CN108459332A - System and method for GNSS signal correction data to be generated and distributed based on cloud - Google Patents
System and method for GNSS signal correction data to be generated and distributed based on cloud Download PDFInfo
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- CN108459332A CN108459332A CN201710086109.5A CN201710086109A CN108459332A CN 108459332 A CN108459332 A CN 108459332A CN 201710086109 A CN201710086109 A CN 201710086109A CN 108459332 A CN108459332 A CN 108459332A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The disclosure provides the system for GNSS signal correction data to be generated and distributed based on cloud, which includes at least one first vehicle, the second vehicle and back-end server.Itself exact position obtained and its GNSS signal observation are sent to back-end server by the first vehicle；Back-end server is based on received data and calculates GNSS signal correction data and the correction data is sent to the second vehicle；Second vehicle resolves the exact position of itself based on the GNSS signal correction data and its GNSS signal observation received.Back-end server can also receive the reference GNSS signal correction data of DGPS reference stations for verifying.Additionally provide the method for generating and distributing GNSS signal correction data.The systems and methods can enhance or supplement the performance of DGPS systems.
Description
Technical field
This disclosure relates to which navigation system and method, more particularly to be used to generating and distributing Global Navigation Satellite System (GNSS)
The system and method for signal correction data.
Background technology
Global Navigation Satellite System (GNSS) can provide position and temporal information for the equipment of any position on the earth.Closely
Year over have autonomous driving function vehicle fast development so that vehicle to using GNSS signal positioning demand drastically on
It rises.
For the position error of GNSS signal, generally use Differential Global Positioning System (DGPS) is corrected.To GNSS
The corrected existing DGPS systems of signal include user equipment (such as vehicle with GPS receiver unit), GPS satellite and
DGPS reference correction datas station (abbreviation reference station).Verified reference station will be by receiving the obtained GNSS signal of GNSS signal
Observation is compared with the exact position (standard value) of itself and obtains GNSS signal correction data.User equipment is obtained from reference station
GNSS signal correction data is taken, the accurate position of user equipment is calculated in conjunction with the GNSS signal observation that GPS receiver unit obtains
It sets.The GNSS signal correction data that reference station is provided, can be calibration model, can also be the parameter of calibration model.With reference to
The data stood generally are safeguarded by special provider.
DGPS systems need to be additionally provided fixed reference station.In order to improve the correction accuracy of DGPS systems, service provider
It needs intensive on coverage widely to arrange reference station.If the position of reference station or antenna selects inappropriate, DGPS systems
System will cause positioning accuracy to reduce because of " urban canyons " and " multipath " effect.
For the high problem of traditional quantity, position dependence of the DGPS schemes to reference station, the prior art proposes a variety of change
Into.WO 2016107303A1 propose the correction instruction using roadside unit high-ranking officers' positive system using dedicated short-range communication technology
Vehicle is forwarded and be broadcast to, the antenna amount at extended reference station is equivalent to.CN 104977596A propose the position based on cloud computing
Positioning is corrected, including the differential reference station net of client, differential server and differential reference base station composition.The cloud system is only
By the calculating of client correction data by server process, reference base station is not improved.CN103096247A is related to adopting
DGPS corrections are carried out to the positioning of automotive vehicle queue with mobile base station, wherein using the head vehicle in queue as mobile reference base
It stands, other following vehicles receive the correction data of head vehicle by inter-vehicular communication.
But the above-mentioned prior art still has and coverage area coverage mistake high to fixed reference station dependence
Small problem, and can not effectively avoid " urban canyons " and " multipath " effect.
It is further improved space in the presence of to existing DGPS systems.
Invention content
The disclosure proposes the system and method for GNSS signal correction data to be generated and distributed based on cloud.The system and side
Method can be effectively improved drawbacks described above in the prior art, improve the number at the GNSS signal reference correction data station of DGPS systems
Amount, coverage and correction accuracy are to enhance the performance of DGPS systems.
