CN107835948A

CN107835948A - Localization method and device

Info

Publication number: CN107835948A
Application number: CN201680015312.7A
Authority: CN
Inventors: 窦凤辉; 何岳; 金辉; 欧阳国威; 陆晨曦
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2016-05-31
Filing date: 2016-05-31
Publication date: 2018-03-23
Anticipated expiration: 2036-05-31
Also published as: CN107835948B; WO2017206037A1

Abstract

The embodiment of the present invention provides a kind of localization method and device, and this method includes：Terminal device obtains the update information of at least one reference device, and the update information of each reference device includes the corrected parameter of the measurement position for terminal device amendment terminal device, the use range of corrected parameter；Wherein, corrected parameter is the parameter for the position location that the measurement position of reference device is modified to reference device；Terminal device determines the position location of terminal device according to the update information of at least one reference device and the measurement position of terminal device.Localization method and device provided in an embodiment of the present invention, the positioning precision for the terminal device being arranged on vehicle can be improved.

Description

Localization method and device

Technical field

The present embodiments relate to the communication technology more particularly to a kind of localization method and devices.

Background technique

Car networking is a kind of network that can make between vehicle and vehicle, communicate wirelessly between vehicle and people, between vehicle and roadside unit and between vehicle and internet with information exchange, to realize intelligentized traffic administration, wherein, above-mentioned described information for example can be position, speed, the destination etc. of vehicle.

At present, the terminal device on vehicle in car networking can position the position of vehicle by global position system, and it is sent to the management equipment of car networking together in company with the destination of the vehicle, so that the management equipment of car networking can be according to the position and destination of the vehicle, and the position of other vehicles, optimal traffic path is selected for the vehicle, to improve the line efficiency out of user.

But for the terminal device on above-mentioned vehicle when positioning the position of vehicle by global position system, positioning accuracy is lower, is unable to satisfy requirement in actual use in the prior art.

Summary of the invention

The embodiment of the present invention provides a kind of localization method and device, for solving the terminal device on vehicle in the prior art when positioning the position of vehicle by global position system, the lower technical problem of positioning accuracy.

In a first aspect, the embodiment of the present invention provides a kind of localization method, which comprises

Terminal device obtains the update information of at least one reference device, and the update information of each reference device includes that the use scope of the corrected parameter of measurement position of the terminal device, the corrected parameter is corrected for the terminal device；Wherein, the corrected parameter is the parameter that the measurement position of the reference device is modified to the position location of the reference device；

The terminal device determines the position location of the terminal device according to the update information of at least one reference device and the measurement position of the terminal device.

The localization method provided by first aspect, so that the terminal device on vehicle during obtaining the measurement position of itself by global position system, can obtain repairing at least one reference device in real time Positive information, so that terminal device can be with the update information of at least one reference device, come the position location for correcting the measurement position of itself to determine itself, make the position location infinite approach or the position equal to terminal device itself where practical, so that terminal device can be located the management equipment that position is sent to car networking as the position of vehicle, so that the management equipment of car networking can be according to the position of vehicle, determine the lane where vehicle, and then the vehicle in available car networking is in the queueing message in each lane, so as to provide accurate Traffic Information for the vehicle in car networking, improve validity and accuracy of the management equipment to traffic information provided by vehicle of car networking.

Further, in a kind of possible embodiment of first aspect, the update information of each reference device further includes the position of each reference device；The position of the reference device is the position location of the reference device or the measurement position of the reference device.

Optionally, in a kind of possible embodiment of first aspect, the terminal device determines the position location of the terminal device, specifically includes according to the update information of at least one reference device and the measurement position of the terminal device:

The terminal device determines at least one first reference device according to the use scope of the corrected parameter of each reference device, the position of each reference device and the measurement position of the terminal device；The terminal device is located in the use scope of the corrected parameter of first reference device；

The terminal device determines the position location of the terminal device according to the update information of at least one the first reference device and the measurement position of the terminal device.

The localization method provided by the possible embodiment, terminal device is according to the use scope of the corrected parameter in the update information of at least one acquired reference device, the position of reference device, and, the measurement position of terminal device, at least one first reference device in the use scope that terminal device is located at its corrected parameter can be accurately filtered out from least one reference device, so that terminal device can using this at least one the first reference device corrected parameter as foundation, to correct itself measurement position, with the position location of determination oneself, make the position location more infinite approach or the position equal to terminal device itself where practical, so that terminal device can be located the management equipment that position is sent to car networking as the position of vehicle, so that the management equipment of car networking can be according to the position of vehicle It sets, determine the lane where vehicle, and then queueing message of the vehicle in available car networking in each lane improves validity and accuracy of the management equipment to traffic information provided by vehicle of car networking so as to provide accurate Traffic Information for the vehicle in car networking.

Optionally, in a kind of possible embodiment of first aspect, the terminal device is according to each The use scope of the corrected parameter of the reference device, the measurement position of the position of each reference device and the terminal device, determine at least one first reference device, specifically include:

The terminal device determines the first distance between the terminal device and each reference device according to the measurement position of the terminal device and the position of each reference device；

For the terminal device according to the use scope of the corrected parameter of first distance and each reference device between the terminal device and each reference device, the reference device that the first distance between the terminal device is less than or equal to the use scope of the corrected parameter of the reference device is determined as first reference device.

Further, in a kind of possible embodiment of first aspect, the update information of each reference device further includes that each reference device calculates the corresponding satellite number of used satellite when the measurement position of the reference device.

Optionally, in a kind of possible embodiment of first aspect, the terminal device determines the position location of the terminal device, specifically includes according to the update information of at least one the first reference device and the measurement position of the terminal device:

The terminal device used satellite corresponding satellite number when calculating the measurement position of first reference device according at least one described first reference device determines identical second reference device of satellite number at least one described first reference device with the presence or absence of satellite used when calculating the measurement position of the terminal device with the terminal device；

If it exists, then the terminal device determines the position location of the terminal device according to the update information of second reference device and the measurement position of the terminal device.

Further, in a kind of possible embodiment of first aspect, second reference device is multiple；

The terminal device determines the position location of the terminal device, specifically includes according to the update information of second reference device and the measurement position of the terminal device:

The terminal device determines the third reference device that terminal device described in distance is nearest in second reference device according to the position of second reference device and the measurement position of the terminal device；

The terminal device determines the position location of the terminal device according to the corrected parameter of the third reference device and the measurement position of the terminal device.

Optionally, in a kind of possible embodiment of first aspect, the position location of the third reference device includes: the longitude position location X3 of the third reference device_{It is fixed}, the third reference device Latitude position location Y3_{It is fixed}, the altitude location position Z3 of the third reference device_{It is fixed}；

The measurement position of the third reference device includes: the longitude determination position X3 of the third reference device_{It surveys}, the latitude determination position Y3 of the third reference device_{It surveys}, the elevation carrection position Z3 of the third reference device_{It surveys}；

Then the corrected parameter of the third equipment includes: according to Δ X3=X3_{It is fixed}-X3_{It surveys}The longitude corrected parameter Δ X3 of the determining third reference device, according to Δ Y3=Y3_{It is fixed}-Y3_{It surveys}The latitude corrected parameter Δ Y3 of the determining third reference device, according to Δ Z3=Z3_{It is fixed}-Z3_{It surveys}The height correction parameter, Δ Z3 of the determining third reference device.

Further, in a kind of possible embodiment of first aspect, the measurement position of the terminal device includes: the longitude determination position A of the terminal device_{It surveys}, the latitude determination position B of the terminal device_{It surveys}, the elevation carrection position C of the terminal device_{It surveys}；

The position location of the terminal device includes: the longitude position location A of the terminal device_{It is fixed}, the latitude position location B of the terminal device_{It is fixed}, the altitude location position C of the terminal device_{It is fixed}；

Then the terminal device determines the position location of the terminal device, specifically includes according to the corrected parameter of the third reference device and the measurement position of the terminal device:

The terminal device is according to the longitude corrected parameter Δ X3 of the third reference device, the longitude determination position A of the terminal device_{It surveys}And A_{It is fixed}=A_{It surveys}+ Δ X3 determines the longitude position location A of the terminal device_{It is fixed}；

The terminal device is according to the latitude corrected parameter Δ Y3 of the third reference device, the latitude determination position B of the terminal device_{It surveys}And B_{It is fixed}=B_{It surveys}+ Δ Y3 determines the latitude position location B of the terminal device_{It is fixed}；

The terminal device is according to the height correction parameter, Δ Z3 of the third reference device, the elevation carrection position C of the terminal device_{It surveys}And C_{It is fixed}=C_{It surveys}+ Δ Z3 determines the altitude location position C of the terminal device_{It is fixed}。

Optionally, in a kind of possible embodiment of first aspect, if there is no identical second reference devices of the satellite number of satellite used when calculating the measurement position of the terminal device with the terminal device at least one described first reference device, then the terminal device is according to the update information of at least one the first reference device and the measurement position of the terminal device, determine the position location of the terminal device, further includes:

The terminal device determines fourth reference device nearest apart from the terminal device according to the position of each first reference device and the measurement position of the terminal device；

The measurement position of terminal device terminal device described in used satellite update when calculating the measurement position of the 4th reference device according to the 4th reference device obtains the survey that the terminal device updates Measure position；

The measurement position that the terminal device is updated according to the corrected parameter of the 4th reference device and the terminal device, determines the position location of the terminal device.

The localization method provided by the possible embodiment, terminal device is according to the use scope of the corrected parameter in the update information of at least one acquired reference device, the position of reference device, and, the measurement position of terminal device, at least one first reference device in the use scope that terminal device is located at its corrected parameter can be accurately filtered out from least one reference device, so that terminal device can pass through the position of each first reference device, and reference device calculates the satellite number of used satellite when the measurement position of reference device, one and immediate first reference device of environment where terminal device are selected at least one first reference device from this, so that the corrected parameter of first reference device can be used to correct the measurement position of itself in terminal device, to determine oneself Position location, make the position location more infinite approach or the position equal to terminal device itself where practical, so that terminal device can be located the management equipment that position is sent to car networking as the position of vehicle, so that the management equipment of car networking can be according to the position of vehicle, determine the lane where vehicle, and then the vehicle in available car networking is in the queueing message in each lane, so as to provide accurate Traffic Information for the vehicle in car networking, improve validity and accuracy of the management equipment to traffic information provided by vehicle of car networking.

The terminal device determines fiveth reference device nearest apart from the terminal device according to the position of each first reference device and the measurement position of the terminal device；

The terminal device determines that the satellite number of used satellite when whether used satellite corresponding satellite number when the 5th reference device calculates the measurement position of the 5th reference device calculates the measurement position of the terminal device with the terminal device is identical；

If so, the terminal device determines the position location of the terminal device according to the corrected parameter of the 5th reference device and the measurement position of the terminal device；

If not, the measurement position of terminal device described in used satellite update when then the terminal device calculates the measurement position of the 5th reference device according to the 5th reference device, the measurement position that the terminal device updates is obtained, and is updated according to the corrected parameter of the 5th reference device and the terminal device Measurement position, determine the position location of the terminal device.

Optionally, in a kind of possible embodiment of first aspect, the terminal device obtains the update information of at least one reference device, specifically includes:

The terminal device receives the update information for each reference device that each reference device is sent, to obtain the update information of at least one reference device.

The terminal device receives the update information for the reference device that each first terminal equipment is sent, to obtain the update information of at least one reference device；The update information for the reference device that each first terminal equipment is sent is currently to correct the update information of used reference device when the measurement position of the first terminal equipment.

The localization method provided by the possible embodiment, so that terminal device blocks or the reasons such as local environment is severe by building, although terminal device is caused to be closer with reference device, but when can not receive the update information of reference device transmission, still the update information of the reference device of first terminal equipment transmission can be used, it corrects its own measurement position, improves the efficiency that terminal device determines position location.

Optionally, in a kind of possible embodiment of first aspect, the terminal device receives the update information for the reference device that each first terminal equipment is sent, and specifically includes:

The terminal device receives the vehicle of each first terminal equipment transmission to all V2X message, the update information of first identifier and the reference device is carried in the V2X message, the first identifier is used to indicate the update information for carrying the reference device in the V2X message to the terminal device；

The terminal device parses the V2X message according to the first identifier, to obtain the update information of the reference device.

The localization method provided by the possible embodiment, so that terminal device is after receiving the V2X message of first terminal equipment, according to the first identifier carried in the V2X message, the update information that reference device whether is carried in the V2X message be assured that, if it is determined that the V2X message carries the update information of reference device, terminal device just can further parse the V2X message, to obtain the update information of the reference device of its carrying, the efficiency that terminal device obtains the update information of reference device is improved.

Optionally, in a kind of possible embodiment of first aspect, the first identifier is also used to indicate that the current position of the first terminal equipment is position location to the terminal device.

The localization method provided by the possible embodiment, so that terminal device can determine that first terminal equipment broadcasted according to the first identifier its where position be position location, so that terminal device is after the position location for getting first terminal equipment, it can be according to the position location of first terminal equipment, accurately judge the distance between itself and first terminal equipment, so that terminal device can provide correct driving recommendations in conjunction with information such as the speed of the vehicle where the terminal device for user.

Optionally, in a kind of possible embodiment of first aspect, the terminal device is according to the update information of at least one the first reference device and the measurement position of the terminal device, after the position location for determining the terminal device, the method also includes:

The corresponding V2X message of terminal device described in the end-point device broadcast.

The localization method provided by the possible embodiment, so that the V2X message that the terminal device on other vehicles being located at around the terminal device is sent by the terminal device, the available update information to the reference device for currently correcting the terminal, so that other terminal devices can correct the measurement position of itself by the update information of the reference device carried in V2X message that the terminal device is sent.

Further, in a kind of possible embodiment of first aspect, the terminal device determines the terminal according to the update information of at least one reference device and the measurement position of the terminal device After the position location of equipment, the method also includes:

The terminal device corrects the position of the reference device of the terminal device according to the position location of the terminal device and currently, determines the terminal device and currently corrects the second distance between the reference device of the terminal device；

Determine whether the terminal device is located in the use scope for the corrected parameter of reference device for currently correcting the terminal device according to the second distance；

If it is not, then redefining the position location of the terminal device.

The localization method provided by the possible embodiment, terminal device is allowed timely to determine whether terminal device is moved to except the use scope of the corrected parameter of the reference device of current amendment terminal device, and when determining except the use scope for being moved to the corrected parameter of reference device of current amendment terminal device, terminal device can timely redefine the position location of terminal device, re-execute localization method provided in an embodiment of the present invention, so that the update information that correct reference device can be used in terminal device corrects its measurement position, ensure the accuracy of terminal device positioning.

Further, in a kind of possible embodiment of first aspect, the terminal device is according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, the method also includes:

The terminal device judge the satellite number of used satellite when the terminal device calculates the measurement position of the terminal device and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is whether identical；

If it is not, then redefining the position location of the terminal device.

The localization method provided by the possible embodiment, when so that the terminal device satellite number that the satellite number of used satellite and the current reference device for correcting terminal device calculate used satellite when the measurement position of reference device when determining that it calculates measurement position is not identical, the position location of terminal device can timely be redefined, re-execute localization method provided in an embodiment of the present invention, so that the update information that correct reference device can be used in terminal device corrects its measurement position, it is ensured that the accuracy of terminal device positioning.

Second aspect, the embodiment of the present invention provide a kind of positioning device, and described device includes:

Module is obtained, for obtaining the update information of at least one reference device, the update information of each reference device includes that the use scope of the corrected parameter of measurement position of the terminal device, the corrected parameter is corrected for terminal device；Wherein, the corrected parameter is by the measurement position of the reference device It is modified to the parameter of the position location of the reference device；

Determining module determines the position location of the terminal device for the update information of at least one reference device and the measurement position of the terminal device according to acquisition module acquisition.

Further, in a kind of possible embodiment of second aspect, the update information of each reference device further includes the position of each reference device；The position of the reference device is the position location of the reference device or the measurement position of the reference device.

Optionally, in a kind of possible embodiment of second aspect, the determining module includes:

First determination unit determines at least one first reference device for use scope, the position of each reference device and the measurement position of the terminal device according to the corrected parameter of each reference device；The terminal device is located in the use scope of the corrected parameter of first reference device；

Second determination unit, the update information of at least one the first reference device for being determined according to first determination unit and the measurement position of the terminal device, determine the position location of the terminal device.

