CN109814137A - Localization method, device and calculating equipment - Google Patents

Abstract

Present disclose provides a kind of localization method, device and calculate equipment.The localization method includes: to receive the request that GPS positioning is carried out to terminal device；The first GPS positioning data of terminal device are obtained from the terminal device；The second GPS positioning data of GPS reference station are obtained from edge calculations equipment；The position of the terminal device is determined according to the first GPS positioning data and the second GPS positioning data.By embodiment of the disclosure, it can be realized and GPS positioning data are transmitted by the edge calculations equipment of mobile communications network.

Description

Localization method, device and calculating equipment

Technical field

This disclosure relates to object location techniques field, and in particular to a kind of localization method, calculates equipment and computer at device Readable storage medium storing program for executing.

Background technique

Such as DGPS (Differential Global Positioning System, Differential Global Positioning System), In the positioning system of RTK (carrier phase difference technology, Real Time Kinematic) etc., it usually needs in base station and stream Between dynamic station or the interactive GPS (global location between base station, rover station and the positioning device of such as difference after-treatment system System, Global Positioning System) location data.When rover station quantity increases, interaction between each part mentioned above Data volume also increase accordingly, be easy to cause be used for transmission interaction data data-link generate congestion, so as to cause data transmission The increase of time delay.The increase of data transmission delay will lead to the accuracy decline of GPS location corrected Calculation result, so as to cause GPS The accuracy decline of positioning result.

Summary of the invention

Embodiment of the disclosure provides a kind of localization method, device, calculates equipment and computer readable storage medium, with solution The congestion that may cause when certainly GPS positioning data are transmitted between base station, rover station and positioning device.

According to the first aspect of the embodiments of the present disclosure, a kind of localization method is disclosed comprising:

Receive the request that GPS positioning is carried out to terminal device；

The first GPS positioning data of terminal device are obtained from the terminal device；

The second GPS positioning data of GPS reference station are obtained from edge calculations equipment；

The position of the terminal device is determined according to the first GPS positioning data and the second GPS positioning data.

According to the second aspect of an embodiment of the present disclosure, a kind of transmission method of GPS positioning data is disclosed comprising:

Edge calculations equipment detects the second GPS positioning number of the acquisition GPS reference station being sent on mobile communications network According to request；

The edge calculations equipment obtains the second GPS positioning data from the GPS reference station of accessing mobile communication network；

Third GPS positioning data based on the second acquired GPS positioning data are sent to by the edge calculations equipment Requestor.

According to the third aspect of an embodiment of the present disclosure, a kind of localization method is disclosed comprising:

Terminal device sends the request for obtaining the second GPS positioning data of GPS reference station to mobile communications network；

The terminal device receive it is that edge calculations equipment is sent in response to the request, based on second GPS positioning The third GPS positioning data of data.

According to a fourth aspect of embodiments of the present disclosure, a kind of localization method is disclosed comprising:

GPS reference station accessing mobile communication network；

Edge calculations equipment of the GPS reference station into mobile communications network sends the 2nd GPS of the GPS reference station Location data.

According to a fifth aspect of the embodiments of the present disclosure, a kind of positioning device is disclosed comprising:

Receiving unit is configured as receiving the request for carrying out terminal device GPS positioning；

First acquisition unit is configured as obtaining the first GPS positioning data of terminal device from the terminal device；

Second acquisition unit is configured as obtaining the second GPS positioning data of GPS reference station from edge calculations equipment；

Position determination unit is configured as determining the end according to the first GPS positioning data and the second GPS positioning data The position of end equipment.

According to a sixth aspect of an embodiment of the present disclosure, a kind of calculating equipment is disclosed comprising processor and memory, Computer-readable instruction is stored on the memory, the processor is executing the computer-readable instruction on the memory When be configured as realizing in terms of first to fourth of the embodiment of the present disclosure described in localization method.

According to the 7th of the embodiment of the present disclosure the aspect, a kind of computer readable storage medium is disclosed, meter is stored thereon with Calculation machine program, described in the computer program is realized when being executed by processor in terms of first to fourth of the embodiment of the present disclosure Localization method.