According to the one side of the disclosure, the system for generating and distributing GNSS signal correction data includes at least one
One user equipment, second user equipment and back-end server, wherein
First user equipment includes：
First GPS receiver unit, the GNSS signal observation for obtaining first user equipment,
First control unit, the exact position for obtaining first user equipment, and
First communication unit is used for the GNSS signal observation of first user equipment and first user equipment
Exact position or by the accurate position of GNSS signal observation and first user equipment based on first user equipment
The GNSS signal correction data for setting generation is sent to the back-end server；
The back-end server includes：
Processing unit, for calculating GNSS signal correction data based on the data received from first user equipment, with
And
Server communication unit, for receiving data from first user equipment and by the GNSS signal correction data
It is sent to the second user equipment；
The second user equipment includes：
Second GPS receiver unit, the GNSS signal observation for obtaining the second user equipment,
Second communication unit is used to receive the GNSS signal correction data from the back-end server, and
Second control unit is used for the GNSS signal observation based on the second user equipment and the GNSS signal school
Correction data resolves the exact position of the second user equipment.
Wherein, first user equipment includes at least one sensor for detecting object, and first control is single
First user equipment that member is further detected by the exact position of the object and the sensor and the object
Relative position obtain the exact position of first user equipment.
Wherein, the exact position of the object is obtained based on high-precision map.
Wherein, the back-end server is further configured to receive the reference station of Differential Global Positioning System (DGPS)
With reference to GNSS signal correction data, and further use described with reference to the GNSS signal correction data verification GNSS signal school
Correction data.
Wherein, the second user equipment is further configured to receive the GNSS signal correction data and difference global
At least one of reference GNSS signal correction data of the reference station of positioning system (DGPS).
Wherein, first user equipment and the second user equipment are vehicle, it is however preferred to have autonomous driving function
Vehicle.
Wherein, at least one first user equipment constitutes cloud.
According to another aspect of the present disclosure, the method for generating and distributing GNSS signal correction data includes following step
Suddenly：
A) at least one first user equipment obtains the exact position of first user equipment, while obtaining described first
The GNSS signal observation of user equipment；
B) it by the GNSS signal observation of the exact position of first user equipment and first user or will be based on
The GNSS signal correction number that the GNSS signal observation of the exact position of first user equipment and first user generate
According to being sent to back-end server；
C) data of the back-end server based on reception calculate GNSS signal correction data and by the GNSS signal schools
Correction data is sent to second user equipment；
D) the second user equipment obtains the GNSS signal observation of the second user equipment, and based on reception
The GNSS signal observation of the GNSS signal correction data and the second user equipment calculates the second user equipment
Exact position.
Wherein, the step a) further comprises relative position by first user equipment and object and described
The exact position of object obtains the exact position of first user equipment, wherein using the sensor of first user equipment
Detect the relative position.
Wherein, the step c) further comprises：
C1) back-end server receives the reference GNSS signal correction of the reference station of Differential Global Positioning System (DGPS)
Data, and
C2) back-end server verifies the GNSS signal correction number using described with reference to GNSS signal correction data
According to.
Wherein, the second user equipment is further configured to receive the GNSS signal correction data and difference global
At least one of reference GNSS signal correction data of the reference station of positioning system (DGPS).
Wherein, first user equipment and the second user equipment are vehicle.
Wherein, at least one first user equipment constitutes cloud.
According to the another aspect of the disclosure, propose system as described above for enhancing Differential Global Positioning System (DGPS)
Purposes.
According to the another further aspect of the disclosure, a kind of user equipment for generating GNSS correction datas is proposed, including：
GPS receiver unit, the GNSS signal observation for obtaining the user equipment, control unit, for obtaining
The exact position of user equipment is stated, and
Communication unit, for by the exact position of the GNSS signal observation of the user equipment and the user equipment or
The GNSS signal correction that the exact position of GNSS signal observation and the user equipment based on the user equipment is generated
Data are sent to back-end server.
Wherein, the user equipment includes at least one sensor for detecting object, and described control unit is further
The relative position of the user equipment and the object that are detected by the exact position and the sensor of the object obtains
Obtain the exact position of the user equipment.
Wherein, the exact position of the object is obtained based on high-precision map.
Wherein, the user equipment is vehicle, it is however preferred to have the vehicle of autonomous driving function.
Wherein, the user equipment constitutes cloud.
