
| CN110646817A (en) * | 2019-05-09 | 2020-01-03 | 一飞智控(天津)科技有限公司 | Method for calculating positioning error and high-precision positioning method |
| CN110879405A (en) * | 2019-11-29 | 2020-03-13 | 慧众行知科技（北京）有限公司 | Method and system for selecting target reference station in satellite positioning |
| CN112213749A (en) * | 2020-10-13 | 2021-01-12 | 江苏新塔物联网研究院有限公司 | Method for realizing low-power-consumption work of terminal equipment based on satellite positioning |
| CN113835109A (en) * | 2021-11-26 | 2021-12-24 | 腾讯科技（深圳）有限公司 | Terminal positioning method and device, electronic equipment, storage medium and program product |
| CN114185069A (en) * | 2021-12-07 | 2022-03-15 | 西藏金采科技股份有限公司 | Differential positioning method, device and system for improving Beidou positioning accuracy |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104459740A (en) | High-precision position differential positioning method of positioning terminal | |
| CN105353391A (en) | Location augmentation system of multi-network integration supporting multi-type location terminals and location augmentation method of multi-network integration supporting multi-type location terminals | |
| RU2327303C2 (en) | Positioning of wireless communication terminal device in mixed positioning system | |
| CN101680939B (en) | Positioning using a reference station | |
| CN103344978B (en) | Area enhanced precision positioning service method suitable for large-scale users | |
| CN104749595A (en) | Positioning service method and system based on high-precision base reinforcing system | |
| CN103149579B (en) | Multisystem function is increased in conventional navigation satellite system receiver | |
| JP2012163564A (en) | Method and apparatus for improving radio location determination accuracy | |
| CN102540228A (en) | High precision single point positioning system of single frequency global positioning system (GPS) and method | |
| CN103562741A (en) | Differential correction system enhancement leverages roving receivers enabled for a non-GPS, secondary PN&T signal to characterize local errors | |
| CN102215558B (en) | Ground mobile communication network positioning method assisted by communication broadcast satellite signal | |
| CN102866410A (en) | Method for position determination with measurement stitching | |
| JP2010503836A (en) | Integrated mobile terminal navigation | |
| CN103837879A (en) | Method for realizing high-precision location based on Big Dipper system civil carrier phase combination | |
| CN102612138A (en) | Method and apparatus for location determination in a wireless assisted hybrid positioning system | |
| CN105849589A (en) | Satellite positioning system, positioning terminal, positioning method, and recording medium | |
| KR102166976B1 (en) | Unlimited network-realtime kinematic method and virtual reference station using thereof | |
| CN105445769A (en) | GNSS point positioning coordinate correction method based on CORS | |
| CN106773783B (en) | Semi-physical simulation test system and method for continuously operating reference station system | |
| CN103364801B (en) | A method for multiplying positioning precision in a satellite navigation positioning system | |
| CN110361692A (en) | A kind of fusion and positioning method and device | |
| CN104316943A (en) | Pseudo distance and Doppler combination differential positioning system and pseudo distance and Doppler combination differential positioning method | |
| CN107807373A (en) | GNSS high-precision locating methods based on mobile intelligent terminal | |
| CN108983268A (en) | A kind of localization method based on virtual reference station, positioning system and relevant apparatus | |
| CN105549048A (en) | High-precision satellite positioning device on the basis of triangle receiver array and positioning method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150325 |