According to the eighth aspect of the embodiment of the present disclosure, a kind of localization method is disclosed comprising:

Edge calculations equipment obtains opposite position of the object relative to the terminal device in the image of terminal device shooting It sets；

The GPS positioning data of the edge calculations equipment acquisition GPS reference station are simultaneously true based on acquired GPS positioning data The absolute position of the fixed terminal device；

The edge calculations equipment according to the object in described image relative to the relative position of the terminal device and The absolute position of the terminal device determines the absolute position of the object in described image.

According to an exemplary embodiment, object in the image that edge calculations equipment obtains terminal device shooting relative to Before the relative position of the terminal device, the localization method further include:

Terminal device shoots described image；

Terminal device determines relative position of the object in described image relative to the terminal device according to described image；

The relative position of object in identified described image is sent to the edge calculations and set by terminal device It is standby.

According to an exemplary embodiment, the localization method further include:

Edge calculations equipment management system is absolute by object identified, in image captured by multiple terminal devices Position is aligned according to the time, to obtain the positioning of panorama object.

The technical scheme provided by this disclosed embodiment can have it is following the utility model has the advantages that

In the one or more of each embodiment of the disclosure, GPS positioning data not in traditional GPS with base station or flowing Stand (terminal device) transmission link on directly transmit, but transmitted by mobile communications network, specifically, can be from movement The edge calculations equipment of communication network obtains the GPS positioning data of base station, and combines its GPS positioning obtained from terminal device Data determine the position of terminal device, so as to obtain the positioning knot of degree of precision in the case where not congestion transmission link Fruit.

Other characteristics and advantages of the disclosure will be apparent from by the following detailed description, or partially by the disclosure Practice and acquistion.

It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited It is open.

Detailed description of the invention

Its example embodiment is described in detail by referring to accompanying drawing, above and other target, feature and the advantage of the disclosure will It becomes more fully apparent.The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets this The embodiment of application, and in specification it is used to explain the principle of the application together.

Fig. 1 shows the sample application environment schematic of the localization method according to one exemplary embodiment of the disclosure.

Fig. 2 shows the schematic flow diagrams according to the localization method of one exemplary embodiment of the disclosure.

Fig. 3 shows the schematic flow diagram of the transmission method of the GPS positioning data of the exemplary embodiment according to the disclosure.

Fig. 4 shows the schematic flow diagram of the localization method of the another exemplary embodiment according to the disclosure.

Fig. 5 shows the schematic flow diagram of the localization method of the another exemplary embodiment according to the disclosure.

Fig. 6 shows the interaction diagrams according to each equipment of one exemplary embodiment of the disclosure in localization method.

Fig. 7 is shown according to one exemplary embodiment of the disclosure for implementing the environment schematic of panorama localization method.

Fig. 8 shows the schematic flow diagram of the panorama localization method according to one exemplary embodiment of the disclosure.

Fig. 9 shows the signal composition block diagram of the positioning device according to one exemplary embodiment of the disclosure.

Figure 10 shows the signal composition block diagram according to the calculating equipment shown in one exemplary embodiment of the disclosure.

Specific embodiment

Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, providing these example embodiments makes the disclosure Description will be more full and complete, and the design of example embodiment is comprehensively communicated to those skilled in the art.Attached drawing The only schematic illustrations of the disclosure are not necessarily drawn to scale.Identical appended drawing reference indicates same or like in figure Part, thus repetition thereof will be omitted.

In addition, described feature, structure or characteristic can be incorporated in one or more examples in any suitable manner In embodiment.In the following description, many details are provided to provide filling to the example embodiment of the disclosure Sub-argument solution.It will be appreciated, however, by one skilled in the art that the specific detail can be omitted with technical solution of the disclosure In it is one or more, or can be using other methods, constituent element, step etc..In other cases, it is not shown in detail or retouches Known features, method, realization or operation are stated to avoid a presumptuous guest usurps the role of the host and all aspects of this disclosure is made to thicken.

Some block diagrams shown in the drawings are functional entitys, not necessarily must be with physically or logically independent entity phase It is corresponding.These functional entitys can be realized using software form, or in one or more hardware modules or integrated circuit in fact These existing functional entitys, or these functions reality is realized in heterogeneous networks and/or processor device and/or microcontroller device Body.