Using the system and method for GNSS signal correction data to be generated and distributed based on cloud of the disclosure, each user
Or vehicle is equally the contributor with the GNSS correction datas of reference station complementation, equivalent to increase virtual reference station quantity.
The GNSS correction datas provided by vehicle, especially autonomous driving fleet enhance existing DGPS systems, even for DGPS
The urban area that will be deteriorated, it may have preferably covering, " station " density and higher precision of bigger.
Description of the drawings
To keep the purpose, technical scheme and advantage of the disclosure clearer, the implementation below in conjunction with attached drawing to the disclosure
Mode is described in further detail.Identical reference numeral indicates identical or corresponding element.Those skilled in the art will manage
It solves, example of the specific implementation mode described in attached drawing only as disclosed technique scheme, rather than limitation ot it.In attached drawing
In：
Fig. 1 is the showing for the system based on cloud generation and distribution GNSS signal correction data according to the embodiment of the present disclosure
It is intended to.
Specific implementation mode
It will be understood by those skilled in the art that term used herein merely to description specific embodiment purpose, and
It is not intended to be limited to the disclosure.As used in this, singulative "one", " one " and "the" be intended to also include plural form,
Unless being expressly recited in other cases.It is to be further understood that when the terms "include", "comprise", " including " and/or " including
" when using in the present specification, refer to that there are the component, assembly unit, module and/or units, but do not preclude the presence or addition of one
A or a number of other component, assembly units, module, unit and/or combination thereof.
Unless otherwise defined, otherwise all terms (including technical and scientific term) as used herein have and disclosure master
The normally understood identical meanings of technical staff institute in the field belonging to topic.It will be further understood that such as usually used
Term those of defined in dictionary should be interpreted that with context and in the related technology they meaning it is consistent
Meaning, and will not be explained in the form of idealization or too formal, unless in addition explicitly define herein.
It should be understood that the term " vehicle " used in the disclosure or other similar terms include general motor vehicles, it is all
Car including farm machinery such as including sports utility vehicle (SUV), bus, truck, various commerial vehicles,
Various engineering trucks including mining machinery, water carrier including all kinds of boats and ships, aircraft etc., and include mixing
Power car, electric vehicle, plug-in hybrid electric vehicle, hydrogen-powered vehicle and other substitute fuel cars are (such as from addition to petroleum
The fuel obtained in resource) the vehicles.Although in the disclosure using vehicle as example illustrate, the system of the disclosure and
Method can also use in any user equipment for using GNSS signal to be positioned.
Fig. 1 shows the system for GNSS signal correction data to be generated and distributed based on cloud according to the embodiment of the present disclosure.
The system includes at least one first vehicle 102, the second vehicle 106 and back-end server 104.
Each section of the system for generating and distributing GNSS signal correction data of the disclosure is described more fully below
Details and function.
It should be noted that the first vehicle 102 in the disclosure sends correction data, the second vehicle 106 receives correction number
According to.Usual first vehicle 102 can obtain the exact position (such as passing through sensor) of itself.Second vehicle 106, which exists, to be obtained
The demand of the exact position of itself, but do not have the ability for obtaining itself exact position and/or component or the second vehicle
106 have compare 102 lower positioning accuracy of the first vehicle, therefore the second vehicle 106 need receive correction data come obtained from
The exact position of body.
Each first vehicle 102 includes：GPS receiver unit, for being obtained by receiving the GNSS signal that GPS satellite is sent
GNSS signal observation；Control unit, exact position (such as sensor-based inspection for obtaining the first vehicle 102 itself
Survey result and high-precision cartographic information)；And communication unit, it is used for GNSS signal observation and the first vehicle 102 itself
Exact position be sent to back-end server 104, or for GNSS signal correction data to be sent to back-end server 104,
Wherein the GNSS signal correction data be in vehicle end by being compared to GNSS signal observation and itself exact position and
What processing generated.