Optionally, in a kind of possible embodiment of second aspect, first determination unit, specifically for according to the measurement position of the terminal device and the position of each reference device, determine the first distance between the terminal device and each reference device, and the use scope of the corrected parameter according to first distance and each reference device between the terminal device and each reference device, the reference device that first distance between the terminal device is less than or equal to the use scope of the corrected parameter of the reference device is determined as first reference device.

Further, in a kind of possible embodiment of second aspect, the update information of each reference device further includes that each reference device calculates the corresponding satellite number of used satellite when the measurement position of the reference device.

Optionally, in a kind of possible embodiment of second aspect, second determination unit, used satellite corresponding satellite number when specifically for calculating the measurement position of first reference device according at least one described first reference device, determine identical second reference device of satellite number at least one described first reference device with the presence or absence of satellite used when calculating the measurement position of the terminal device with the terminal device, and when identical second reference device of the satellite number that there is used satellite when calculating the measurement position of the terminal device with the terminal device in determining at least one described first reference device, according to the measurement position of the update information of second reference device and the terminal device, determine the position location of the terminal device.

Further, in a kind of possible embodiment of second aspect, second reference device is It is multiple；

Second determination unit, for determining the position location of the terminal device according to the update information of second reference device and the measurement position of the terminal device, specifically:

Second determination unit, specifically for according to the position of second reference device and the measurement position of the terminal device, determine the third reference device that terminal device described in distance is nearest in second reference device, and according to the measurement position of the corrected parameter of the third reference device and the terminal device, the position location of the terminal device is determined.

Optionally, in a kind of possible embodiment of second aspect, the position location of the third reference device includes: the longitude position location X3 of the third reference device_{It is fixed}, the latitude position location Y3 of the third reference device_{It is fixed}, the altitude location position Z3 of the third reference device_{It is fixed}；

Further, in a kind of possible embodiment of second aspect, the measurement position of the terminal device includes: the longitude determination position A of the terminal device_{It surveys}, the latitude determination position B of the terminal device_{It surveys}, the elevation carrection position C of the terminal device_{It surveys}；

Then second determination unit, for determining the position location of the terminal device according to the corrected parameter of the third reference device and the measurement position of the terminal device, specifically:

Second determination unit, specifically for the longitude determination position A according to the longitude corrected parameter Δ X3 of the third reference device, the terminal device_{It surveys}And A_{It is fixed}=A_{It surveys}+ Δ X3 determines the longitude position location A of the terminal device_{It is fixed}；

According to the latitude corrected parameter Δ Y3 of the third reference device, the latitude determination position B of the terminal device_{It surveys}And B_{It is fixed}=B_{It surveys}+ Δ Y3 determines the latitude position location B of the terminal device_{It is fixed}；

According to the height correction parameter, Δ Z3 of the third reference device, the elevation carrection of the terminal device Position C_{It surveys}And C_{It is fixed}=C_{It surveys}+ Δ Z3 determines the altitude location position C of the terminal device_{It is fixed}。

Optionally, in a kind of possible embodiment of second aspect, if there is no identical second reference devices of the satellite number of satellite used when calculating the measurement position of the terminal device with the terminal device at least one described first reference device, then second determination unit, for according to the update information of at least one the first reference device and the measurement position of the terminal device, determine the position location of the terminal device, specifically:

Second determination unit, specifically for according to the position of each first reference device and the measurement position of the terminal device, determine fourth reference device nearest apart from the terminal device, the measurement position of terminal device described in used satellite update when calculating the measurement position of the 4th reference device according to the 4th reference device, obtain the measurement position that the terminal device updates, and the measurement position updated according to the corrected parameter of the 4th reference device and the terminal device, determine the position location of the terminal device.

Optionally, in a kind of possible embodiment of second aspect, second determination unit, for determining the position location of the terminal device according to the update information of at least one the first reference device and the measurement position of the terminal device, specifically:

Second determination unit, specifically for according to the position of each first reference device and the measurement position of the terminal device, it determines fiveth reference device nearest apart from the terminal device, determines that the satellite number of used satellite when whether used satellite corresponding satellite number when the 5th reference device calculates the measurement position of the 5th reference device calculates the measurement position of the terminal device with the terminal device is identical；

When the satellite number of used satellite is identical when determining that the 5th reference device calculates the measurement position of the 5th reference device, the corresponding satellite number of used satellite calculates the measurement position of the terminal device with the terminal device, according to the measurement position of the corrected parameter of the 5th reference device and the terminal device, the position location of the terminal device is determined；

When the satellite number of used satellite is not identical when determining that the 5th reference device calculates the measurement position of the 5th reference device, the used corresponding satellite number of satellite and the terminal device calculate the measurement position of the terminal device, the measurement position of terminal device described in used satellite update when calculating the measurement position of the 5th reference device according to the 5th reference device, obtain the measurement position that the terminal device updates, and the measurement position updated according to the corrected parameter of the 5th reference device and the terminal device, determine the position location of the terminal device.

Optionally, in a kind of possible embodiment of second aspect, the acquisition module, specifically for receiving the update information for each reference device that each reference device is sent, to obtain the update information of at least one reference device.

Optionally, in a kind of possible embodiment of second aspect, the acquisition module, specifically for receiving the update information for the reference device that each first terminal equipment is sent, to obtain the update information of at least one reference device；The update information for the reference device that each first terminal equipment is sent is currently to correct the update information of used reference device when the measurement position of the first terminal equipment.

Optionally, in a kind of possible embodiment of second aspect, the acquisition module, for receiving the update information for the reference device that each first terminal equipment is sent, specifically:

The acquisition module parses the V2X message to all V2X message, and according to the first identifier specifically for receiving the vehicle that each first terminal equipment is sent, to obtain the update information of the reference device；The update information of first identifier and the reference device is carried in the V2X message, the first identifier is used to indicate the update information for carrying the reference device in the V2X message to the terminal device.

Optionally, in a kind of possible embodiment of second aspect, the first identifier is also used to indicate that the current position of the first terminal equipment is position location to the terminal device.

Optionally, in a kind of possible embodiment of second aspect, described device further include:

Broadcast module after the position location for determining the terminal device, broadcasts the corresponding V2X message of the terminal device for the determining module according to the update information of at least one the first reference device and the measurement position of the terminal device.

Further, in a kind of possible embodiment of second aspect, the determining module, it is also used to according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, according to the position location of the terminal device and currently correct the position of the reference device of the terminal device, it determines the terminal device and currently corrects the second distance between the reference device of the terminal device, and determine whether the terminal device is located in the use scope for the corrected parameter of reference device for currently correcting the terminal device according to the second distance, when determining the use scope of corrected parameter of the terminal device beyond the reference device for currently correcting the terminal device, redefine the position location of the terminal device.

Further, in a kind of possible embodiment of second aspect, the determining module, it is also used to according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, judge that the terminal device calculates the survey of the terminal device When measuring position the satellite number of used satellite and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is whether identical, and when judging that the terminal device calculates the measurement position of the terminal device satellite number of used satellite and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is not identical when, redefine the position location of the terminal device.

Positioning device provided by each possible embodiment of above-mentioned second aspect and second aspect, its advantages may refer to beneficial effect brought by each possible embodiment of above-mentioned first aspect and first aspect, and details are not described herein.

The third aspect, the embodiment of the present invention provide a kind of positioning device, and described device includes:

Processor determines the position location of the terminal device for obtaining the update information of at least one reference device, and according to the measurement position of the update information of at least one reference device and the terminal device；The update information of each reference device includes that the use scope of the corrected parameter of measurement position of the terminal device, the corrected parameter is corrected for the terminal device；Wherein, the corrected parameter is the parameter that the measurement position of the reference device is modified to the position location of the reference device.

Further, in a kind of possible embodiment of the third aspect, the update information of each reference device further includes the position of each reference device；The position of the reference device is the position location of the reference device or the measurement position of the reference device.

Optionally, in a kind of possible embodiment of the third aspect, the processor, for determining the position location of the terminal device according to the update information of at least one reference device and the measurement position of the terminal device, specifically:

The processor, specifically for use scope, the position of each reference device and the measurement position of the terminal device according to the corrected parameter of each reference device, determine at least one first reference device, and according to the measurement position of the update information of at least one the first reference device and the terminal device, the position location of the terminal device is determined；The terminal device is located in the use scope of the corrected parameter of first reference device.

Optionally, in a kind of possible embodiment of the third aspect, the processor, for use scope, the position of each reference device and the measurement position of the terminal device according to the corrected parameter of each reference device, determine at least one first reference device, specifically:

The processor, specifically for according to the measurement position of the terminal device and the position of each reference device, determining the first distance between the terminal device and each reference device, and according to The use scope of the corrected parameter of first distance and each reference device between the terminal device and each reference device, the reference device that the first distance between the terminal device is less than or equal to the use scope of the corrected parameter of the reference device are determined as first reference device.

Further, in a kind of possible embodiment of the third aspect, the update information of each reference device further includes that each reference device calculates the corresponding satellite number of used satellite when the measurement position of the reference device.

Optionally, in a kind of possible embodiment of the third aspect, the processor, for determining the position location of the terminal device according to the update information of at least one the first reference device and the measurement position of the terminal device, specifically:

The processor, used satellite corresponding satellite number when specifically for calculating the measurement position of first reference device according at least one described first reference device, determine identical second reference device of satellite number at least one described first reference device with the presence or absence of satellite used when calculating the measurement position of the terminal device with the terminal device, and when there is identical second reference device of the satellite number of used satellite when calculating the measurement position of the terminal device with the terminal device at least one described first reference device, according to the measurement position of the update information of second reference device and the terminal device, determine the position location of the terminal device.

Further, in a kind of possible embodiment of the third aspect, second reference device is multiple；

The processor, for determining the position location of the terminal device according to the update information of second reference device and the measurement position of the terminal device, specifically:

The processor, specifically for according to the position of second reference device and the measurement position of the terminal device, determine the third reference device that terminal device described in distance is nearest in second reference device, and according to the measurement position of the corrected parameter of the third reference device and the terminal device, the position location of the terminal device is determined.

Optionally, in a kind of possible embodiment of the third aspect, the position location of the third reference device includes: the longitude position location X3 of the third reference device_{It is fixed}, the latitude position location Y3 of the third reference device_{It is fixed}, the altitude location position Z3 of the third reference device_{It is fixed}；

Further, in a kind of possible embodiment of the third aspect, the measurement position of the terminal device includes: the longitude determination position A of the terminal device_{It surveys}, the latitude determination position B of the terminal device_{It surveys}, the elevation carrection position C of the terminal device_{It surveys}；

The then processor, for determining the position location of the terminal device according to the corrected parameter of the third reference device and the measurement position of the terminal device, specifically:

The processor, specifically for the longitude determination position A according to the longitude corrected parameter Δ X3 of the third reference device, the terminal device_{It surveys}And A_{It is fixed}=A_{It surveys}+ Δ X3 determines the longitude position location A of the terminal device_{It is fixed}；According to the latitude corrected parameter Δ Y3 of the third reference device, the latitude determination position B of the terminal device_{It surveys}And B_{It is fixed}=B_{It surveys}+ Δ Y3 determines the latitude position location B of the terminal device_{It is fixed}；According to the height correction parameter, Δ Z3 of the third reference device, the elevation carrection position C of the terminal device_{It surveys}And C_{It is fixed}=C_{It surveys}+ Δ Z3 determines the altitude location position C of the terminal device_{It is fixed}。

Optionally, in a kind of possible embodiment of the third aspect, if there is no identical second reference devices of the satellite number of satellite used when calculating the measurement position of the terminal device with the terminal device at least one described first reference device, the then processor, for according to the update information of at least one the first reference device and the measurement position of the terminal device, determine the position location of the terminal device, specifically:

The processor, specifically for according to the position of each first reference device and the measurement position of the terminal device, determine fourth reference device nearest apart from the terminal device, the measurement position of terminal device described in used satellite update when calculating the measurement position of the 4th reference device according to the 4th reference device, obtain the measurement position that the terminal device updates, and the measurement position updated according to the corrected parameter of the 4th reference device and the terminal device, determine the position location of the terminal device.

Optionally, in a kind of possible embodiment of the third aspect, the processor, for determining the end according to the update information of at least one the first reference device and the measurement position of the terminal device The position location of end equipment, specifically:

The processor, specifically for according to the position of each first reference device and the measurement position of the terminal device, it determines fiveth reference device nearest apart from the terminal device, and determines that the satellite number of used satellite when whether used satellite corresponding satellite number when the 5th reference device calculates the measurement position of the 5th reference device calculates the measurement position of the terminal device with the terminal device is identical；

Optionally, in a kind of possible embodiment of the third aspect, described device further include: receiver；

The processor, for obtaining the update information of at least one reference device, specifically:

The processor, specifically for receiving the update information for each reference device that each reference device is sent by the receiver, to obtain the update information of at least one reference device.

The processor, specifically for receiving the update information for the reference device that each first terminal equipment is sent by the receiver, to obtain the update information of at least one reference device；The update information for the reference device that each first terminal equipment is sent is currently to correct the update information of used reference device when the measurement position of the first terminal equipment.

Optionally, in a kind of possible embodiment of the third aspect, the processor, for receiving the update information for the reference device that each first terminal equipment is sent by the receiver, specifically:

The processor, specifically for receiving the vehicle of each first terminal equipment transmission by the receiver to all V2X message, and the V2X message is parsed according to the first identifier, to obtain the update information of the reference device, the update information of first identifier and the reference device is carried in the V2X message, the first identifier is used to indicate the update information for carrying the reference device in the V2X message to the terminal device.

Optionally, in a kind of possible embodiment of the third aspect, the first identifier is also used to indicate that the current position of the first terminal equipment is position location to the terminal device.

Optionally, in a kind of possible embodiment of the third aspect, described device further include: transmitter；

The transmitter, for, according to the update information of at least one the first reference device and the measurement position of the terminal device, after the position location for determining the terminal device, broadcasting the corresponding V2X message of the terminal device in the processor.

Further, in a kind of possible embodiment of the third aspect, the processor, it is also used to according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, according to the position location of the terminal device and currently correct the position of the reference device of the terminal device, it determines the terminal device and currently corrects the second distance between the reference device of the terminal device, and determine whether the terminal device is located in the use scope for the corrected parameter of reference device for currently correcting the terminal device according to the second distance, when determining the use scope of corrected parameter of the terminal device beyond the reference device for currently correcting the terminal device, redefine the position location of the terminal device.

Further, in a kind of possible embodiment of the third aspect, the processor, it is also used to according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, judge the satellite number of used satellite when the terminal device calculates the measurement position of the terminal device and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is whether identical, when judging that the terminal device calculates the measurement position of the terminal device satellite number of used satellite and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is not identical when, redefine the position location of the terminal device.

Positioning device provided by each possible embodiment of the above-mentioned third aspect and the third aspect, its advantages may refer to have brought by each possible embodiment of above-mentioned first aspect and first aspect Beneficial effect, details are not described herein.

Fourth aspect, the embodiment of the present invention provide a kind of localization method, which comprises

Terminal device obtains the first update information from the first reference device, first update information includes the use scope of the first corrected parameter, the position of first reference device and first corrected parameter, wherein the position of first reference device includes the predeterminated position of first reference device or the measurement position of first reference device, and the measurement position of first reference device is to measure obtained position to first reference device by global position system；

The terminal device is according to the measurement position of first update information and the terminal device, determine the position location of the terminal device, wherein the measurement position of the terminal device is located within the use scope of first corrected parameter, and the measurement position of the terminal device is to measure obtained position to the terminal device by the global position system.

Further, in a kind of possible embodiment of fourth aspect, the terminal device before the position location for determining the terminal device, further comprises according to the measurement position of first update information and the terminal device:

Terminal device obtains the second update information from the second reference device, second update information includes the second corrected parameter, the use scope of the position of second reference device and second corrected parameter, wherein the position of second reference device include second reference device predeterminated position or the second reference device measurement position, the measurement position of second reference device is to measure obtained position to second reference device by the global position system, the measurement position of the terminal device is located within the use scope of second corrected parameter, first reference device is the reference device that terminal device described in distance is nearest in first reference device and second reference device.

Terminal device obtains the third update information from third reference device, the third update information includes third corrected parameter, the use scope of the position of the third reference device and the third corrected parameter, wherein the position of the third reference device include the third reference device predeterminated position or the third reference device measurement position, the measurement position of the third reference device is to measure obtained position to the third reference device by the global position system, the measurement position of the terminal device is located at except the use scope of the third corrected parameter.