Such as GPS, high-performance RTK system positioning system usually determined using the observation data of two or more receivers Relative position between observation point.For example, a GPS receiver (referred to as GPS reference station) is disposed on the point of coordinate, using Know that coordinate and satellite ephemeris calculate the corrected value of observation, and is sent corrected value by the data-link of such as wireless device To the GPS receiver (referred to as rover station) in movement.The corrected value that rover station application receives carries out the GPS observation of oneself Correction, to eliminate the influence of satellite clock correction clock deviation, receiver clock-offsets, atmospheric ionized layer and tropospheric refraction error.It is such fixed Position system generallys use the corrected Calculation that two ways completes GPS observation: the first is by rover station according to the difference received Divided data is voluntarily completed to calculate；Second is to obtain pseudorange observation from GPS reference station and rover station using difference after-treatment system After value and original almanac data, completes to calculate inside difference after-treatment system, calculated value is finally informed into rover station.

No matter which kind of mode is used, requires the interactive GPS between GPS reference station, rover station and difference after-treatment system Data.After rover station quantity increase, the data volume of interaction is also increase accordingly between each part mentioned above, so as to cause data-link generation Congestion, and cause the increase of data transmission delay.The increase of data transmission delay will lead to the essence of GPS location corrected Calculation result Degree decline.

To overcome the defect, embodiment of the disclosure proposition is realized using the edge calculations equipment in mobile communications network The technical solution of the transmission of GPS positioning data.

Fig. 1 is the simplified schematic diagram of sample application environment involved in the disclosure shown according to an exemplary embodiment.

As shown in Figure 1, GPS reference station 111 and 112 is used for example via the accessing mobile communication network of base station 151 and 153 120 In management GPS reference station base station management system 113 for example via internet 141 also accessing mobile communication network 120.Terminal Equipment 131,132,133 is also via such as base station 151-153 accessing mobile communication network 120.Include in mobile communications network 120 Edge calculations equipment 121,122,123, the edge calculations equipment management system 124 for managing edge calculations equipment pass through core Net 125 is communicated with edge calculations equipment.Core net 125 can also be passed through between each edge calculations equipment 121,122,123 Realize data interaction.In one example, each edge calculations equipment can be deployed in respectively at the position of base station.

Base station management system 113 is responsible for management record and is distributed in the GPS reference station of network everywhere, edge calculations equipment pipe Reason system is responsible for management record and is distributed in the edge calculations equipment of network everywhere.Base station management system 113 can be for example, by Internet and edge calculations equipment management system 124 carry out information exchange.

In in accordance with an embodiment of the present disclosure, for according to the GPS positioning data of GPS reference station and the GPS of terminal device It is logical that location data determines that the positioning device of the position of terminal device can be located at edge calculations equipment, terminal device or other movements Functional module in communication network equipment is also possible to have access to the autonomous device of mobile communications network.According to the disclosure In embodiment, edge calculations equipment 121,122,123 is obtained by mobile communications network and saves GPS reference station 111,112 GPS positioning data.Positioning device, can be from edge meter when determining the position of terminal device for example, by Differential positioning calculating The GPS positioning data that equipment 121,122,123 obtains GPS reference station 111,112 are calculated, obtain terminal device from terminal device GPS positioning data, and the position for determining terminal device is calculated for example, by Differential positioning.Therefore, in embodiment of the disclosure, Positioning device is not necessarily to transmit the GPS positioning data of base station or rover station via traditional GPS data transmission link, not will cause The congestion of transmission link.

In the example of fig. 1, although being shown as the quantity of GPS reference station, terminal device, edge calculations equipment as schemed institute The particular number shown, but it is to be understood that, they can be more or fewer quantity respectively, i.e. GPS reference station, terminal is set Standby, edge calculations equipment can be one or more respectively.

" terminal device " as described herein refers to any electricity for having access to mobile communications network and capable of receiving GPS signal Sub- equipment can include but is not limited to mobile phone, desktop computer, laptop, tablet computer, camera, intelligent appliance etc..