According to one embodiment of the disclosure, the first vehicle 102 passes through at least one sensor for detecting object 101
Obtain the exact position of itself.Object 101, which has the exact position of itself or can be based on high-precision map, obtains object 101
Exact position, and the sensor of the first vehicle 102 can detect object 101 and obtain the first vehicle 102 and the object 101
Relative position.The relative position of exact position and the first vehicle 102 and the object based on the object 101 itself, the first vehicle
102 can obtain the exact position of itself.Object 101 can include but is not limited to and the relevant object of road, positioning terrestrial reference
(such as speed(-)limit sign etc. in Fig. 1).First vehicle 102 can also determine the exact position of itself otherwise.
According to one embodiment of the disclosure, the first vehicle 102 will can be used for generating the GNSS of GNSS signal correction data
The exact position of signal observation and vehicle itself will directly be based on GNSS signal observation and vehicle itself exact position
The GNSS signal correction data of generation is sent to back-end server 104, to which coverage is expanded to all first vehicles 102
The region that the vehicle network 103 that (contributor of correction data) is constituted is collectively covered with reference station network.
First vehicle 102 can obtain GNSS signal observation and the accurate position of vehicle itself driving on the road
It the common vehicle set, the vehicle with autonomous driving function or autonomous is driven by what the vehicle with autonomous driving function formed
Sail fleet.As these more and more first vehicles 102 travel on road, the network of the first vehicle 102 can be formed.This
Sample, the vehicle cloud being made of the first vehicle 102 become the vehicle network 103 with reference station network complementation, can be used for enhancing warp
The performance of the GNSS system of DGPS corrections.
In general, 102, the first vehicle needs have the GNSS signal sight for providing and being obtained by GPS receiver in the disclosure
The function of the exact position of measured value and vehicle itself.Although common vehicle can also be used as the first vehicle 102, due to cost
Factor, the vehicle with advanced autonomous driving function, especially the vehicle in autonomous driving fleet is for the exact position of itself
Relative position in (autonomous station) and fleet between vehicle requires higher, the first vehicle 102 being more suitable as in the disclosure.
It can be using high-precision sensor to further increase the precision for obtaining the first vehicle exact position of itself.Cause
This, can by with higher precision sensor vehicle or the signal that provides of fleet for coarse sensor vehicle or
The high accuracy positioning of fleet.
Second vehicle 106 includes：GPS receiver unit, for obtaining GNSS by receiving the GNSS signal that GPS satellite is sent
Signal observation；Communication unit, for receiving GNSS signal correction data 105 from back-end server 104；And control unit,
Exact position for calculating the second vehicle 106 based on GNSS signal observation and GNSS signal correction data 105.
Second vehicle 106 needs to obtain by obtaining GNSS signal correction data 105 in coverage including all
The vehicle of exact position.The distribution of GNSS signal correction data 105 is back-end server 104 will be being calculated or from the first vehicle
The 102 GNSS signal correction datas 105 received are sent to above-mentioned second vehicle 106.
Second vehicle 106 can with unrestricted choice based on the GNSS signal correction data received from back-end server 104 still
Based on the reference GNSS signal correction data obtained from reference station resolving is combined with the GNSS signal observation of the second vehicle 106 certainly
The exact position of body.
In fact, although the first vehicle 102 is seen by GNSS signal observation and exact position or based on GNSS signal
The GNSS signal correction data that measured value is generated with exact position has been obtained for the essence of itself before being sent to back-end server 104
True position, but it still can receive GNSS signal correction data 105.At this point, the communication unit of the first vehicle 102 has two
A independent channel difference transmission data and receive data, or tool there are two independent sub- communication unit be respectively completed transmission and
Receive the function of data.
Back-end server 104 includes：Processing unit, for based on data (including the first vehicle received from the first vehicle 102
The exact position of 102 GNSS signal observation and the first vehicle 102) calculate GNSS signal correction data 105；And communication
Unit, for receiving data from the first vehicle 102 and the GNSS signal correction data 105 being computed being sent to the second vehicle
106。
As previously mentioned, the first vehicle 102 can also be in vehicle end to the accurate position of GNSS signal observation and vehicle itself
It sets and is compared and treated, generate GNSS signal correction data, GNSS signal correction data is sent to back-end server 104.
In such cases, back-end server 104 can receive the first vehicle 102 according to its GNSS signal observation from the first vehicle 102
With the calculated GNSS signal correction data in its exact position.