Optionally, in a kind of possible embodiment of fourth aspect, first update information further includes the number of the first satellite, the measurement position of first reference device is to measure obtained position to first reference device by first satellite in the global position system, the measurement position of the terminal device is to measure obtained position to the terminal device by the second satellite in the global position system, and first satellite and second satellite are identical satellite.

Optionally, in a kind of possible embodiment of fourth aspect, first satellite and second satellite are different satellites, and the terminal device is according to the measurement position of first update information and the terminal device, determine the position location of the terminal device, comprising:

The terminal device obtains the measurement position that the terminal device updates, and the measurement position that the terminal device updates is to measure obtained position to the terminal device by first satellite in the global position system；

The measurement position that the terminal device is updated according to first update information and the terminal device, determines the position location of the terminal device.

Further, in a kind of possible embodiment of fourth aspect, the terminal device after the position location for determining the terminal device, further comprises according to the measurement position of first update information and the terminal device:

The terminal device is to other end-point device broadcasts V2X message, the V2X message carries first update information and first identifier, the first identifier is used to indicate the V2X message and carries first update information, and indicates that the current position of the terminal device is the position location of the terminal device.

Positioning device provided by each possible embodiment of above-mentioned fourth aspect and fourth aspect, its advantages may refer to beneficial effect brought by each possible embodiment of above-mentioned first aspect and first aspect, and details are not described herein.

5th aspect, the embodiment of the present invention provide a kind of positioning device, and described device includes:

Obtain module, for obtaining the first update information from the first reference device, first update information includes the use scope of the first corrected parameter, the position of first reference device and first corrected parameter, wherein the position of first reference device includes the predeterminated position of first reference device or the measurement position of first reference device, and the measurement position of first reference device is to measure obtained position to first reference device by global position system；

Determining module determines the position location of the terminal device for the measurement position according to first update information and the terminal device, repairs wherein the measurement position of the terminal device is located at described first Within the use scope of positive parameter, the measurement position of the terminal device is to measure obtained position to the terminal device by the global position system.

Further, in a kind of possible embodiment of the 5th aspect, the acquisition module, it is also used to the measurement position in the determining module according to first update information and the terminal device, before the position location for determining the terminal device, obtain the second update information from the second reference device, second update information includes the second corrected parameter, the use scope of the position of second reference device and second corrected parameter, wherein the position of second reference device include second reference device predeterminated position or the second reference device measurement position, the measurement position of second reference device is to measure obtained position to second reference device by the global position system, the measurement position of the terminal device is located within the use scope of second corrected parameter, it is described First reference device is the reference device that terminal device described in distance is nearest in first reference device and second reference device.

Further, in a kind of possible embodiment of the 5th aspect, the acquisition module, it is also used to the measurement position in the determining module according to first update information and the terminal device, before the position location for determining the terminal device, obtain the third update information from third reference device, the third update information includes third corrected parameter, the use scope of the position of the third reference device and the third corrected parameter, wherein the position of the third reference device include the third reference device predeterminated position or the third reference device measurement position, the measurement position of the third reference device is to measure obtained position to the third reference device by the global position system, the measurement position of the terminal device is located at except the use scope of the third corrected parameter.

Optionally, in a kind of possible embodiment of the 5th aspect, first update information further includes the number of the first satellite, the measurement position of first reference device is to measure obtained position to first reference device by first satellite in the global position system, the measurement position of the terminal device is to measure obtained position to the terminal device by the second satellite in the global position system, and first satellite and second satellite are identical satellite.

Optionally, in a kind of possible embodiment of the 5th aspect, first satellite and second satellite are different satellites, the determining module, the measurement position updated specifically for obtaining the terminal device, and the measurement position updated according to first update information and the terminal device, determine the position location of the terminal device；The measurement position that the terminal device updates is to measure obtained position to the terminal device by first satellite in the global position system.

Further, in a kind of possible embodiment of the 5th aspect, described device further include:

Broadcast module, for the measurement position in the determining module according to first update information and the terminal device, after the position location for determining the terminal device, to other end-point device broadcasts V2X message, the V2X message carries first update information and first identifier, the first identifier is used to indicate the V2X message and carries first update information, and indicates that the current position of the terminal device is the position location of the terminal device.

Positioning device provided by each possible embodiment of above-mentioned 5th aspect and the 5th aspect, its advantages may refer to beneficial effect brought by each possible embodiment of above-mentioned first aspect and first aspect, and details are not described herein.

6th aspect, the embodiment of the present invention provide a kind of positioning device, and described device includes:

Processor determines the position location of the terminal device for obtaining the first update information from the first reference device, and according to the measurement position of first update information and the terminal device；

First update information includes the use scope of the first corrected parameter, the position of first reference device and first corrected parameter, wherein the position of first reference device includes the predeterminated position of first reference device or the measurement position of first reference device, and the measurement position of first reference device is to measure obtained position to first reference device by global position system；Wherein the measurement position of the terminal device is located within the use scope of first corrected parameter, and the measurement position of the terminal device is to measure obtained position to the terminal device by the global position system.

Further, in a kind of possible embodiment of the 6th aspect, the processor, it is also used in the measurement position according to first update information and the terminal device, before the position location for determining the terminal device, obtain the second update information from the second reference device, second update information includes the second corrected parameter, the use scope of the position of second reference device and second corrected parameter, wherein the position of second reference device include second reference device predeterminated position or the second reference device measurement position, the measurement position of second reference device is to measure obtained position to second reference device by the global position system, the measurement position of the terminal device is located within the use scope of second corrected parameter, first reference device is The nearest reference device of terminal device described in distance in first reference device and second reference device.

Further, in a kind of possible embodiment of the 6th aspect, the processor is also used to determine the terminal device in the measurement position according to first update information and the terminal device Before position location, obtain the third update information from third reference device, the third update information includes third corrected parameter, the use scope of the position of the third reference device and the third corrected parameter, wherein the position of the third reference device include the third reference device predeterminated position or the third reference device measurement position, the measurement position of the third reference device is to measure obtained position to the third reference device by the global position system, the measurement position of the terminal device is located at except the use scope of the third corrected parameter.

Optionally, in a kind of possible embodiment of the 6th aspect, first update information further includes the number of the first satellite, the measurement position of first reference device is to measure obtained position to first reference device by first satellite in the global position system, the measurement position of the terminal device is to measure obtained position to the terminal device by the second satellite in the global position system, and first satellite and second satellite are identical satellite.

Optionally, in a kind of possible embodiment of the 6th aspect, first satellite and second satellite are different satellites, the processor, for the measurement position according to first update information and the terminal device, the position location of the terminal device is determined, specifically:

The processor, the measurement position updated specifically for obtaining the terminal device, and the measurement position updated according to first update information and the terminal device, determine the position location of the terminal device；The measurement position that the terminal device updates is to measure obtained position to the terminal device by first satellite in the global position system.

Further, in a kind of possible embodiment of the 6th aspect, described device further include:

Transmitter, for the measurement position in the processor according to first update information and the terminal device, after the position location for determining the terminal device, to other end-point device broadcasts V2X message, the V2X message carries first update information and first identifier, the first identifier is used to indicate the V2X message and carries first update information, and indicates that the current position of the terminal device is the position location of the terminal device.

Positioning device provided by each possible embodiment of above-mentioned 6th aspect and the 6th aspect, its advantages may refer to beneficial effect brought by each possible embodiment of above-mentioned first aspect and first aspect, and details are not described herein.

Localization method and device provided in an embodiment of the present invention, so that the terminal device on vehicle is during obtaining the measurement position of itself by global position system, the update information of at least one reference device can be obtained in real time, so that terminal device can be with the update information of at least one reference device Come the position location for correcting the measurement position of itself to determine itself, make the position location infinite approach or the position equal to terminal device itself where practical, so that terminal device can be located the management equipment that position is sent to car networking as the position of vehicle, so that the management equipment of car networking can be according to the position of vehicle, determine the lane where vehicle, and then the vehicle in available car networking is in the queueing message in each lane, so as to provide accurate Traffic Information for the vehicle in car networking, improve validity and accuracy of the management equipment to traffic information provided by vehicle of car networking.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, a brief description of the drawings needed to be used in the description of the embodiments or the prior art will be given below, apparently, drawings in the following description are some embodiments of the invention, for those of ordinary skill in the art, without any creative labor, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is the flow diagram of localization method embodiment one provided in an embodiment of the present invention；

Fig. 2 is the flow diagram of localization method embodiment three provided in an embodiment of the present invention；

Fig. 3 is the flow diagram of localization method example IV provided in an embodiment of the present invention；

Fig. 4 is the flow diagram of localization method embodiment five provided in an embodiment of the present invention；

Fig. 5 is the structural schematic diagram of positioning device embodiment one provided in an embodiment of the present invention；

Fig. 6 is the structural schematic diagram of positioning device embodiment two provided in an embodiment of the present invention；

Fig. 7 is the structural schematic diagram of positioning device embodiment three provided in an embodiment of the present invention；

Fig. 8 is the structural schematic diagram of positioning device example IV provided in an embodiment of the present invention；

Fig. 9 is the structural schematic diagram of positioning device embodiment five provided in an embodiment of the present invention；

The structural block diagram that Figure 10 is terminal device provided in an embodiment of the present invention when being mobile phone.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, following will be combined with the drawings in the embodiments of the present invention, technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.

It should be appreciated that term "and/or" used herein is only a kind of association for describing affiliated partner Relationship indicates may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".

It will be appreciated that though reference device may be described using term first, second, third, etc. in embodiments of the present invention, but these reference devices should not necessarily be limited by these terms.These terms are only used to for reference device being distinguished from each other out.For example, the first reference device can also be referred to as the second reference device in the case where not departing from range of embodiment of the invention, similarly, the second reference device can also be referred to as the first reference device.

It will be appreciated that though terminal device may be described using term first, second etc. in embodiments of the present invention, but these terminal devices should not necessarily be limited by these terms.These terms are only used to for terminal device being distinguished from each other out.For example, first terminal equipment can also be referred to as second terminal equipment in the case where not departing from range of embodiment of the invention, similarly, second terminal equipment can also be referred to as first terminal equipment.

The present embodiments relate to terminal device can be directed to user the equipment of voice and/or data connectivity is provided, handheld device with wireless connecting function or other processing equipments for being connected to radio modem.Wireless terminal can be through wireless access network (Radio Access Network, RAN it) is communicated with one or more core net, wireless terminal can be mobile terminal, such as mobile phone (or be " honeycomb " phone) and the computer with mobile terminal, such as, can be portable, pocket, hand-held, built-in computer or vehicle-mounted mobile device, they exchange language and/or data with wireless access network.Such as, personal communication service (PCS, Personal Communication Service) phone, wireless phone, Session initiation Protocol (SIP) phone, wireless local loop (WLL, Wireless Local Loop) it stands, the equipment such as personal digital assistant (PDA, Personal Digital Assistant).Wireless terminal is referred to as system, subscriber unit (Subscriber Unit), subscriber station (Subscriber Station), movement station (Mobile Station), mobile station (Mobile), distant station (Remote Station), access point (Access Point), remote terminal (Remote Terminal), access terminal (Access Terminal), user terminal (User Terminal), user agent (User Agent), user equipment (User Device), or user equipment (User Equipment).

Reference device according to the present invention can be roadside unit (Road Side Unit, referred to as: RSU), or base station, perhaps perhaps access point or can be refers to the accession in net the equipment on interface in the sky by one or more sectors and wireless terminal communications for base station.The air frame that base station can be used for receive mutually is converted with IP grouping, the router between rest part netted as wireless terminal and access, The rest part of middle access net may include Internet protocol (IP) network.Attribute management of the base station also tunable to air interface.Such as, base station can be the base station (BTS in GSM or CDMA, Base Transceiver Station), it is also possible to the base station (NodeB) in WCDMA, it can also be evolved base station (eNB or the e-NodeB in LTE, evolutional Node B), the application does not limit.

Localization method provided in an embodiment of the present invention can be adapted for any by global position system (such as global positioning system (Global Positioning System, referred to as: GPS), Beidou satellite navigation and positioning system (BeiDou Navigation Satellite System, referred to as: BDS), GALILEO positioning system (Galileo Satellite Navigation System), Global Navigation Satellite System (Global Navigation Satellite System, abbreviation GLONASS)) terminal device of position location, the terminal device can integrate or be arranged on vehicle.Localization method involved in the embodiment of the present invention, it is intended to solve the terminal device on vehicle in the prior art when positioning the position of vehicle by global position system, the lower technical problem of positioning accuracy.

For the ease of the understanding to the embodiment of the present invention, first several terms involved in present specification are simply introduced below:

The measurement position of reference device can measure obtained position to reference device by global position system for reference device；The measurement position of reference device includes: the longitude determination position of reference device, the latitude determination position of reference device, the elevation carrection position of reference device；

The position location of reference device can be position of the reference device where practical；The position location of reference device includes: the longitude position location of reference device, the latitude position location of reference device, the altitude location position of reference device；

The measurement position of terminal device can measure obtained position to terminal device by global position system for terminal device；The measurement position of terminal device includes: the longitude determination position A of terminal device_{It surveys}, the latitude determination position B of terminal device_{It surveys}, the elevation carrection position C of terminal device_{It surveys}。

The position location of terminal device can be modified rear obtained position to the measurement position of terminal device according to the corrected parameter of reference device for terminal device；The position location of terminal device includes: the longitude position location A of terminal device_{It is fixed}, the latitude position location B of terminal device_{It is fixed}, the altitude location position C of terminal device_{It is fixed}。

It is described in detail below with specifically embodiment to how technical solution of the present invention and technical solution of the present invention solve above-mentioned technical problem.These specific embodiments can be combined with each other below, and the same or similar concept or process may be repeated no more in certain embodiments.

Fig. 1 is the flow diagram of localization method embodiment one provided in an embodiment of the present invention.What is involved is terminal devices for the present embodiment one according to the update information of at least one acquired reference device, and, the measurement position of terminal device determines the detailed process of the position location of terminal device.As shown in Figure 1, this method may include:

S101, terminal device obtain the update information of at least one reference device, and the update information of each reference device includes the use scope of corrected parameter for the measurement position of terminal device amendment terminal device, corrected parameter；Wherein, corrected parameter is the parameter that the measurement position of reference device is modified to the position location of reference device.

Specifically, above-mentioned terminal device can be the terminal device on the terminal device i.e. vehicle being integrated on vehicle or be arranged on vehicle, for positioning itself position by global position system, that is the position of vehicle, optionally, above-mentioned terminal device can be also used for and the terminal device of other vehicles communicates wirelessly and information exchange.

In the present embodiment, above-mentioned terminal device is during positioning the position of itself by global position system, the update information of at least one reference device can be obtained in real time, wherein, the update information of each above-mentioned each reference device may include corrected parameter, and use scope of corrected parameter etc..The use scope of corrected parameter mentioned here can be about beam condition, for constraining the range that the terminal device of the corrected parameter can be used, so that the terminal device being located in the use scope of corrected parameter corrects the obtained position location of measurement position of itself using the corrected parameter, infinite approach or position equal to terminal where practical, i.e., obtained position location are more accurate.When specific implementation, the use scope of above-mentioned corrected parameter can be less than or equal to the signal cover of reference device, can specifically be determined according to the geographical environment of position and surrounding where reference device.Illustratively, it is assumed that the signal cover of above-mentioned reference device is 2000 meters, then the use scope of above-mentioned corrected parameter is specifically as follows less than or equal to 2000 meters, such as can be 1000 meters, 500 meters etc..

Above-mentioned described corrected parameter can correct used corrected parameter when its own measurement position for reference device, for alloing the terminal device in the use scope of corrected parameter using the corrected parameter as foundation, the measurement position of terminal device is corrected to obtain the position location of terminal device.When specific implementation, above-mentioned corrected parameter can be the corrected parameter being preset on reference device, can also be for reference device after an initial power up, according to the measurement position of itself and the position location of preset reference device, by calculating resulting corrected parameter.It is reference device according to the measurement position of itself and the position location of preset reference device using above-mentioned corrected parameter, for the resulting corrected parameter of calculating, it is assumed that X is longitude, Y It is height for latitude, Z, wherein, the measurement position of above-mentioned reference device is (X0, Y0, Z0), the position location of preset reference device is (X1, Y1, Z1), then corrected parameter (△ X1 can be calculated by following formula (1)-(3) in above-mentioned reference device, △ Y1, △ Y1), specifically:

△ X1=X1-X0 (1)

△ Y1=Y1-Y0 (2)

△ Z1=Z1-Z0 (3)

S102, terminal device determine the position location of terminal device according to the update information of at least one reference device and the measurement position of terminal device.