" the first GPS positioning data " as described herein are the GPS positioning data of terminal device, " the second GPS positioning data " For the GPS positioning data of GPS reference station." the GPS positioning data " include but is not limited to GPS observation, utilize known coordinate With the GPS observation etc. after the corrected value of the calculated observation of satellite ephemeris, correction.For example, the second GPS positioning data can be with For DGNSS (differential global navigation satellite system) data.

It is suitable for such as RTK and DGPS according to the localization method of the embodiment of the present disclosure or the transmission method of GPS positioning data Positioning system, but be not limited to RTK and DGPS, but can be adapted for that any required from GPS reference station to obtain its 2nd GPS fixed Any system or occasion of position data.

Fig. 2 shows the schematic flow diagrams according to the localization method of the disclosure one exemplary embodiment.The example position fixes side Method can be executed by positioning device.As described above, positioning device can be located at edge calculations equipment, terminal device or other shiftings Functional module in dynamic communication network device, is also possible to have access to the autonomous device of mobile communications network.As shown in Fig. 2, The exemplary method includes:

S210 receives the request that GPS positioning is carried out to terminal device.

" request (also referred to as GPS positioning request) of GPS positioning is carried out to terminal device " described herein refers to any The request that the transmission or terminal device position that can result in GPS positioning data determine.

In one example, in the case where positioning device is located in terminal device, when user is in using terminal equipment The self-locating function or terminal device for having invoked terminal device receive the request that other equipment obtain its position or GPS positioning data When, terminal device, which is equivalent to, to positioning device has sent GPS positioning request.

In another example, in the other equipment that positioning device is located at edge calculations equipment or accessing mobile communication network Either in the case where the autonomous device of accessing mobile communication network, when terminal device sends Location Request to mobile communications network Or when obtaining the request of base station GPS positioning data, it is equivalent to terminal device and has sent GPS positioning request.GPS positioning request Can the corresponding other equipment by edge calculations equipment corresponding in mobile communications network or comprising positioning device capture.Example Such as, GPS positioning request is sent to mobile communications network via certain base station, and the base station is nearby or in the base station range Respective edges, which calculate equipment or the corresponding other equipment comprising positioning device, can capture GPS positioning request.

In another example, " request to terminal device progress GPS positioning " not instead of terminal device is initiated, by What other main bodys of other equipment, other users, other application etc. were initiated.

S220 obtains the first GPS positioning data of terminal device from the terminal device.

In one example, in the case where positioning device is located in terminal device, positioning device can be in terminal device Inside obtains the first GPS positioning data of the terminal device itself.

In another example, in the other equipment that positioning device is located at edge calculations equipment or accessing mobile communication network Either in the case where the autonomous device of accessing mobile communication network, the request to terminal device progress GPS positioning is captured Positioning device can obtain the first GPS positioning number of the terminal device via mobile communications network from the terminal device for sending request According to.

S230 obtains the second GPS positioning data of GPS reference station from edge calculations equipment.

In one example, in the case where positioning device is located in terminal device, positioning device can be via mobile logical Communication network obtains the second GPS positioning data of GPS reference station from edge calculations equipment.For example, positioning device is being received to terminal Terminal device (such as via certain base station) can be made to send to mobile communications network after the request of equipment progress GPS positioning to obtain The request of second GPS positioning data of GPS reference station.The request can be calculated by the respective edges in the base station range and be set It is standby to capture.The respective edges calculate equipment can be in response to the request by the second GPS positioning number of the GPS reference station saved According to being sent to the terminal device comprising positioning device.

In another example, in the case where positioning device is located in edge calculations equipment, capture to terminal device into The GPS reference station that the edge calculations equipment of the request of row GPS positioning can be saved itself inside edge calculations equipment Second GPS positioning data are sent to the positioning device inside the edge calculations equipment.

In another example, the either access movement in the other equipment that positioning device is located at accessing mobile communication network In the case where the autonomous device of communication network, the positioning device for capturing the request for carrying out GPS positioning to terminal device can be through The second GPS positioning data of GPS reference station are obtained from edge calculations equipment by mobile communications network.For example, positioning device is being received To terminal device carry out GPS positioning request after can (such as via certain base station) to mobile communications network send obtain GPS The request of second GPS positioning data of base station.The request can calculate equipment by the respective edges in the base station range It captures.The respective edges calculate equipment can be in response to the request by the second GPS positioning data of the GPS reference station saved It is sent to positioning device.