When vehicle network 103 (the vehicle cloud) constituted there are multiple first vehicles 102, back-end server 104 can be with base
In the multiple data groups being made of the GNSS signal observation of the first vehicle and its vehicle exact position of itself or based on the
Multiple GNSS signal correction datas of one vehicle 102 calculate GNSS signal correction data 105.Back-end server 104 can also be same
When receive the data of the first vehicle 102 and the GNSS signal correction data of reference station.When the data using only the first vehicle 102
When, the GNSS signal correction data 105 calculated can use the reference GNSS signal correction data of reference station offer to be tested
Card；It is corrected when calculating GNSS signal using the data of the first vehicle 102 and the reference GNSS signal correction data of reference station simultaneously
When data, since initial data has included the reference station correction data of high confidence level, the GNSS signal correction data calculated
105 can no longer need to verify.
According to the processing capacity of the control unit of the second vehicle 106, based on 105 He of GNSS signal correction data received
GNSS signal observation resolves the task of vehicle exact position, can be completed in the second vehicle 106, can also be by back-end services
Device 104 is first completed to re-send to the second vehicle 106 in back-end server in response to the request of the second vehicle 106.
Alternatively, can also GNSS be generated the GNSS signal observation of exact position and reference station based on reference station
The task of signal correction data is transferred in back-end server 104 from reference station and completes.In this way, back-end server 104 will be based on
All data groups being made of exact position and GNSS signal observation received calculate GNSS signal correction data 105.At this point,
The GNSS signal observation of first vehicle 102 is equivalent to vehicle network corresponding with the observation of the reference station as reference 103
Distributive observation value.
In the disclosure, public affairs may be used in the communication between the first vehicle 102, the second vehicle 106 and back-end server 104
Common communication network (such as the mobile communications networks such as GSM, CDMA, WCDMA, LTE) or proprietary communication network can also use wireless
Network or wired and wireless hybrid network.
It is described below according to the embodiment of the present disclosure for being generated based on cloud and distribute GNSS signal correction data is
The operation of system.
First, at least one first vehicle 102 on road (especially has highly automated the first vehicle for driving function
102) the first exact position of itself of vehicle 102 is obtained.For example, the first vehicle 102 can be based on the acquisition pair of high-precision map
As 101 exact position, the first vehicle 102 obtains the relative position of vehicle and object 101 by least one sensor, to
Obtain the first exact position of itself of vehicle 102.Meanwhile the first GNSS letters that are received by GPS receiver unit of the record of vehicle 102
Number observation.
Then, the first vehicle 102 by the observation of GNSS signal and the exact position of itself or will be based on GNSS signal
The GNSS signal correction data that observation and itself exact position generate is sent to back-end server 104.104 base of back-end server
GNSS signal correction data 105 is calculated in received data.As reference, back-end server 104 may also receive from
The GNSS signal correction data of verified reference station equally in coverage or the GNSS signal at origin self-reference station are seen
The data group of the exact position of measured value and reference station composition, and by the reference GNSS signal correction data and based on from first
The GNSS signal correction data 105 that the data of vehicle 102 are calculated is compared to the confidence level of verify data.With with height
The quantity of the increase of the vehicle fleet size of degree Function for Automatic Pilot, self vehicle position and observation equally increases, this, which will increase, takes
The validity of business, confidence level and integrality.
In the distribution procedure of GNSS signal correction data 105, when the second vehicle 106 needs the high accuracy positioning of itself
When, the GNSS signal correction data 105 being computed is sent to by back-end server 104 in response to the request of the second vehicle 106
Two vehicles 106.Second vehicle 106 calculates the essence of itself based on the GNSS signal correction data 105 and GNSS signal observation
True position.
By using the system and method for GNSS signal correction data to be generated and distributed based on cloud of the disclosure, each
User or vehicle are equally the contributors with the GNSS correction datas of reference station complementation.By vehicle, especially autonomous driving fleet
The GNSS correction datas of offer enhance or supplement existing DGPS systems, the city that will be deteriorated even for DGPS schemes
Region, it may have preferably covering, " station " density and higher precision of bigger.