Specifically, after terminal device gets the update information of at least one reference device, so that it may according to the update information of at least one reference device, be modified to its measurement position to determine its position location, the i.e. position at its practical place.Optionally, terminal device can the corrected parameter according to entrained by the update information of each reference device use scope, first preliminary screening goes out one or more reference devices that terminal device is located in the use scope of its corrected parameter, so that terminal device can randomly choose a reference device in the one or more reference device, and with the corrected parameter of the randomly selected reference device, to correct its measurement position to obtain its position location, or, a reference device nearest apart from terminal device is selected in the one or more reference device, correct its measurement position with the corrected parameter of the reference device nearest apart from terminal device to obtain its position location.

Illustratively, it is assumed that terminal device corrects its measurement position with the corrected parameter of reference device A, wherein the corrected parameter of reference device A is (Δ XA, Δ YA, Δ ZA), and the measurement position of terminal device is (A_{It surveys}, B_{It surveys}, C_{It surveys}), then terminal device (4)-(6) can determine the position location (A of terminal device according to the following formula_{It is fixed}, B_{It is fixed}, C_{It is fixed}), specifically:

A_{It is fixed}=A_{It surveys}+ΔXA (4)

B_{It is fixed}=B_{It surveys}+ΔYA (5)

C_{It is fixed}=C_{It surveys}+ΔZA (6)

It should be noted that, in the example of above-mentioned S101 and S102, by taking the corrected parameter of reference device is to subtract the obtained corrected parameter of measurement position of reference device using the position location of reference device as an example, localization method is provided for the embodiments of the invention to be explained and illustrate, it will be understood by those skilled in the art that, the corrected parameter of above-mentioned reference device can also be the obtained corrected parameter in position location that reference device is subtracted using the measurement position of reference device, then in that case, terminal device is when correcting the measurement position of itself using the corrected parameter, it can be by itself measurement position and corrected parameter Subtract each other, implementing principle and technical effect are similar with above-mentioned example, and the present invention repeats no more this.

In the present embodiment, terminal device may be at stationary state, also it may be at motion state, when terminal device is kept in motion, it is easy to calculate, during assume that terminal device determines its position location to terminal device since the update information for getting reference device, the measurement position of terminal device is remained unchanged；To improve positioning accuracy, the first measurement position when can get the update information of reference device by terminal device determines the position location of terminal device come the second measurement position when determining suitable reference device, and being modified by terminal device to its measurement position.

In the prior art, vehicle in car networking is integrated with or is provided with terminal device, when vehicle in the process of running, terminal device on vehicle can obtain the measurement position of itself by global position system in real time, and the management equipment of car networking is sent to using the measurement position as the position of vehicle.However, since the positioning accuracy of global position system in the prior art is lower, therefore, above-mentioned terminal device differs about more than ten meters by position of the measurement position acquired in global position system where practical with terminal device, so that terminal device is when being sent to the management equipment of car networking as the position of vehicle for its measurement position, the position of vehicle accessed by management equipment and the position at the practical place of non-vehicle, cause management equipment can not be according to vehicle location, determine the lane where vehicle, to can not accurately obtain the vehicle in car networking in the queueing message in each lane, and then accurate Traffic Information can not be provided for the vehicle in car networking.And localization method provided in this embodiment, terminal device on vehicle is during obtaining the measurement position of itself by global position system, the update information of at least one reference device obtained in real time can be passed through, the position location to obtain itself is modified to the measurement position of terminal device, make the position location infinite approach or the position equal to terminal device itself where practical, terminal device is allowed to be sent to the management equipment of car networking using the position location as the position of vehicle, so that the management equipment of car networking can be according to the position of the vehicle, determine the lane where vehicle, so that management equipment can be according to the lane where each vehicle, the vehicle in car networking is obtained in the queueing message in each lane, and then accurate Traffic Information can be provided for the vehicle in car networking, improve vehicle connection Validity and accuracy of the management equipment of net to traffic information provided by vehicle.

Localization method provided in an embodiment of the present invention, so that the terminal device on vehicle is during obtaining the measurement position of itself by global position system, the update information of at least one reference device can be obtained in real time, so that terminal device can be with the update information of at least one reference device, come the position location for correcting the measurement position of itself to determine itself, make the position location infinite approach or the position equal to terminal device itself where practical, so that terminal device can be located position as vehicle Position is sent to the management equipment of car networking, so that the management equipment of car networking can be according to the position of vehicle, determine the lane where vehicle, and then the vehicle in available car networking is in the queueing message in each lane, so as to provide accurate Traffic Information for the vehicle in car networking, validity and accuracy of the management equipment to traffic information provided by vehicle of car networking are improved.

Further, on the basis of the above embodiments, the present embodiment two what is involved is above-mentioned terminal device how to obtain at least one reference device update information detailed process, can specifically have the following two kinds acquisition modes:

The first acquisition modes: the update information for each reference device that terminal device is sent by each reference device of reception obtains the update information of at least one reference device.

Specifically, in the present embodiment, above-mentioned reference device can broadcast its update information in real time, in this way, when vehicle is located in the signal cover of one or more reference devices, terminal device on vehicle can receive the update information of one or more reference device transmission, so that the update information that one or more reference devices that the terminal device on vehicle can be received by this are sent, obtains the update information of at least one reference device.

Second of acquisition modes: the update information for the reference device that terminal device is sent by each first terminal equipment of reception obtains the update information of at least one reference device；Wherein, the update information of the update information for the reference device that each first terminal equipment is sent used reference device when being the measurement position of current amendment first terminal equipment.

Specifically, above-mentioned first terminal equipment can be other terminal devices being located in different vehicle with above-mentioned terminal device, when the update information of the currently used a certain reference device of first terminal equipment corrects the measurement position of itself, the update information of the reference device can be sent to the terminal device positioned at its periphery by the first terminal equipment, so that the update information of the available reference device of the terminal device on its periphery.Therefore, in the present embodiment, when above-mentioned terminal device is blocked or the reasons such as local environment is severe by building, although terminal device is caused to be closer with reference device, but when can not receive the update information of reference device transmission, the update information for the reference device that can be sent by receiving one or more first terminal equipment on its periphery, to obtain the update information of at least one reference device, so that terminal device is not when receiving the update information of reference device of reference device transmission, still the update information of the reference device of first terminal equipment transmission can be used, to correct its own measurement position, improve the efficiency that terminal device determines position location.

In another implementation of the invention, above-mentioned first terminal equipment will can also currently correct its survey The update information for measuring used reference device when position is carried in any vehicle to all (Vehicle to everything, referred to as: V2X) message is sent to terminal device, simultaneously first identifier can also be carried in the V2X message, so that terminal device is after receiving the V2X message, according to the first identifier carried in the V2X message, the update information that reference device whether is carried in the V2X message be assured that, if it is determined that the V2X message carries the update information of reference device, terminal device just can further parse the V2X message, to obtain the update information of the reference device of its carrying, improve the efficiency that terminal device obtains the update information of reference device.Optionally, when not having to carry the update information of reference device in the V2X message that above-mentioned first terminal equipment is sent to terminal device, above-mentioned first terminal equipment can carry second identifier in the V2X message, which is used to not carry the update information of reference device into terminal device instruction V2X.When specific implementation, above-mentioned first identifier can for example be indicated with 1, and above-mentioned second identifier can for example be indicated with 0, alternatively, above-mentioned first identifier can for example be indicated with 0, above-mentioned second identifier can for example be indicated with 1.Wherein, the first identifier and second identifier can be indicated with same flag bit.

Optionally, above-mentioned first identifier can be also used for indicating that the current position of first terminal equipment is position location to terminal device, so that terminal device can be after the position location for getting first terminal equipment, it can be according to the position location of first terminal equipment, accurately judge the distance between itself and first terminal equipment, so that terminal device can be in conjunction with information such as the speed of the vehicle where the terminal device, correct driving recommendations are provided for user, such as: the travel speed etc. of safe distance can be kept with first terminal equipment.Optionally, above-mentioned first terminal equipment can be located position and the update information carrying of reference device used when the current measurement position for correcting first terminal equipment is sent to terminal device in same V2X message, it can also carry and be sent to terminal device in different V2X message, the invention does not limit this.

Localization method provided in an embodiment of the present invention, so that the terminal device on vehicle is during obtaining the measurement position of itself by global position system, the update information of at least one reference device can be obtained in real time, so that terminal device can be with the update information of at least one reference device, come the position location for correcting the measurement position of itself to determine itself, make the position location infinite approach or the position equal to terminal device itself where practical, so that terminal device can be located the management equipment that position is sent to car networking as the position of vehicle, so that the management equipment of car networking can be according to the position of vehicle, determine the lane where vehicle, and then the vehicle in available car networking is in the queueing message in each lane, so as to provide accurate Traffic Information for the vehicle in car networking, it mentions The high management of car networking Validity and accuracy of the equipment to traffic information provided by vehicle.

Fig. 2 is the flow diagram of localization method embodiment three provided in an embodiment of the present invention.Further, on the basis of the above embodiments, the update information of above-mentioned each reference device can also include the position of reference device, and the position of the reference device can be the position location of reference device, it can also be the measurement position of reference device, can specifically set according to the demand of user.Then in the present embodiment, the update information of above-mentioned each reference device includes: the position of corrected parameter, the use scope of corrected parameter, reference device, the present embodiment three what is involved is terminal device how according to the corrected parameter of at least one reference device, the use scope of corrected parameter, reference device position, and the measurement position of terminal device, determine the detailed process of the position location of terminal device.As shown in Fig. 2, further, on the basis of the above embodiments, above-mentioned S102 is specifically as follows:

S201, terminal device determine at least one first reference device according to the use scope of the corrected parameter of each reference device, the position of each reference device and the measurement position of terminal device；Terminal device is located in the use scope of the corrected parameter of the first reference device.

Specifically, above-mentioned terminal device can be according to the position of its measurement position and each reference device, first determine its first distance between each reference device, and then according to the use scope of its first distance between each reference device and the corrected parameter of each reference device, the reference device that the first distance between it is less than or equal to the use scope of the corrected parameter of reference device is determined as the first reference device.Wherein, how above-mentioned terminal device determines its first distance each reference device between, may refer to the prior art according to the position of its measurement position and each reference device.

Optionally, above-mentioned terminal device can also determine at least one first reference device using existing mode, the present invention repeats no more this according to the use scope of the corrected parameter of each reference device, the position of each reference device and the measurement position of terminal device.

S202, terminal device determine the position location of terminal device according to the update information of at least one the first reference device and the measurement position of terminal device.

Specifically, above-mentioned terminal device is after determining at least one first reference device, so that it may which measurement position of update information of at least one the first reference device and terminal device according to this determines the position location of terminal device.Optionally, above-mentioned terminal device can randomly choose the corrected parameter of first reference device at this to correct its measurement position, to determine its position location at least one first reference device.Optionally, above-mentioned terminal device can also selection corrects its measurement position, using the corrected parameter of first reference device away from the first nearest reference device with true at least one first reference device at this Its fixed position location.

Localization method provided in an embodiment of the present invention, terminal device is according to the use scope of the corrected parameter in the update information of at least one acquired reference device, the position of reference device, and, the measurement position of terminal device, at least one first reference device in the use scope that terminal device is located at its corrected parameter can be accurately filtered out from least one reference device, so that terminal device can using this at least one the first reference device corrected parameter as foundation, to correct itself measurement position, with the position location of determination oneself, make the position location more infinite approach or the position equal to terminal device itself where practical, so that terminal device can be located the management equipment that position is sent to car networking as the position of vehicle, so that the management equipment of car networking can be according to the position of vehicle, it determines Lane where vehicle, and then the vehicle in available car networking is in the queueing message in each lane, so as to provide accurate Traffic Information for the vehicle in car networking, validity and accuracy of the management equipment to traffic information provided by vehicle of car networking are improved.

Below with two specific examples, localization method provided in an embodiment of the present invention to be described in detail, in following two examples, the update information of above-mentioned each reference device not only may include: the position of corrected parameter, the use scope of corrected parameter, reference device, can also include reference device calculate reference device measurement position when the corresponding satellite number of used satellite.How what following two examples all referred to is terminal device according to the update information of at least one the first reference device and the measurement position of terminal device, determines the detailed process of the position location of terminal device.By localization method provided by following two examples, the precision for the position location that terminal device can be made to determine is greatly improved.

Example one:

Fig. 3 is the flow diagram of localization method example IV provided in an embodiment of the present invention, as shown in figure 3, then this method may include:

Used satellite corresponding satellite number when S301, terminal device calculate the measurement position of the first reference device according at least one first reference device, determines at least one first reference device with the presence or absence of the second reference device identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment.If so, S302 is executed, if it is not, then executing S303.

Specifically, used satellite corresponding satellite number when each first reference device can be calculated the measurement position of the first reference device by terminal device, the corresponding satellite number of used satellite is compared when calculating its measurement position with terminal device, at least one above-mentioned first reference device of determination with the presence or absence of whole identical second ginseng of the satellite number of satellite used when calculating its measurement position with terminal device Examine equipment.

S302, terminal device determine the position location of terminal device according to the update information of the second reference device and the measurement position of terminal device.

Specifically, identical second reference device of if above-mentioned terminal device determines when calculating its measurement position with terminal device there are one at least one the above-mentioned first reference device satellite number of used satellite, that is only one second reference device, then above-mentioned terminal device can be directly according to the corrected parameter of second reference device, the measurement position of terminal device is corrected, to determine the position location of terminal device.At this time, used satellite is identical when due to terminal device, when calculating measurement position, used satellite calculates second reference device with second reference device, therefore, the difference between position where the measurement position and terminal device of terminal device are practical, with, the difference between position where the measurement position of second reference device and second reference device are practical is approximately uniform, therefore, terminal device when correcting oneself measurement position using second reference device used corrected parameter come the measurement position of correcting terminal device, the position location of obtained terminal device is more infinitely close to the position at the practical place of terminal device, further improve the positioning accuracy of terminal device.

Illustratively, it is assumed that the satellite number of used satellite identical second reference device when calculating its measurement position with terminal device there is only one, the corrected parameter of second reference device is (Δ X2, Δ Y2, Δ Z2), the measurement position of terminal device is (A_{It surveys}, B_{It surveys}, C_{It surveys}), the position location of terminal device is (A_{It is fixed}, B_{It is fixed}, C_{It is fixed}), then terminal device can be according to the corrected parameter (Δ X2, Δ Y2, Δ Z2) of second reference device, the measurement position (A of terminal device_{It surveys}, B_{It surveys}, C_{It surveys}), and following formula (7)-(9), determine the position location (A of terminal device_{It is fixed}, B_{It is fixed}, C_{It is fixed}), specifically:

A_{It is fixed}=A_{It surveys}+ΔX2 (7)

B_{It is fixed}=B_{It surveys}+ΔY2 (8)

C_{It is fixed}=C_{It surveys}+ΔZ2 (9)

Identical second reference device of the satellite number of used satellite when its measurement position is calculated with terminal device if above-mentioned terminal device determines at least one above-mentioned first reference device that there are multiple, there are multiple second reference devices, then above-mentioned terminal device can randomly choose second reference device in multiple second reference device, its measurement position is corrected with the corrected parameter of second reference device, to determine its position location.Optionally, above-mentioned terminal device can also be according to the position of the second reference device and the measurement position of terminal device, first determine third reference device nearest apart from terminal device in the second reference device, and then according to the corrected parameter of the third reference device and the measurement position of terminal device, terminal device is determined Position location, since reference device is closer apart from terminal device, environment locating for environment locating for reference device and terminal device is closer, so that reference device, which corrects corrected parameter used in the measurement position of itself, is more adapted to terminal device, therefore, terminal device is more accurate using the obtained position location of measurement position that the corrected parameter of third equipment corrects itself, further improves the positioning accuracy of terminal device.