In one embodiment, the second GPS positioning data that edge calculations equipment is saved can be corresponding thereto Second GPS positioning data of GPS reference station.In one example, each GPS reference station accessing mobile communication network backward reference The registration of station administration system initiating equipment.Base station management system records the information of GPS reference station, including but not limited to GPS IP address, working port, operating protocol (for example, TCP or UDP) and the GPS information of base station.Base station management system is completed new After the registration of GPS reference station, the information of new GPS reference station is informed into edge calculations equipment management system.Edge calculations equipment pipe Reason system matches corresponding edge calculations equipment according to the information of the new GPS reference station of acquisition for it.For example, edge calculations are set Standby management system knows the coverage area of each edge calculations equipment in mobile communications network, checks at the position of new GPS reference station In being determined as side corresponding with new GPS reference station in the coverage area of which edge calculations equipment and by the edge calculations equipment Edge calculates equipment.The information of the new GPS reference station is notified to set to corresponding edge calculations by edge calculations equipment management system It is standby.After the edge calculations equipment receives the GPS reference station information of edge calculations equipment management system notice, it will be remembered Record, the including but not limited to IP address of the new GPS reference station, working port, operating protocol (for example, TCP or UDP) and GPS letter Breath.For example, GPS reference station 111 is in the coverage area of edge calculations equipment 121, therefore the two is corresponding in Fig. 1 Relationship；GPS reference station 112 is in the coverage area of edge calculations equipment 123, therefore the two is corresponding relationship；Side Edge calculates equipment 122 without corresponding GPS reference station.

In one example, edge calculations equipment can be momentarily or periodically actively to its corresponding GPS benchmark It stands and sends the request of the second GPS positioning data of acquisition, and save the second GPS positioning data of GPS reference station return.Another In example, edge calculations equipment can be monitored and capture corresponding GPS reference station is issued to base station management system second GPS positioning data report information, and it is replicated and is saved.Specifically, core is sent to when edge calculations equipment detects The data packet of net (GPS reference station is communicated via core net with base station management system) meets the corresponding GPS recorded The information (for example, meeting one or more of the IP address of GPS reference station, working port and operating protocol etc.) of base station When, which will be replicated, and recover the second GPS positioning data wherein included.

In one example, edge calculations equipment can not also save the second GPS positioning number of corresponding GPS reference station According to, but the request based on positioning device obtains the second GPS positioning data from corresponding GPS reference station in real time and returns given Position device.

In another embodiment, edge calculations equipment is not previously allocated corresponding GPS reference station.In such case Under, edge calculations equipment can be obtained and be protected from other edge calculations equipment via mobile communications network (such as via core net) Deposit the second GPS positioning data of GPS reference station corresponding with other edge calculations equipment.For example, in mobile communications network All edge calculations equipment can set up multicast group, the edge calculations equipment for having recorded corresponding GPS reference station information exists It is notified to its IP address and working port to other edge calculations equipment in multicast group.Edge meter without corresponding GPS reference station It, can be to edge calculations device request the second GPS positioning data given notice, so as to obtain after calculation equipment receives the notice Second GPS positioning data of GPS reference station corresponding with the edge calculations equipment given notice.For example, institute as shown in figure 1 Show, edge calculations equipment 121-123 can form a multicast group, and record has the side of corresponding GPS reference station 111 and 112 Edge calculates equipment 121 and 123 and can notify the information such as the IP address of oneself and working port in multicast group, without phase The edge calculations equipment 122 of corresponding GPS reference station can be requested based on the notice to edge calculations equipment 121 and/or 123 Second location data of GPS reference station.

In one example, if an edge calculations equipment is from multiple corresponding GPS reference stations or from other edge meters The second GPS positioning data that equipment obtains multiple GPS reference stations are calculated, then the edge calculations equipment can be used only last updated Second GPS positioning data and ignore others.

S240 determines the position of the terminal device according to the first GPS positioning data and the second GPS positioning data.