In particular, when any required the second vehicle for obtaining exact position can not obtain the correction data of reference station, only
Want vehicle can be with back-end server into row data communication, so that it may with by back-end server obtain GNSS signal correction data come
Completion is accurately positioned.Therefore, the above-mentioned GNSS signal correction data provided by vehicle and back-end server is used as by vehicle, independently
The own data source for driving owner's maintenance of vehicle or fleet, can be as the supplement for the service for being different from reference station provider
Or it substitutes.
Give the description of the present disclosure for example and illustration purpose, but the description be not intended to it is exhaustive or
The disclosure is limited to disclosed form.Many modifications and variations all will for person of an ordinary skill in the technical field
It is obvious.Selection and description of the embodiments are the principle and practical application of the disclosure in order to most preferably explain, and work as
Be suitable for being conceived specific in use, so that other those of ordinary skill of technical field it will be appreciated that the disclosure tool
There are the various embodiments of various modifications.Therefore, disclosed specific arrangements only refer to range that is illustrative and being not limited to public concept,
The range is provided by the full scope and its any and whole equivalences of appended claims.
Claims (23)
1. a kind of system for generating and distributing GNSS signal correction data, which includes that at least one first user sets
It is standby, second user equipment and back-end server, wherein
First user equipment includes：
First GPS receiver unit, the GNSS signal observation for obtaining first user equipment,
First control unit, the exact position for obtaining first user equipment, and
First communication unit is used for the essence of the GNSS signal observation of first user equipment and first user equipment
The exact position of GNSS signal observation and first user equipment based on first user equipment is given birth in true position
At GNSS signal correction data be sent to the back-end server；
The back-end server includes：
Processing unit is used to calculate GNSS signal correction data based on the data received from first user equipment, and
Server communication unit, for receiving data from first user equipment and sending the GNSS signal correction data
To the second user equipment；
The second user equipment includes：
Second GPS receiver unit, the GNSS signal observation for obtaining the second user equipment,
Second communication unit is used to receive the GNSS signal correction data from the back-end server, and
Second control unit is used for the GNSS signal observation based on the second user equipment and the GNSS signal correction number
According to the exact position for resolving the second user equipment.
2. the system as claimed in claim 1, wherein first user equipment includes at least one biography for detecting object
Sensor, first control unit further detected by the exact position of the object and the sensor described first
The relative position of user equipment and the object obtains the exact position of first user equipment.
3. system as claimed in claim 2, wherein obtaining the exact position of the object based on high-precision map.
4. system as claimed any one in claims 1 to 3, wherein the back-end server be further configured to receive it is poor
Divide the reference GNSS signal correction data of the reference station of global positioning system (DGPS).
5. system as claimed in claim 4, wherein the back-end server is further configured to refer to GNSS using described
GNSS signal correction data described in signal correction data verification.
6. system as claimed any one in claims 1 to 3, wherein the second user equipment is further configured to receive
In the reference GNSS signal correction data of the reference station of the GNSS signal correction data and Differential Global Positioning System (DGPS)
It is at least one.
7. system according to any one of claims 1 to 4, wherein first user equipment and the second user equipment
For vehicle.
8. system as claimed in claim 7, wherein first user equipment is the vehicle with autonomous driving function.
9. system as claimed any one in claims 1 to 3, wherein at least one first user equipment constitutes cloud.
10. a kind of method for generating and distributing GNSS signal correction data includes the following steps：
A) at least one first user equipment obtains the exact position of first user equipment, while obtaining first user
The GNSS signal observation of equipment；
B) it by the GNSS signal observation of the exact position of first user equipment and first user or will be based on described
The GNSS signal correction data hair that the GNSS signal observation of the exact position of first user equipment and first user generate
It is sent to back-end server；
C) data of the back-end server based on reception calculate GNSS signal correction data and by the GNSS signal correction numbers
According to being sent to second user equipment；
D) the second user equipment obtains the GNSS signal observation of the second user equipment, and based on described in reception
The GNSS signal observation of GNSS signal correction data and the second user equipment calculates the essence of the second user equipment
True position.