Illustratively, it is assumed that the position location of third reference device includes: the longitude position location X3 of third reference device_{It is fixed}, the latitude position location Y3 of third reference device_{It is fixed}, the altitude location position Z3 of third reference device_{It is fixed}；The measurement position of third reference device includes: the longitude determination position X3 of third reference device_{It surveys}, the latitude determination position Y3 of third reference device_{It surveys}, the elevation carrection position Z3 of third reference device_{It surveys}；

Then the corrected parameter (Δ X3, Δ Y3, Δ Z3) of third equipment can be determined by following formula (10)-(12), specifically:

Δ X3=X3_{It is fixed}-X3_{It surveys} (10)

Δ Y3=Y3_{It is fixed}-Y3_{It surveys} (11)

Δ Z3=Z3_{It is fixed}-Z3_{It surveys} (12)

Then terminal device determines the position location of terminal device according to the corrected parameter of third reference device and the measurement position of terminal device, can be terminal device according to the longitude corrected parameter Δ X of third reference device, the longitude determination position A of terminal device_{It surveys}With formula (13), the longitude position location A of terminal device is determined_{It is fixed}；Terminal device is according to the latitude corrected parameter Δ Y of third reference device, the latitude determination position B of terminal device_{It surveys}With formula (14), the latitude position location B of terminal device is determined_{It is fixed}；Terminal device is according to the height correction parameter, Δ Z of third reference device, the elevation carrection position C of terminal device_{It surveys}With formula (15), the altitude location position C of terminal device is determined_{It is fixed}.Wherein, above-mentioned formula (13)-formula (15), specifically can be such that

A_{It is fixed}=A_{It surveys}+ΔX (13)

B_{It is fixed}=B_{It surveys}+ΔY (14)

C_{It is fixed}=C_{It surveys}+ΔZ (15)

After having executed above-mentioned S302, then terminate.

S303, terminal device determine fourth reference device nearest apart from terminal device according to the position of each first reference device and the measurement position of terminal device.

Specifically, determining and not deposited at least one first reference device if used satellite corresponding satellite number when terminal device calculates the measurement position of the first reference device according at least one first reference device Identical second reference device of the satellite number of used satellite when with the measurement position of terminal device computing terminal equipment, then terminal device can be according to the position of its measurement position and each first reference device, first determine the distance between itself and each first reference device, and then according to the distance between itself and each first reference device, it selects with the terminal device apart from the smallest first reference device as the 4th reference device, i.e. determination and the immediate reference device of environment locating for terminal device.Wherein, how above-mentioned terminal device determines itself and each first reference device the distance between, may refer to the prior art according to the position of its measurement position and each first reference device.

The measurement position of used satellite update terminal device, obtains the measurement position of terminal device update when S304, terminal device calculate the measurement position of the 4th reference device according to the 4th reference device.

Specifically, terminal device can be in the satellite number list that itself is locked, select satellite number identical with the satellite number of satellite used when the measurement position of the 4th reference device the 4th reference device of calculating, and its measurement position is recalculated using the corresponding satellite of these satellite numbers, used satellite recalculates the measurement position of terminal device when calculating the measurement position of the 4th reference device using the 4th reference device, to update the measurement position of terminal device, the measurement position of terminal device update is obtained.Wherein, the measurement position of used satellite update terminal device, specifically may refer to the prior art when how terminal device calculates the measurement position of the 4th reference device according to the 4th reference device.

The measurement position that S305, terminal device are updated according to the corrected parameter and terminal device of the 4th reference device, determines the position location of terminal device.

Specifically, after terminal device gets the measurement position of its update, so that it may correct the measurement position of its update, using the corrected parameter of the 4th reference device to obtain its position location.At this time, used satellite is identical when due to terminal device, when calculating its measurement position, used satellite calculates the measurement position of itself with the 4th reference device, therefore, terminal device used corrected parameter when correcting oneself measurement position using the 4th reference device corrects the measurement position of terminal device, the position location of obtained terminal device is more infinitely close to the position at the practical place of terminal device, further improves the positioning accuracy of terminal device.Wherein, how the measurement position of terminal device update is corrected according to the corrected parameter of the 4th reference device, the corrected parameter of 4th reference device can specifically be corrected to the measurement position that terminal device updates to substitute into formula shown in above-mentioned one S102 of above-described embodiment, it can determine the measurement position of terminal device, detailed process may refer to the description of one S102 of above-described embodiment, repeat no more to this.

After having executed above-mentioned S305, then terminate.

Optionally, after above-mentioned S302 or S305, this method can also include: end-point device broadcast The corresponding V2X message of terminal device, wherein, the update information etc. of the V2X message used reference device when may include first identifier and the current measurement position for correcting terminal device, so that the V2X message that the terminal device on other vehicles being located at around the terminal device is sent by the terminal device, the available update information to the reference device for currently correcting the terminal, while can also know that the current position of terminal device is position location etc. by first identifier.

Optionally, after above-mentioned S302 or S305, this method can also include: location information of the terminal device according to the position location of terminal device and the reference device of current amendment terminal device, determine the second distance between terminal device and the reference device of current amendment terminal device, and determine whether terminal device is located in the use scope of the corrected parameter of the reference device of current amendment terminal device according to the second distance, if it is not, then redefining the position location of terminal device.

Specifically, since above-mentioned terminal device is the terminal device for being integrated on vehicle or being arranged on vehicle, with the traveling of vehicle, terminal device is also constantly moving, therefore, after above-mentioned terminal device corrects its measurement position according to the update information of a certain reference device, terminal device can be real-time, or periodically according to the position location of terminal device and the position of the reference device of current amendment terminal device, calculate its second distance between the reference device of current amendment terminal device, so that terminal device can be according to the second distance, judge whether terminal device has exceeded the use scope of the corrected parameter of the reference device of current amendment terminal device, so that terminal device is when except the use scope for being moved to the corrected parameter of reference device of current amendment terminal device, terminal device can be again It determines the position location of terminal device, that is, re-executes localization method provided in an embodiment of the present invention, so that the update information that correct reference device can be used in terminal device corrects its measurement position, it is ensured that the accuracy of terminal device positioning.

Optionally, after above-mentioned S302 or S305 either step, this method can also include: terminal device judge terminal device computing terminal equipment measurement position when used satellite satellite number and current amendment terminal device reference device calculate used satellite when the measurement position of reference device satellite number it is whether identical；If it is not, then redefining the position location of terminal device.

Specifically, with the movement of terminal device, environment around terminal device can change, it is possible that the satellite number of used satellite changes when will lead to the measurement position of terminal device computing terminal equipment, therefore, after above-mentioned terminal device corrects its measurement position according to the update information of a certain reference device, terminal device can in real time or periodically judge that the reference device of the satellite number of used satellite and current amendment terminal device calculates reference when the measurement position of terminal device computing terminal equipment Whether the satellite number of used satellite is identical when the measurement position of equipment, so that when the terminal device satellite number that the satellite number of used satellite and the current reference device for correcting terminal device calculate used satellite when the measurement position of reference device when determining that it calculates measurement position is not identical, the position location of terminal device can be redefined, re-execute localization method provided in an embodiment of the present invention, so that the update information that correct reference device can be used in terminal device corrects its measurement position, ensure the accuracy of terminal device positioning.

Localization method provided in an embodiment of the present invention, terminal device is according to the use scope of the corrected parameter in the update information of at least one acquired reference device, the position of reference device, and, the measurement position of terminal device, at least one first reference device in the use scope that terminal device is located at its corrected parameter can be accurately filtered out from least one reference device, so that terminal device can pass through the position of each first reference device, and reference device calculates the satellite number of used satellite when the measurement position of reference device, one and immediate first reference device of environment where terminal device are selected at least one first reference device from this, so that the corrected parameter of first reference device can be used to correct the measurement position of itself in terminal device, with the position location of determination oneself Make the position location more infinite approach or the position equal to terminal device itself where practical, so that terminal device can be located the management equipment that position is sent to car networking as the position of vehicle, so that the management equipment of car networking can be according to the position of vehicle, determine the lane where vehicle, and then the vehicle in available car networking is in the queueing message in each lane, so as to provide accurate Traffic Information for the vehicle in car networking, validity and accuracy of the management equipment to traffic information provided by vehicle of car networking are improved.

Example two:

Fig. 4 is the flow diagram of localization method embodiment five provided in an embodiment of the present invention.As shown in figure 4, this method may include:

S401, terminal device determine fiveth reference device nearest apart from terminal device according to the position of each first reference device and the measurement position of terminal device.

Specifically, terminal device can be according to the position of its measurement position and each first reference device, first determine the distance between itself and each first reference device, and then according to the distance between itself and each first reference device, it selects with the terminal device apart from the smallest first reference device as the 5th reference device, i.e. determination and the immediate reference device of environment locating for terminal device.Wherein, how above-mentioned terminal device is according to the position of its measurement position and each first reference device, determine itself and each first reference device it Between distance, may refer to the prior art.

S402, terminal device determine whether the corresponding satellite number of used satellite is identical as the satellite number of satellite used when the measurement position of terminal device computing terminal equipment when the 5th reference device calculates the measurement position of the 5th reference device.If so, S403 is executed, if it is not, then executing S404.

Specifically, used satellite corresponding satellite number when 5th reference device can be calculated the measurement position of the 5th reference device by terminal device, the corresponding satellite number of used satellite is compared when calculating its measurement position with terminal device, and the satellite number of used satellite is all identical when whether calculating its measurement position with terminal device to determine in the 5th reference device.

S403, terminal device determine the position location of terminal device according to the corrected parameter of the 5th reference device and the measurement position of terminal device.

Specifically, if terminal device determines that the corresponding satellite number of used satellite is identical as the satellite number of satellite used when the measurement position of terminal device computing terminal equipment when the 5th reference device calculates the measurement position of the 5th reference device, then terminal device can be directly according to the corrected parameter of the 5th reference device, the measurement position of terminal device is corrected, to determine the position location of terminal device.At this time, used satellite is identical when due to terminal device, when calculating measurement position, used satellite calculates five reference devices with the 5th reference device, therefore, the difference between position where the measurement position and terminal device of terminal device are practical, with, the difference between position where the measurement position of 5th reference device and the 5th reference device are practical is approximately uniform, therefore, terminal device used corrected parameter when correcting oneself measurement position using the 5th reference device corrects the measurement position of terminal device, the position location of obtained terminal device is more infinitely close to the position at the practical place of terminal device, further improve the positioning accuracy of terminal device.Wherein, the measurement position that terminal device how is corrected according to the corrected parameter of the 5th reference device, specifically may refer to the description of one S102 of above-described embodiment, repeats no more to this.

After having executed above-mentioned S403, then terminate.

The measurement position of used satellite update terminal device when S404, terminal device calculate the measurement position of the 5th reference device according to the 5th reference device, obtain the measurement position of terminal device update, and the measurement position updated according to the corrected parameter of the 5th reference device and terminal device, determine the position location of terminal device.

Specifically, if terminal device determines that the satellite number of used satellite when the corresponding satellite number of used satellite and the measurement position of terminal device computing terminal equipment when the 5th reference device calculates the measurement position of the 5th reference device is not identical, then terminal device can be in the satellite number list that itself is locked Select satellite number identical with the satellite number of satellite used when the measurement position of the 5th reference device the 5th reference device of calculating, and its measurement position is recalculated using the corresponding satellite of these satellite numbers, used satellite recalculates the measurement position of terminal device when calculating the measurement position of the 5th reference device using the 5th reference device, to update the measurement position of terminal device, obtain the measurement position of terminal device update, so that the corrected parameter of the 5th reference device can be used to correct the measurement position of its update in terminal device, to obtain its position location.At this time, used satellite is identical when due to terminal device, when calculating its measurement position, used satellite calculates the measurement position of itself with the 5th reference device, therefore, terminal device used corrected parameter when correcting oneself measurement position using the 5th reference device corrects the measurement position of terminal device, the position location of obtained terminal device is more infinitely close to the position at the practical place of terminal device, further improves the positioning accuracy of terminal device.Wherein, the measurement position of used satellite update terminal device when how terminal device calculates the measurement position of the 5th reference device according to the 5th reference device, it specifically may refer to the prior art, how terminal corrects the measurement position of terminal device according to the corrected parameter of the 5th reference device, the description that specifically may refer to one S102 of above-described embodiment, repeats no more this.

After having executed above-mentioned S404, then terminate.

Optionally, after above-mentioned S403 or S404 either step, this method can also include: the corresponding V2X message of end-point device broadcast terminal device, wherein, the update information etc. of the V2X message used reference device when may include first identifier and the current measurement position for correcting terminal device, so that the V2X message that the terminal device on other vehicles being located at around the terminal device is sent by the terminal device, the available update information to the reference device for currently correcting the terminal, it can also know that the current position of terminal device is position location etc. by first identifier simultaneously.

Optionally, after above-mentioned S403 or S404 either step, this method can also include: location information of the terminal device according to the position location of terminal device and the reference device of current amendment terminal device, determine the second distance between terminal device and the reference device of current amendment terminal device, and determine whether terminal device is located in the use scope of the corrected parameter of the reference device of current amendment terminal device according to the second distance, if it is not, then redefining the position location of terminal device.Wherein, the specific descriptions of the step may refer to above-mentioned example one, and technical solution is similar with technical effect, and the present invention repeats no more this.

Optionally, after above-mentioned S403 or S404 either step, this method can also include: terminal device judge terminal device computing terminal equipment measurement position when used satellite satellite number and the reference device of current amendment terminal device calculate the satellite of used satellite when the measurement position of reference device It whether identical numbers；If it is not, then redefining the position location of terminal device.Wherein, the specific descriptions of the step may refer to above-mentioned example one, and technical solution is similar with technical effect, and the present invention repeats no more this.

Those of ordinary skill in the art will appreciate that: realizing all or part of the steps of above-mentioned each method embodiment, this can be accomplished by hardware associated with program instructions.Program above-mentioned can be stored in a computer readable storage medium.When being executed, execution includes the steps that above-mentioned each method embodiment to the program；And storage medium above-mentioned includes: the various media that can store program code such as ROM, RAM, magnetic or disk.

Fig. 5 is the structural schematic diagram of positioning device embodiment one provided in an embodiment of the present invention, as shown in Figure 5, the positioning device being implemented in combination with as some or all of of terminal device by software, hardware or both, which may include: receiving module 11 and determining module 12；Wherein,

Module 11 is obtained, for obtaining the update information of at least one reference device, the update information of each reference device includes the use scope of corrected parameter for the measurement position of terminal device amendment terminal device, corrected parameter；Wherein, corrected parameter is the parameter that the measurement position of reference device is modified to the position location of reference device；

Determining module 12, for being believed according to the amendment for obtaining at least one reference device that module 11 obtains The measurement position of breath and terminal device, determines the position location of terminal device.

Positioning device provided in an embodiment of the present invention can execute above method embodiment, and it is similar that the realization principle and technical effect are similar, and details are not described herein.

Fig. 6 is the structural schematic diagram of positioning device embodiment two provided in an embodiment of the present invention, as shown in fig. 6, further, on the basis of the above embodiments, the update information of above-mentioned each reference device can also include the position of each reference device；The position of reference device be reference device position location or reference device measurement position, then above-mentioned determining module may include:

First determination unit 121 determines at least one first reference device for use scope, the position of each reference device and the measurement position of terminal device according to the corrected parameter of each reference device；Terminal device is located in the use scope of the corrected parameter of the first reference device.Optionally, above-mentioned first determination unit 121, it can be according to the measurement position of terminal device and the position of each reference device, determine the first distance between terminal device and each reference device, and the use scope of the corrected parameter according to first distance and each reference device between terminal device and each reference device, the reference device that the first distance between terminal device is less than or equal to the use scope of the corrected parameter of reference device are determined as the first reference device.

Second determination unit 122, the update information of at least one the first reference device for being determined according to the first determination unit 121 and the measurement position of terminal device, determine the position location of terminal device.

When the update information of above-mentioned each reference device can also include each reference device calculate reference device measurement position when used satellite corresponding satellite number when, in a kind of implementation of the invention, above-mentioned second determination unit 122, used satellite corresponding satellite number when specifically can be used for calculating the measurement position of the first reference device according at least one first reference device, it determines at least one first reference device with the presence or absence of the second reference device identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment, and when there is the second reference device identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment in determining at least one first reference device, according to the measurement position of the update information of the second reference device and terminal device It sets, determines the position location of terminal device.

If above-mentioned second determines there are when multiple the second reference devices identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment at least one above-mentioned first reference device Unit 122, for according to the update information of the second reference device and the measurement position of terminal device, determine the position location of terminal device, it is specifically as follows: according to the measurement position of the position of the second reference device and terminal device, determine third reference device nearest apart from terminal device in the second reference device, and according to the measurement position of the corrected parameter of third reference device and terminal device, the position location of terminal device is determined.

Position location with third reference device includes: the longitude position location X3 of third reference device_{It is fixed}, the latitude position location Y3 of third reference device_{It is fixed}, the altitude location position Z3 of third reference device_{It is fixed}；The measurement position of third reference device includes: the longitude determination position X3 of third reference device_{It surveys}, the latitude determination position Y3 of third reference device_{It surveys}, the elevation carrection position Z3 of third reference device_{It surveys}；The corrected parameter of third equipment includes: according to Δ X3=X3_{It is fixed}-X3_{It surveys}The longitude corrected parameter Δ X3 of determining third reference device, according to Δ Y3=Y3_{It is fixed}-Y3_{It surveys}The latitude corrected parameter Δ Y3 of determining third reference device, according to Δ Z3=Z3_{It is fixed}-Z3_{It surveys}The height correction parameter, Δ Z3 of determining third reference device, the measurement position of above-mentioned terminal device include: the longitude determination position A of terminal device_{It surveys}, the latitude determination position B of terminal device_{It surveys}, the elevation carrection position C of terminal device_{It surveys}, the position location of above-mentioned terminal device includes: the longitude position location A of terminal device_{It is fixed}, the latitude position location B of terminal device_{It is fixed}, the altitude location position C of terminal device_{It is fixed}For, then above-mentioned second determination unit 122, for determining the position location of terminal device, being specifically as follows according to the corrected parameter of third reference device and the measurement position of terminal device:

Second determination unit 122 specifically can be used for the longitude determination position A of longitude corrected parameter Δ X3 according to third reference device, terminal device_{It surveys}And A_{It is fixed}=A_{It surveys}+ Δ X3 determines the longitude position location A of terminal device_{It is fixed}；According to the latitude corrected parameter Δ Y3 of third reference device, the latitude determination position B of terminal device_{It surveys}And B_{It is fixed}=B_{It surveys}+ Δ Y3 determines the latitude position location B of terminal device_{It is fixed}；According to the height correction parameter, Δ Z3 of third reference device, the elevation carrection position C of terminal device_{It surveys}And C_{It is fixed}=C_{It surveys}+ Δ Z3 determines the altitude location position C of terminal device_{It is fixed}。

If the second reference device identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment is not present at least one above-mentioned first reference device, then above-mentioned second determination unit 122, for according to the update information of at least one the first reference device and the measurement position of terminal device, the position location for determining terminal device, is specifically as follows:

Second determination unit 122, specifically for according to the position of each first reference device and the measurement position of terminal device, determine fourth reference device nearest apart from terminal device, the measurement position of used satellite update terminal device when according to the measurement position of the 4th reference device the 4th reference device of calculating, the measurement position of terminal device update is obtained, and is updated according to the corrected parameter of the 4th reference device and terminal device Measurement position, determine the position location of terminal device.

When the update information of above-mentioned each reference device can also include each reference device calculate reference device measurement position when used satellite corresponding satellite number when, in another implementation of the invention, above-mentioned second determination unit 122, for according to the update information of at least one the first reference device and the measurement position of terminal device, the position location for determining terminal device, is specifically as follows:

Second determination unit 122, specifically for according to the position of each first reference device and the measurement position of terminal device, it determines fiveth reference device nearest apart from terminal device, determines whether the corresponding satellite number of used satellite is identical as the satellite number of satellite used when the measurement position of terminal device computing terminal equipment when the 5th reference device calculates the measurement position of the 5th reference device；

When determining that the 5th reference device calculates the measurement position of the 5th reference device, the corresponding satellite number of used satellite is identical as the satellite number of satellite used when the measurement position of terminal device computing terminal equipment, according to the measurement position of the corrected parameter of the 5th reference device and terminal device, the position location of terminal device is determined；

When determining that the 5th reference device calculates the measurement position of the 5th reference device, the satellite number of used satellite is not identical when the measurement position of the corresponding satellite number of used satellite and terminal device computing terminal equipment, the measurement position of used satellite update terminal device when according to the measurement position of the 5th reference device the 5th reference device of calculating, obtain the measurement position of terminal device update, and the measurement position updated according to the corrected parameter of the 5th reference device and terminal device, determine the position location of terminal device.

Optionally, above-mentioned acquisition module 11 can be used for receiving the update information for each reference device that each reference device is sent, specifically to obtain the update information of at least one reference device；

Or；Above-mentioned acquisition module 11 can be used for receiving the update information for the reference device that each first terminal equipment is sent, specifically to obtain the update information of at least one reference device；The update information of the update information for the reference device that each first terminal equipment is sent used reference device when being the measurement position of current amendment first terminal equipment.When specific implementation, above-mentioned acquisition module 11, the vehicle that can be specifically used for receiving each first terminal equipment transmission parses V2X message to all V2X message, and according to first identifier, to obtain the update information of reference device；Repairing for first identifier and reference device is carried in V2X message Positive information, first identifier are used to carry the update information of reference device into terminal device instruction V2X message.Optionally, above-mentioned first identifier can be also used for indicating that the current position of first terminal equipment is position location to terminal device.

Fig. 7 is the structural schematic diagram of positioning device embodiment three provided in an embodiment of the present invention, as shown in fig. 7, further, on the basis of the above embodiments, above-mentioned apparatus can also include:

Broadcast module 13, for determining module 12 according to the update information of at least one the first reference device and the measurement position of terminal device, after the position location for determining terminal device, the corresponding V2X message of broadcast terminal equipment.

Optionally, above-mentioned determining module 12, it can be also used for according to the update information of at least one reference device and the measurement position of terminal device, after the position location for determining terminal device, according to the position of the position location of terminal device and the reference device of current amendment terminal device, determine the second distance between terminal device and the reference device of current amendment terminal device, and determine whether terminal device is located in the use scope of the corrected parameter of the reference device of current amendment terminal device according to second distance, when determining the use scope of corrected parameter of reference device of the terminal device beyond current amendment terminal device, redefine the position location of terminal device.

Optionally, above-mentioned determining module 12, it can be also used for according to the update information of at least one reference device and the measurement position of terminal device, after the position location for determining terminal device, judge whether the satellite number of used satellite when the measurement position of the reference device calculating reference device of the satellite number of used satellite and current amendment terminal device when the measurement position of terminal device computing terminal equipment is identical, and when judging the measurement position of terminal device computing terminal equipment, the satellite number of used satellite is not identical when the measurement position of the reference device calculating reference device of the satellite number of used satellite and current amendment terminal device, redefine the position location of terminal device.

Fig. 8 is the structural schematic diagram of positioning device example IV provided in an embodiment of the present invention, as shown in figure 8, the positioning device may include: processor 21 (such as CPU).The present embodiments relate to positioning device can also include power supply 22, memory 23, communication bus 24 and communication port 25.Communication bus 24 is for realizing the communication connection between element.Memory 23 may include high speed RAM memory, it is also possible to further include nonvolatile memory NVM, a for example, at least magnetic disk storage can store various programs in memory 23, in the method for completing various processing functions and realizing the present embodiment Step.Above-mentioned communication port 25 communicates for realizing being attached between terminal device and other peripheral hardwares.

Above-mentioned processor 21 can be used for obtaining the update information of at least one reference device, and according to the measurement position of the update information of at least one reference device and terminal device, determine the position location of terminal device；The update information of each reference device includes the use scope of the corrected parameter of measurement position for terminal device amendment terminal device, corrected parameter；Wherein, corrected parameter is the parameter that the measurement position of reference device is modified to the position location of reference device.

Further, on the basis of the above embodiments, the update information of above-mentioned each reference device further includes the position of each reference device；The position of reference device is the position location of reference device or the measurement position of reference device.

Then above-mentioned processor 21, for determining the position location of terminal device, being specifically as follows according to the update information of at least one reference device and the measurement position of terminal device:

Above-mentioned processor 21, it specifically can be used for use scope, the position of each reference device and the measurement position of terminal device of the corrected parameter according to each reference device, determine at least one first reference device, and according to the measurement position of the update information of at least one the first reference device and terminal device, the position location of terminal device is determined；Terminal device is located in the use scope of the corrected parameter of the first reference device.

When specific implementation, above-mentioned processor 21, for the use scope according to the corrected parameter of each reference device, the position of each reference device and the measurement position of terminal device, determine at least one first reference device, it is specifically as follows: processor 21, it specifically can be used for the position of the measurement position and each reference device according to terminal device, determine the first distance between terminal device and each reference device, and the use scope of the corrected parameter according to first distance and each reference device between terminal device and each reference device, the reference device that first distance between terminal device is less than or equal to the use scope of the corrected parameter of reference device is determined as the first reference device.

When the update information of above-mentioned each reference device further include each reference device calculate reference device measurement position when used satellite corresponding satellite number when, in a kind of implementation of the invention, above-mentioned processor 21, for according to the update information of at least one the first reference device and the measurement position of terminal device, the position location for determining terminal device, is specifically as follows:

Above-mentioned processor 21, used satellite corresponding satellite number when specifically can be used for calculating the measurement position of the first reference device according at least one first reference device determine at least one first with reference to setting It whether there is the second reference device identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment in standby, and when there is the second reference device identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment at least one first reference device, according to the measurement position of the update information of the second reference device and terminal device, the position location of terminal device is determined.

If there are multiple the second reference devices identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment at least one above-mentioned first reference device, then above-mentioned processor 21, for according to the update information of the second reference device and the measurement position of terminal device, the position location for determining terminal device, is specifically as follows:

Above-mentioned processor 21, it specifically can be used for the position according to the second reference device and the measurement position of terminal device, determine third reference device nearest apart from terminal device in the second reference device, and according to the measurement position of the corrected parameter of third reference device and terminal device, the position location of terminal device is determined.

Position location with third reference device includes: the longitude position location X3 of third reference device_{It is fixed}, the latitude position location Y3 of third reference device_{It is fixed}, the altitude location position Z3 of third reference device_{It is fixed}；The measurement position of third reference device includes: the longitude determination position X3 of third reference device_{It surveys}, the latitude determination position Y3 of third reference device_{It surveys}, the elevation carrection position Z3 of third reference device_{It surveys}；The corrected parameter of third equipment includes: according to Δ X3=X3_{It is fixed}-X3_{It surveys}The longitude corrected parameter Δ X3 of determining third reference device, according to Δ Y3=Y3_{It is fixed}-Y3_{It surveys}The latitude corrected parameter Δ Y3 of determining third reference device, according to Δ Z3=Z3_{It is fixed}-Z3_{It surveys}The height correction parameter, Δ Z3 of determining third reference device；The measurement position of terminal device includes: the longitude determination position A of terminal device_{It surveys}, the latitude determination position B of terminal device_{It surveys}, the elevation carrection position C of terminal device_{It surveys}；The position location of terminal device includes: the longitude position location A of terminal device_{It is fixed}, the latitude position location B of terminal device_{It is fixed}, the altitude location position C of terminal device_{It is fixed}For, then above-mentioned processor 21, for determining the position location of terminal device, being specifically as follows according to the corrected parameter of third reference device and the measurement position of terminal device:

Above-mentioned processor 21 specifically can be used for the longitude determination position A of longitude corrected parameter Δ X3 according to third reference device, terminal device_{It surveys}And A_{It is fixed}=A_{It surveys}+ Δ X3 determines the longitude position location A of terminal device_{It is fixed}；According to the latitude corrected parameter Δ Y3 of third reference device, the latitude determination position B of terminal device_{It surveys}And B_{It is fixed}=B_{It surveys}+ Δ Y3 determines the latitude position location B of terminal device_{It is fixed}；According to the height correction parameter, Δ Z3 of third reference device, the elevation carrection position C of terminal device_{It surveys}And C_{It is fixed}=C_{It surveys}+ Δ Z3 determines the altitude location position C of terminal device_{It is fixed}。

If the second reference device identical with the satellite number of satellite used when the measurement position of terminal device computing terminal equipment is not present at least one above-mentioned first reference device, then above-mentioned processor 21, for according to the update information of at least one the first reference device and the measurement position of terminal device, the position location for determining terminal device, is specifically as follows:

Above-mentioned processor 21, it specifically can be used for the position according to each first reference device and the measurement position of terminal device, determine fourth reference device nearest apart from terminal device, the measurement position of used satellite update terminal device when according to the measurement position of the 4th reference device the 4th reference device of calculating, obtain the measurement position of terminal device update, and the measurement position updated according to the corrected parameter of the 4th reference device and terminal device, determine the position location of terminal device.

When the update information of above-mentioned each reference device further include each reference device calculate reference device measurement position when used satellite corresponding satellite number when, in another implementation of the invention, above-mentioned processor 21, for according to the update information of at least one the first reference device and the measurement position of terminal device, the position location for determining terminal device, is specifically as follows:

Above-mentioned processor 21, it specifically can be used for the position according to each first reference device and the measurement position of terminal device, it determines fiveth reference device nearest apart from terminal device, and determines whether the corresponding satellite number of used satellite is identical as the satellite number of satellite used when the measurement position of terminal device computing terminal equipment when the 5th reference device calculates the measurement position of the 5th reference device；

Fig. 9 is the structural schematic diagram of positioning device embodiment five provided in an embodiment of the present invention, as shown in figure 9, further, on the basis of the above embodiments, above-mentioned apparatus can also include: receiver 26；

Then above-mentioned processor 21 is specifically as follows for obtaining the update information of at least one reference device:

Above-mentioned processor 21 can be used for receiving the update information for each reference device that each reference device is sent by receiver 26, specifically to obtain the update information of at least one reference device.

Alternatively,

Above-mentioned processor 21 can be used for receiving the update information for the reference device that each first terminal equipment is sent by receiver 26, specifically to obtain the update information of at least one reference device；The update information of the update information for the reference device that each first terminal equipment is sent used reference device when being the measurement position of current amendment first terminal equipment.Optionally, above-mentioned processor 21, for receiving the update information for the reference device that each first terminal equipment is sent by receiver 26, it is specifically as follows: processor 21, it specifically can be used for receiving the vehicle of each first terminal equipment transmission by receiver 26 to all V2X message, and V2X message is parsed according to first identifier, to obtain the update information of reference device, the update information of first identifier and reference device is carried in V2X message, first identifier is used to carry the update information of reference device into terminal device instruction V2X message.Wherein, above-mentioned first identifier can be also used for indicating that the current position of first terminal equipment is position location to terminal device.

With continued reference to above-mentioned Fig. 9, optionally, above-mentioned apparatus can also include: transmitter 27；

Transmitter 27 can be used in processor 21 according to the update information of at least one the first reference device and the measurement position of terminal device, after the position location for determining terminal device, the corresponding V2X message of broadcast terminal equipment.

Optionally, above-mentioned processor 21, it can be also used for according to the update information of at least one reference device and the measurement position of terminal device, after the position location for determining terminal device, according to the position of the position location of terminal device and the reference device of current amendment terminal device, determine the second distance between terminal device and the reference device of current amendment terminal device, and determine whether terminal device is located in the use scope of the corrected parameter of the reference device of current amendment terminal device according to second distance, when determining the use scope of corrected parameter of reference device of the terminal device beyond current amendment terminal device, redefine the position location of terminal device.

Optionally, above-mentioned processor 21, it can be also used for according to the update information of at least one reference device and the measurement position of terminal device, after the position location for determining terminal device, the ginseng of the satellite number of used satellite and current amendment terminal device when the measurement position of terminal device computing terminal equipment is judged Whether the satellite number for examining used satellite when the measurement position of equipment calculating reference device is identical, when the satellite number of used satellite is not identical when the measurement position of the reference device calculating reference device of the satellite number of used satellite and current amendment terminal device when judging the measurement position of terminal device computing terminal equipment, the position location of terminal device is redefined.

As with the above discussed embodiment, the present embodiments relate to terminal device can be the wireless terminals such as mobile phone, tablet computer, therefore, by taking terminal device is mobile phone as an example: the structural block diagram that Figure 10 is terminal device provided in an embodiment of the present invention when being mobile phone.With reference to Figure 10, the mobile phone may include: radio frequency (Radio Frequency, RF) the components such as circuit 1110, memory 1120, input unit 1130, display unit 1140, sensor 1150, voicefrequency circuit 1160, Wireless Fidelity (wireless fidelity, WiFi) module 1170, processor 1180 and power supply 1190.It will be understood by those skilled in the art that handset structure shown in Figure 10 does not constitute the restriction to mobile phone, it may include perhaps combining certain components or different component layouts than illustrating more or fewer components.