11. method as claimed in claim 10, wherein the step a) further comprise by first user equipment with
The exact position of the relative position of object and the object obtains the exact position of first user equipment, wherein using institute
At least one sensor for stating the first user equipment detects the relative position.
12. method as claimed in claim 10, wherein the step c) further comprises：
C1) back-end server receives the reference GNSS signal correction number of the reference station of Differential Global Positioning System (DGPS)
According to.
13. method as claimed in claim 12, wherein the step c) further comprises：
C2) back-end server verifies the GNSS signal correction data using described with reference to GNSS signal correction data.
14. the method as described in any one of claim 10 to 13, wherein the second user equipment is further configured to
Receive the reference GNSS signal correction number of the reference station of the GNSS signal correction data and Differential Global Positioning System (DGPS)
At least one of according to.
15. the method as described in any one of claim 10 to 13, wherein first user equipment and the second user
Equipment is vehicle.
16. the method as described in any one of claim 10 to 13, wherein at least one first user equipment constitutes cloud.
17. system as claimed in any one of claims 1-9 wherein is used to enhance the purposes of Differential Global Positioning System (DGPS).
18. a kind of user equipment for generating GNSS correction datas, the user equipment include：GPS receiver unit, for obtaining
The GNSS signal observation of the user equipment is obtained,
Control unit, the exact position for obtaining the user equipment, and
Communication unit, for by the exact position of the GNSS signal observation of the user equipment and the user equipment or by base
In the GNSS signal correction data that the GNSS signal observation of the user equipment and the exact position of the user equipment generate
It is sent to back-end server.
19. user equipment as claimed in claim 18, wherein the user equipment includes for detecting at least one of object
Sensor, the user that described control unit is further detected by the exact position of the object and the sensor set
The standby relative position with the object obtains the exact position of the user equipment.
20. user equipment as claimed in claim 19, wherein obtaining the exact position of the object based on high-precision map.
21. the user equipment as described in any one of claim 18 to 20, wherein the user equipment is vehicle.
22. user equipment as claimed in claim 21, wherein the user equipment is the vehicle with autonomous driving function.
23. the user equipment as described in any one of claim 18 to 20, wherein the user equipment constitutes cloud.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710086109.5A CN108459332A (en) | 2017-02-17 | 2017-02-17 | System and method for GNSS signal correction data to be generated and distributed based on cloud |
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| CN201710086109.5A CN108459332A (en) | 2017-02-17 | 2017-02-17 | System and method for GNSS signal correction data to be generated and distributed based on cloud |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110082802A (en) * | 2019-04-28 | 2019-08-02 | 成都北斗易寻科技有限公司 | GNSS virtual reference station location Visualization Service method and system |
| CN111045061A (en) * | 2018-10-15 | 2020-04-21 | 千寻位置网络有限公司 | V2V-based method and device for cooperative positioning and distance sensing between vehicles |
| CN111398892A (en) * | 2019-01-02 | 2020-07-10 | 中国移动通信有限公司研究院 | Vehicle positioning method and device and vehicle-mounted terminal |
| CN113630739A (en) * | 2021-07-28 | 2021-11-09 | 南京莱斯网信技术研究院有限公司 | PC5 short-range communication road side equipment for providing high-precision positioning service |
-
2017
- 2017-02-17 CN CN201710086109.5A patent/CN108459332A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111045061A (en) * | 2018-10-15 | 2020-04-21 | 千寻位置网络有限公司 | V2V-based method and device for cooperative positioning and distance sensing between vehicles |
| CN111398892A (en) * | 2019-01-02 | 2020-07-10 | 中国移动通信有限公司研究院 | Vehicle positioning method and device and vehicle-mounted terminal |
| CN110082802A (en) * | 2019-04-28 | 2019-08-02 | 成都北斗易寻科技有限公司 | GNSS virtual reference station location Visualization Service method and system |
| CN113630739A (en) * | 2021-07-28 | 2021-11-09 | 南京莱斯网信技术研究院有限公司 | PC5 short-range communication road side equipment for providing high-precision positioning service |
| CN113630739B (en) * | 2021-07-28 | 2024-03-22 | 南京莱斯网信技术研究院有限公司 | PC5 short-range communication path side equipment for providing high-precision positioning service |
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