It is specifically introduced below with reference to each component parts of the Figure 10 to mobile phone:

RF circuit 1110 can be used for receiving and sending messages or communication process in, signal sends and receivees, and particularly, after the downlink information of base station is received, handles to processor 1180；In addition, the data of uplink are sent to base station.In general, RF circuit includes but is not limited to antenna, at least one amplifier, transceiver, coupler, low-noise amplifier (Low Noise Amplifier, LNA), duplexer etc..In addition, RF circuit 1110 can also be communicated with network and other equipment by wireless communication.Any communication standard or agreement can be used in above-mentioned wireless communication, including but not limited to global system for mobile communications (Global System of Mobile communication, GSM), general packet radio service (General Packet Radio Service, GPRS), CDMA (Code Division Multiple Access, CDMA), wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA), long term evolution (Long Term Evolution, LTE)), Email, short message clothes Be engaged in (Short Messaging Service, SMS) etc..

Memory 1120 can be used for storing software program and module, and processor 1180 is stored in the software program and module of memory 1120 by operation, thereby executing the various function application and data processing of mobile phone.Memory 1120 can mainly include storing program area and storage data area, wherein storing program area can application program needed for storage program area, at least one function (such as sound-playing function, image Playing function etc.) etc.；Storage data area, which can be stored, uses created data (such as audio data, phone directory etc.) etc. according to mobile phone.In addition, memory 1120 may include high-speed random access memory, it can also include nonvolatile memory, a for example, at least disk memory, flush memory device or other volatile solid-state parts.

Input unit 1130 can be used for receiving the number or character information of input, and generate key signals input related with the user setting of mobile phone and function control.Specifically, input unit 1130 may include touch panel 1131 and other input equipments 1132.Touch panel 1131, also referred to as touch screen, the touch operation (for example user uses the operations of any suitable object or attachment on touch panel 1131 or near touch panel 1131 such as finger, stylus) of collectable user on it or nearby, and corresponding attachment device is driven according to preset formula.Optionally, touch panel 1131 may include both touch detecting apparatus and touch controller.Wherein, the touch orientation of touch detecting apparatus detection user, and touch operation bring signal is detected, transmit a signal to touch controller；Touch controller receives touch information from touch detecting apparatus, and is converted into contact coordinate, then gives processor 1180, and can receive order that processor 1180 is sent and be executed.Furthermore, it is possible to realize touch panel 1131 using multiple types such as resistance-type, condenser type, infrared ray and surface acoustic waves.In addition to touch panel 1131, input unit 1130 can also include other input equipments 1132.Specifically, other input equipments 1132 can include but is not limited to one of physical keyboard, function key (such as volume control button, switch key etc.), trace ball, mouse, operating stick etc. or a variety of.

Display unit 1140 can be used for showing information input by user or be supplied to the information of user and the various menus of mobile phone.Display unit 1140 may include display panel 1141, optionally, display panel 1141 can be configured using the forms such as liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode (Organic Light-Emitting Diode, OLED).Further, touch panel 1131 can be covered on display panel 1141, after touch panel 1131 detects touch operation on it or nearby, processor 1180 is sent to determine the type of touch event, device 1180 is followed by subsequent processing according to the type of touch event and corresponding visual output is provided on display panel 1141.Although in Figure 10, touch panel 1131 and display panel 1141 are the input and input function for realizing mobile phone as two independent components, but it is in some embodiments it is possible to touch panel 1131 and display panel 1141 is integrated and that realizes mobile phone output and input function.

Mobile phone may also include at least one sensor 1150, such as optical sensor, motion sensor and other sensors.Specifically, optical sensor may include ambient light sensor and proximity sensor, wherein ring Border optical sensor can adjust the brightness of display panel 1141 according to the light and shade of ambient light, and optical sensor can close display panel 1141 and/or backlight when mobile phone is moved in one's ear.As a kind of motion sensor, acceleration transducer can detect the size of (generally three axis) acceleration in all directions, size and the direction that can detect that gravity when static can be used to identify application (such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, percussion) of mobile phone posture etc.；The other sensors such as the gyroscope, barometer, hygrometer, thermometer, the infrared sensor that can also configure as mobile phone, details are not described herein.

Voicefrequency circuit 1160, loudspeaker 1161 and microphone 1162 can provide the audio interface between user and mobile phone.Electric signal after the audio data received conversion can be transferred to loudspeaker 1161 by voicefrequency circuit 1160, be converted to voice signal output by loudspeaker 1161；On the other hand, the voice signal of collection is converted to electric signal by microphone 1162, audio data is converted to after being received by voicefrequency circuit 1160, it again will be after the processing of audio data output processor 1180, through RF circuit 1110 to be sent to such as another mobile phone, or audio data exported to memory 1120 to be further processed.

WiFi belongs to short range wireless transmission technology, and mobile phone can help user to send and receive e-mail by WiFi module 1170, browse webpage and access streaming video etc., it provides wireless broadband internet for user and accesses.Although Figure 10 shows WiFi module 1170, but it is understood that, and it is not belonging to must be configured into for mobile phone, it can according to need within the scope of not changing the essence of the invention and omit completely.

Processor 1180 is the control centre of mobile phone, utilize the various pieces of various interfaces and connection whole mobile phone, by running or executing the software program and/or module that are stored in memory 1120, and call the data being stored in memory 1120, the various functions and processing data for executing mobile phone, to carry out integral monitoring to mobile phone.Optionally, processor 1180 may include one or more processing units；Preferably, processor 1180 can integrate application processor and modem processor, wherein the main processing operation system of application processor, user interface and application program etc., modem processor mainly handles wireless communication.It is understood that above-mentioned modem processor can not also be integrated into processor 1180.

Mobile phone further includes the power supply 1190 (such as battery) powered to all parts, preferably, power supply can be logically contiguous by power-supply management system and processor 1180, to realize the functions such as management charging, electric discharge and power managed by power-supply management system.

Mobile phone can also include camera 1200, which can be front camera, or rear camera.Although being not shown, mobile phone can also include bluetooth module, GPS module etc., and details are not described herein.

In embodiments of the present invention, processor 1180 included by the mobile phone can be used for executing above-mentioned localization method embodiment, and it is similar that the realization principle and technical effect are similar, and details are not described herein.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or equivalent substitution of some or all of the technical features.Therefore, protection scope of the present invention should be subject to the protection scope in claims.

Claims

A kind of localization method, which is characterized in that the described method includes:

Terminal device obtains the update information of at least one reference device, and the update information of each reference device includes that the use scope of the corrected parameter of measurement position of the terminal device, the corrected parameter is corrected for the terminal device；Wherein, the corrected parameter is the parameter that the measurement position of the reference device is modified to the position location of the reference device；

The terminal device determines the position location of the terminal device according to the update information of at least one reference device and the measurement position of the terminal device.
The method according to claim 1, wherein the update information of each reference device further includes the position of each reference device；The position of the reference device is the position location of the reference device or the measurement position of the reference device.
According to the method described in claim 2, it is characterized in that, the terminal device determines the position location of the terminal device, specifically includes according to the update information of at least one reference device and the measurement position of the terminal device:

The terminal device determines at least one first reference device according to the use scope of the corrected parameter of each reference device, the position of each reference device and the measurement position of the terminal device；The terminal device is located in the use scope of the corrected parameter of first reference device；

The terminal device determines the position location of the terminal device according to the update information of at least one the first reference device and the measurement position of the terminal device.
According to the method for claim 3, it is characterized in that, the terminal device determines at least one first reference device, specifically includes according to the use scope of the corrected parameter of each reference device, the position of each reference device and the measurement position of the terminal device:

The terminal device determines the first distance between the terminal device and each reference device according to the measurement position of the terminal device and the position of each reference device；

For the terminal device according to the use scope of the corrected parameter of first distance and each reference device between the terminal device and each reference device, the reference device that the first distance between the terminal device is less than or equal to the use scope of the corrected parameter of the reference device is determined as first reference device.
The method according to claim 3 or 4, which is characterized in that the update information of each reference device further includes that each reference device is used when calculating the measurement position of the reference device The corresponding satellite number of satellite.
According to the method described in claim 5, it is characterized in that, the terminal device determines the position location of the terminal device, specifically includes according to the update information of at least one the first reference device and the measurement position of the terminal device:

The terminal device used satellite corresponding satellite number when calculating the measurement position of first reference device according at least one described first reference device determines identical second reference device of satellite number at least one described first reference device with the presence or absence of satellite used when calculating the measurement position of the terminal device with the terminal device；

If it exists, then the terminal device determines the position location of the terminal device according to the update information of second reference device and the measurement position of the terminal device.
According to the method described in claim 6, it is characterized in that, second reference device is multiple；

The terminal device determines the position location of the terminal device, specifically includes according to the update information of second reference device and the measurement position of the terminal device:

The terminal device determines the third reference device that terminal device described in distance is nearest in second reference device according to the position of second reference device and the measurement position of the terminal device；

The terminal device determines the position location of the terminal device according to the corrected parameter of the third reference device and the measurement position of the terminal device.
The method according to the description of claim 7 is characterized in that the position location of the third reference device includes: the longitude position location X3 of the third reference device_{It is fixed}, the latitude position location Y3 of the third reference device_{It is fixed}, the altitude location position Z3 of the third reference device_{It is fixed}；

The measurement position of the third reference device includes: the longitude determination position X3 of the third reference device_{It surveys}, the latitude determination position Y3 of the third reference device_{It surveys}, the elevation carrection position Z3 of the third reference device_{It surveys}；

Then the corrected parameter of the third equipment includes: according to Δ X3=X3_{It is fixed}-X3_{It surveys}The longitude corrected parameter Δ X3 of the determining third reference device, according to Δ Y3=Y3_{It is fixed}-Y3_{It surveys}The latitude corrected parameter Δ Y3 of the determining third reference device, according to Δ Z3=Z3_{It is fixed}-Z3_{It surveys}The height correction parameter, Δ Z3 of the determining third reference device.
According to the method described in claim 8, it is characterized in that, the measurement position of the terminal device includes: the longitude determination position A of the terminal device_{It surveys}, the latitude determination position B of the terminal device_{It surveys}, the elevation carrection position C of the terminal device_{It surveys}；

The position location of the terminal device includes: the longitude position location A of the terminal device_{It is fixed}, the latitude position location B of the terminal device_{It is fixed}, the altitude location position C of the terminal device_{It is fixed}；

Then the terminal device determines the position location of the terminal device, specifically includes according to the corrected parameter of the third reference device and the measurement position of the terminal device:

The terminal device is according to the longitude corrected parameter Δ X3 of the third reference device, the longitude determination position A of the terminal device_{It surveys}And A_{It is fixed}=A_{It surveys}+ Δ X3 determines the longitude position location A of the terminal device_{It is fixed}；

The terminal device is according to the latitude corrected parameter Δ Y3 of the third reference device, the latitude determination position B of the terminal device_{It surveys}And B_{It is fixed}=B_{It surveys}+ Δ Y3 determines the latitude position location B of the terminal device_{It is fixed}；

The terminal device is according to the height correction parameter, Δ Z3 of the third reference device, the elevation carrection position C of the terminal device_{It surveys}And C_{It is fixed}=C_{It surveys}+ Δ Z3 determines the altitude location position C of the terminal device_{It is fixed}。
According to the method for claim 6, it is characterized in that, if there is no identical second reference devices of the satellite number of satellite used when calculating the measurement position of the terminal device with the terminal device at least one described first reference device, then the terminal device is according to the update information of at least one the first reference device and the measurement position of the terminal device, determine the position location of the terminal device, further includes:

The terminal device determines fourth reference device nearest apart from the terminal device according to the position of each first reference device and the measurement position of the terminal device；

The measurement position of terminal device terminal device described in used satellite update when calculating the measurement position of the 4th reference device according to the 4th reference device obtains the measurement position that the terminal device updates；

The measurement position that the terminal device is updated according to the corrected parameter of the 4th reference device and the terminal device, determines the position location of the terminal device.
According to the method described in claim 5, it is characterized in that, the terminal device determines the position location of the terminal device, specifically includes according to the update information of at least one the first reference device and the measurement position of the terminal device:

The terminal device determines fiveth reference device nearest apart from the terminal device according to the position of each first reference device and the measurement position of the terminal device；

The terminal device determines that the satellite number of used satellite when whether used satellite corresponding satellite number when the 5th reference device calculates the measurement position of the 5th reference device calculates the measurement position of the terminal device with the terminal device is identical；

If so, the terminal device determines the position location of the terminal device according to the corrected parameter of the 5th reference device and the measurement position of the terminal device；

If not, the measurement position of terminal device described in used satellite update when then the terminal device calculates the measurement position of the 5th reference device according to the 5th reference device, obtain the measurement position that the terminal device updates, and the measurement position updated according to the corrected parameter of the 5th reference device and the terminal device, determine the position location of the terminal device.
- 11 described in any item methods according to claim 1, which is characterized in that the terminal device obtains the update information of at least one reference device, specifically includes:

The terminal device receives the update information for each reference device that each reference device is sent, to obtain the update information of at least one reference device.
- 11 described in any item methods according to claim 1, which is characterized in that the terminal device obtains the update information of at least one reference device, specifically includes:

The terminal device receives the update information for the reference device that each first terminal equipment is sent, to obtain the update information of at least one reference device；The update information for the reference device that each first terminal equipment is sent is currently to correct the update information of used reference device when the measurement position of the first terminal equipment.
According to the method for claim 13, which is characterized in that the terminal device receives the update information for the reference device that each first terminal equipment is sent, and specifically includes:

The terminal device receives the vehicle of each first terminal equipment transmission to all V2X message, the update information of first identifier and the reference device is carried in the V2X message, the first identifier is used to indicate the update information for carrying the reference device in the V2X message to the terminal device；

The terminal device parses the V2X message according to the first identifier, to obtain the update information of the reference device.
According to the method for claim 14, which is characterized in that the first identifier is also used to indicate that the current position of the first terminal equipment is position location to the terminal device.
The described in any item methods of 3-15 according to claim 1, it is characterized in that, the terminal device is according to the update information of at least one the first reference device and the measurement position of the terminal device, after the position location for determining the terminal device, the method also includes:

The corresponding V2X message of terminal device described in the end-point device broadcast.
- 16 described in any item methods according to claim 1, which is characterized in that the terminal device According to the measurement position of the update information of at least one reference device and the terminal device, after the position location for determining the terminal device, the method also includes:

The terminal device corrects the position of the reference device of the terminal device according to the position location of the terminal device and currently, determines the terminal device and currently corrects the second distance between the reference device of the terminal device；

Determine whether the terminal device is located in the use scope for the corrected parameter of reference device for currently correcting the terminal device according to the second distance；

If it is not, then redefining the position location of the terminal device.
- 16 described in any item methods according to claim 1, it is characterized in that, the terminal device is according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, the method also includes:

The terminal device judge the satellite number of used satellite when the terminal device calculates the measurement position of the terminal device and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is whether identical；

If it is not, then redefining the position location of the terminal device.
A kind of positioning device, which is characterized in that described device includes:

Module is obtained, for obtaining the update information of at least one reference device, the update information of each reference device includes that the use scope of the corrected parameter of measurement position of the terminal device, the corrected parameter is corrected for terminal device；Wherein, the corrected parameter is the parameter that the measurement position of the reference device is modified to the position location of the reference device；

Determining module determines the position location of the terminal device for the update information of at least one reference device and the measurement position of the terminal device according to acquisition module acquisition.
Device according to claim 19, which is characterized in that the update information of each reference device further includes the position of each reference device；The position of the reference device is the position location of the reference device or the measurement position of the reference device.
Device according to claim 20, which is characterized in that the determining module includes:

First determination unit determines at least one first reference device for use scope, the position of each reference device and the measurement position of the terminal device according to the corrected parameter of each reference device；The terminal device is located in the use scope of the corrected parameter of first reference device；

Second determination unit, at least one first reference for being determined according to first determination unit are set The measurement position of standby update information and the terminal device, determines the position location of the terminal device.
Device according to claim 21, it is characterized in that, first determination unit, specifically for according to the measurement position of the terminal device and the position of each reference device, determine the first distance between the terminal device and each reference device, and the use scope of the corrected parameter according to first distance and each reference device between the terminal device and each reference device, the reference device that first distance between the terminal device is less than or equal to the use scope of the corrected parameter of the reference device is determined as first reference device.
The device according to claim 21 or 22, which is characterized in that the update information of each reference device further includes that each reference device calculates the corresponding satellite number of used satellite when the measurement position of the reference device.
Device according to claim 23, it is characterized in that, second determination unit, used satellite corresponding satellite number when specifically for calculating the measurement position of first reference device according at least one described first reference device, determine identical second reference device of satellite number at least one described first reference device with the presence or absence of satellite used when calculating the measurement position of the terminal device with the terminal device, and when identical second reference device of the satellite number that there is used satellite when calculating the measurement position of the terminal device with the terminal device in determining at least one described first reference device, according to the measurement position of the update information of second reference device and the terminal device, determine the position location of the terminal device.
Device according to claim 24, which is characterized in that second reference device is multiple；

Second determination unit, for determining the position location of the terminal device according to the update information of second reference device and the measurement position of the terminal device, specifically:

Second determination unit, specifically for according to the position of second reference device and the measurement position of the terminal device, determine the third reference device that terminal device described in distance is nearest in second reference device, and according to the measurement position of the corrected parameter of the third reference device and the terminal device, the position location of the terminal device is determined.
Device according to claim 25, which is characterized in that the position location of the third reference device includes: the longitude position location X3 of the third reference device_{It is fixed}, the latitude position location Y3 of the third reference device_{It is fixed}, the altitude location position Z3 of the third reference device_{It is fixed}；

The measurement position of the third reference device includes: the longitude determination position of the third reference device X3_{It surveys}, the latitude determination position Y3 of the third reference device_{It surveys}, the elevation carrection position Z3 of the third reference device_{It surveys}；

Then the corrected parameter of the third equipment includes: according to Δ X3=X3_{It is fixed}-X3_{It surveys}The longitude corrected parameter Δ X3 of the determining third reference device, according to Δ Y3=Y3_{It is fixed}-Y3_{It surveys}The latitude corrected parameter Δ Y3 of the determining third reference device, according to Δ Z3=Z3_{It is fixed}-Z3_{It surveys}The height correction parameter, Δ Z3 of the determining third reference device.
Device according to claim 26, which is characterized in that the measurement position of the terminal device includes: the longitude determination position A of the terminal device_{It surveys}, the latitude determination position B of the terminal device_{It surveys}, the elevation carrection position C of the terminal device_{It surveys}；

The position location of the terminal device includes: the longitude position location A of the terminal device_{It is fixed}, the latitude position location B of the terminal device_{It is fixed}, the altitude location position C of the terminal device_{It is fixed}；

Then second determination unit, for determining the position location of the terminal device according to the corrected parameter of the third reference device and the measurement position of the terminal device, specifically:

Second determination unit, specifically for the longitude determination position A according to the longitude corrected parameter Δ X3 of the third reference device, the terminal device_{It surveys}And A_{It is fixed}=A_{It surveys}+ Δ X3 determines the longitude position location A of the terminal device_{It is fixed}；

According to the latitude corrected parameter Δ Y3 of the third reference device, the latitude determination position B of the terminal device_{It surveys}And B_{It is fixed}=B_{It surveys}+ Δ Y3 determines the latitude position location B of the terminal device_{It is fixed}；

According to the height correction parameter, Δ Z3 of the third reference device, the elevation carrection position C of the terminal device_{It surveys}And C_{It is fixed}=C_{It surveys}+ Δ Z3 determines the altitude location position C of the terminal device_{It is fixed}。
Device according to claim 24, it is characterized in that, if there is no identical second reference devices of the satellite number of satellite used when calculating the measurement position of the terminal device with the terminal device at least one described first reference device, then second determination unit, for according to the update information of at least one the first reference device and the measurement position of the terminal device, determine the position location of the terminal device, specifically:

Second determination unit, specifically for according to the position of each first reference device and the measurement position of the terminal device, determine fourth reference device nearest apart from the terminal device, the measurement position of terminal device described in used satellite update when calculating the measurement position of the 4th reference device according to the 4th reference device, obtain the measurement position that the terminal device updates, and the measurement position updated according to the corrected parameter of the 4th reference device and the terminal device, determine the terminal device Position location.
Device according to claim 23, which is characterized in that second determination unit, for determining the position location of the terminal device according to the update information of at least one the first reference device and the measurement position of the terminal device, specifically:

Second determination unit, specifically for according to the position of each first reference device and the measurement position of the terminal device, it determines fiveth reference device nearest apart from the terminal device, determines that the satellite number of used satellite when whether used satellite corresponding satellite number when the 5th reference device calculates the measurement position of the 5th reference device calculates the measurement position of the terminal device with the terminal device is identical；

When the satellite number of used satellite is identical when determining that the 5th reference device calculates the measurement position of the 5th reference device, the corresponding satellite number of used satellite calculates the measurement position of the terminal device with the terminal device, according to the measurement position of the corrected parameter of the 5th reference device and the terminal device, the position location of the terminal device is determined；

When the satellite number of used satellite is not identical when determining that the 5th reference device calculates the measurement position of the 5th reference device, the used corresponding satellite number of satellite and the terminal device calculate the measurement position of the terminal device, the measurement position of terminal device described in used satellite update when calculating the measurement position of the 5th reference device according to the 5th reference device, obtain the measurement position that the terminal device updates, and the measurement position updated according to the corrected parameter of the 5th reference device and the terminal device, determine the position location of the terminal device.
The described in any item devices of 9-29 according to claim 1, which is characterized in that the acquisition module, specifically for receiving the update information for each reference device that each reference device is sent, to obtain the update information of at least one reference device.
The described in any item devices of 9-29 according to claim 1, which is characterized in that the acquisition module, specifically for receiving the update information for the reference device that each first terminal equipment is sent, to obtain the update information of at least one reference device；The update information for the reference device that each first terminal equipment is sent is currently to correct the update information of used reference device when the measurement position of the first terminal equipment.
Device according to claim 31, which is characterized in that the acquisition module, for receiving the update information for the reference device that each first terminal equipment is sent, specifically:

The acquisition module disappears to all V2X specifically for receiving the vehicle that each first terminal equipment is sent Breath, and the V2X message is parsed according to the first identifier, to obtain the update information of the reference device；The update information of first identifier and the reference device is carried in the V2X message, the first identifier is used to indicate the update information for carrying the reference device in the V2X message to the terminal device.
Device according to claim 32, which is characterized in that the first identifier is also used to indicate that the current position of the first terminal equipment is position location to the terminal device.
According to the described in any item devices of claim 31-33, which is characterized in that described device further include:

Broadcast module after the position location for determining the terminal device, broadcasts the corresponding V2X message of the terminal device for the determining module according to the update information of at least one the first reference device and the measurement position of the terminal device.
The described in any item devices of 9-34 according to claim 1, it is characterized in that, the determining module, it is also used to according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, according to the position location of the terminal device and currently correct the position of the reference device of the terminal device, it determines the terminal device and currently corrects the second distance between the reference device of the terminal device, and determine whether the terminal device is located in the use scope for the corrected parameter of reference device for currently correcting the terminal device according to the second distance, when determining the use scope of corrected parameter of the terminal device beyond the reference device for currently correcting the terminal device, redefine the position location of the terminal device.
The described in any item devices of 9-34 according to claim 1, it is characterized in that, the determining module, it is also used to according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, judge the satellite number of used satellite when the terminal device calculates the measurement position of the terminal device and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is whether identical, and when judging that the terminal device calculates the measurement position of the terminal device satellite number of used satellite and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is not identical when, redefine the positioning of the terminal device Position.
A kind of positioning device, which is characterized in that described device includes:

Processor determines the position location of the terminal device for obtaining the update information of at least one reference device, and according to the measurement position of the update information of at least one reference device and the terminal device；The update information of each reference device includes correcting the terminal for the terminal device to set The use scope of the corrected parameter of standby measurement position, the corrected parameter；Wherein, the corrected parameter is the parameter that the measurement position of the reference device is modified to the position location of the reference device.
The device according to claim 37, which is characterized in that the update information of each reference device further includes the position of each reference device；The position of the reference device is the position location of the reference device or the measurement position of the reference device.
The device according to claim 38, which is characterized in that the processor, for determining the position location of the terminal device according to the update information of at least one reference device and the measurement position of the terminal device, specifically:

The processor, specifically for use scope, the position of each reference device and the measurement position of the terminal device according to the corrected parameter of each reference device, determine at least one first reference device, and according to the measurement position of the update information of at least one the first reference device and the terminal device, the position location of the terminal device is determined；The terminal device is located in the use scope of the corrected parameter of first reference device.
Device according to claim 39, it is characterized in that, the processor, for use scope, the position of each reference device and the measurement position of the terminal device according to the corrected parameter of each reference device, determine at least one first reference device, specifically:

The processor, specifically for according to the measurement position of the terminal device and the position of each reference device, determine the first distance between the terminal device and each reference device, and the use scope of the corrected parameter according to first distance and each reference device between the terminal device and each reference device, the reference device that the first distance between the terminal device is less than or equal to the use scope of the corrected parameter of the reference device are determined as first reference device.
The device according to claim 39 or 40, which is characterized in that the update information of each reference device further includes that each reference device calculates the corresponding satellite number of used satellite when the measurement position of the reference device.
Device according to claim 41, which is characterized in that the processor, for determining the position location of the terminal device according to the update information of at least one the first reference device and the measurement position of the terminal device, specifically:

The processor, used satellite corresponding satellite number when specifically for calculating the measurement position of first reference device according at least one described first reference device determines at least one described first reference device with the presence or absence of being used when calculating the measurement position of the terminal device with the terminal device Satellite identical second reference device of satellite number, and when there is identical second reference device of the satellite number of used satellite when calculating the measurement position of the terminal device with the terminal device at least one described first reference device, according to the measurement position of the update information of second reference device and the terminal device, the position location of the terminal device is determined.
Device according to claim 42, which is characterized in that second reference device is multiple；

The processor, for determining the position location of the terminal device according to the update information of second reference device and the measurement position of the terminal device, specifically:

The processor, specifically for according to the position of second reference device and the measurement position of the terminal device, determine the third reference device that terminal device described in distance is nearest in second reference device, and according to the measurement position of the corrected parameter of the third reference device and the terminal device, the position location of the terminal device is determined.
Device according to claim 43, which is characterized in that the position location of the third reference device includes: the longitude position location X3 of the third reference device_{It is fixed}, the latitude position location Y3 of the third reference device_{It is fixed}, the altitude location position Z3 of the third reference device_{It is fixed}；

The measurement position of the third reference device includes: the longitude determination position X3 of the third reference device_{It surveys}, the latitude determination position Y3 of the third reference device_{It surveys}, the elevation carrection position Z3 of the third reference device_{It surveys}；

Then the corrected parameter of the third equipment includes: according to Δ X3=X3_{It is fixed}-X3_{It surveys}The longitude corrected parameter Δ X3 of the determining third reference device, according to Δ Y3=Y3_{It is fixed}-Y3_{It surveys}The latitude corrected parameter Δ Y3 of the determining third reference device, according to Δ Z3=Z3_{It is fixed}-Z3_{It surveys}The height correction parameter, Δ Z3 of the determining third reference device.
Device according to claim 44, which is characterized in that the measurement position of the terminal device includes: the longitude determination position A of the terminal device_{It surveys}, the latitude determination position B of the terminal device_{It surveys}, the elevation carrection position C of the terminal device_{It surveys}；

The position location of the terminal device includes: the longitude position location A of the terminal device_{It is fixed}, the latitude position location B of the terminal device_{It is fixed}, the altitude location position C of the terminal device_{It is fixed}；

The then processor, for determining the position location of the terminal device according to the corrected parameter of the third reference device and the measurement position of the terminal device, specifically:

The processor, specifically for according to the longitude corrected parameter Δ X3 of the third reference device, institute State the longitude determination position A of terminal device_{It surveys}And A_{It is fixed}=A_{It surveys}+ Δ X3 determines the longitude position location A of the terminal device_{It is fixed}；According to the latitude corrected parameter Δ Y3 of the third reference device, the latitude determination position B of the terminal device_{It surveys}And B_{It is fixed}=B_{It surveys}+ Δ Y3 determines the latitude position location B of the terminal device_{It is fixed}；According to the height correction parameter, Δ Z3 of the third reference device, the elevation carrection position C of the terminal device_{It surveys}And C_{It is fixed}=C_{It surveys}+ Δ Z3 determines the altitude location position C of the terminal device_{It is fixed}。
Device according to claim 42, it is characterized in that, if there is no identical second reference devices of the satellite number of satellite used when calculating the measurement position of the terminal device with the terminal device at least one described first reference device, the then processor, for according to the update information of at least one the first reference device and the measurement position of the terminal device, determine the position location of the terminal device, specifically:

The processor, specifically for according to the position of each first reference device and the measurement position of the terminal device, determine fourth reference device nearest apart from the terminal device, the measurement position of terminal device described in used satellite update when calculating the measurement position of the 4th reference device according to the 4th reference device, obtain the measurement position that the terminal device updates, and the measurement position updated according to the corrected parameter of the 4th reference device and the terminal device, determine the position location of the terminal device.
Device according to claim 41, which is characterized in that the processor, for determining the position location of the terminal device according to the update information of at least one the first reference device and the measurement position of the terminal device, specifically:

The processor, specifically for according to the position of each first reference device and the measurement position of the terminal device, it determines fiveth reference device nearest apart from the terminal device, and determines that the satellite number of used satellite when whether used satellite corresponding satellite number when the 5th reference device calculates the measurement position of the 5th reference device calculates the measurement position of the terminal device with the terminal device is identical；

When the satellite number of used satellite is identical when determining that the 5th reference device calculates the measurement position of the 5th reference device, the corresponding satellite number of used satellite calculates the measurement position of the terminal device with the terminal device, according to the measurement position of the corrected parameter of the 5th reference device and the terminal device, the position location of the terminal device is determined；

It is used when determining that the 5th reference device calculates the measurement position of the 5th reference device, the corresponding satellite number of used satellite calculates the measurement position of the terminal device with the terminal device Satellite satellite number it is not identical when, the measurement position of terminal device described in used satellite update when calculating the measurement position of the 5th reference device according to the 5th reference device, obtain the measurement position that the terminal device updates, and the measurement position updated according to the corrected parameter of the 5th reference device and the terminal device, determine the position location of the terminal device.
According to the described in any item devices of claim 37-47, which is characterized in that described device further include: receiver；

The processor, for obtaining the update information of at least one reference device, specifically:

The processor, specifically for receiving the update information for each reference device that each reference device is sent by the receiver, to obtain the update information of at least one reference device.
According to the described in any item devices of claim 37-47, which is characterized in that described device further include: receiver；

The processor, for obtaining the update information of at least one reference device, specifically:

The processor, specifically for receiving the update information for the reference device that each first terminal equipment is sent by the receiver, to obtain the update information of at least one reference device；The update information for the reference device that each first terminal equipment is sent is currently to correct the update information of used reference device when the measurement position of the first terminal equipment.
Device according to claim 49, which is characterized in that the processor, for receiving the update information for the reference device that each first terminal equipment is sent by the receiver, specifically:

The processor, specifically for receiving the vehicle of each first terminal equipment transmission by the receiver to all V2X message, and the V2X message is parsed according to the first identifier, to obtain the update information of the reference device, the update information of first identifier and the reference device is carried in the V2X message, the first identifier is used to indicate the update information for carrying the reference device in the V2X message to the terminal device.
Device according to claim 50, which is characterized in that the first identifier is also used to indicate that the current position of the first terminal equipment is position location to the terminal device.
According to the described in any item devices of claim 49-51, which is characterized in that described device further include: transmitter；

The transmitter, for, according to the update information of at least one the first reference device and the measurement position of the terminal device, after the position location for determining the terminal device, broadcasting the corresponding V2X message of the terminal device in the processor.
According to the described in any item devices of claim 37-52, which is characterized in that

The processor, it is also used to according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, according to the position location of the terminal device and currently correct the position of the reference device of the terminal device, it determines the terminal device and currently corrects the second distance between the reference device of the terminal device, and determine whether the terminal device is located in the use scope for the corrected parameter of reference device for currently correcting the terminal device according to the second distance, when determining the use scope of corrected parameter of the terminal device beyond the reference device for currently correcting the terminal device, redefine the position location of the terminal device.
According to the described in any item devices of claim 37-52, it is characterized in that, the processor, it is also used to according to the update information of at least one reference device and the measurement position of the terminal device, after the position location for determining the terminal device, judge the satellite number of used satellite when the terminal device calculates the measurement position of the terminal device and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is whether identical, when judging that the terminal device calculates the measurement position of the terminal device satellite number of used satellite and currently correct the terminal device reference device calculate used satellite when the measurement position of the reference device satellite number it is not identical when, redefine the position location of the terminal device.