In the first GPS positioning data for obtaining terminal device from terminal device, GPS base is obtained from edge calculations equipment After the second GPS positioning data at quasi- station, positioning device can be true according to the first GPS positioning data and the second GPS positioning data Determine the position of terminal device.For example, positioning device can determine accurate GPS of terminal device by Differential positioning calculating It sets.

By the localization method according to disclosure above-described embodiment, can be obtained from the edge calculations equipment of mobile communications network Take the GPS positioning data of GPS reference station to calculate the accurate GPS location of rover station (such as terminal device), so as to eliminate Or reduce time delay caused by the data-link congestion due to traditional GPS, so as to improve the accuracy of GPS positioning result.

The example position fixes method of Fig. 2 is described from positioning device side.Below in conjunction with Fig. 3-5 respectively from edge calculations Equipment side, terminal equipment side, GPS reference station side describe the localization method according to the embodiment of the present disclosure.

Fig. 3 shows the schematic flow diagram of the transmission method of the GPS positioning data of the exemplary embodiment according to the disclosure. The exemplary method can be executed by the edge calculations equipment in mobile communications network.As shown in figure 3, the exemplary method includes:

S310, edge calculations equipment detect that the 2nd GPS of the acquisition GPS reference station being sent on mobile communications network is fixed The request of position data.

The request for obtaining the second GPS positioning data of GPS reference station can be any equipment of accessing mobile communication network It is sent on mobile communications network, which may be expected to use the second GPS positioning data of GPS reference station to position oneself Other equipment position or be used for other purposes.The request can be specific the second GPS positioning number for obtaining GPS reference station According to request, be also possible to request that is implicit or will lead to the second GPS positioning data for obtaining GPS reference station (such as GPS positioning Request).

For example, it is assumed that terminal device wants to obtain the second GPS positioning data of GPS reference station to determine the accurate of oneself GPS location.In one example, GPS positioning calculating is finally completed by edge calculations equipment, and (i.e. positioning device is located at edge meter Calculate in equipment), then terminal device can send GPS positioning request to mobile communications network, while by the first GPS positioning of itself Data are sent together with GPS positioning request.Respective edges in mobile communications network calculate equipment detect GPS request and After first GPS positioning data, in order to position to terminal device, need to obtain the second GPS positioning data of GPS reference station, I.e. edge calculations equipment determines that the request for obtaining the second GPS positioning data of GPS reference station is implied in GPS request.Show another In example, GPS positioning is completed by terminal device and calculates (i.e. positioning device is located in terminal device), then terminal device can be to shifting Dynamic communication network sends the request for obtaining the second GPS positioning data of GPS reference station.

S320, edge calculations equipment obtain the second GPS positioning data from the GPS reference station of accessing mobile communication network.

As described above, GPS reference station is accessing mobile communication network in one or more other embodiments of the present disclosure, And GPS reference station is recorded by corresponding edge calculations equipment.Edge calculations equipment can be from its corresponding GPS reference station The second GPS positioning data of the GPS reference station are obtained, can also obtain from other edge calculations equipment and be set with other edge calculations Second GPS positioning data of standby corresponding GPS reference station.The 2nd GPS is obtained from GPS reference station about edge calculations equipment to determine The detailed description of position data refers to the description to step S230 above, and details are not described herein again.

Edge calculations equipment can obtain the second GPS positioning from GPS reference station based on request described in step S310 Data momentarily or periodically can also obtain the second GPS positioning data from GPS reference station in the case where no request And it saves.

Third GPS positioning data based on the second acquired GPS positioning data are sent to by S330, edge calculations equipment Requestor.

The third GPS positioning data that edge calculations equipment is sent to requestor are the data based on the second GPS positioning data. In one example, requestor (such as terminal device) request be second GPS positioning data itself in the case where, then at this time The third GPS positioning data that edge calculations equipment returns are exactly the second GPS positioning data.In another example, requestor (such as Terminal device) to terminal device progress GPS positioning, then the third GPS positioning data that edge calculations equipment returns at this time are for request The position of the terminal device of determination according to the first GPS data of the second GPS positioning data and terminal device progress location Calculation It sets.

Fig. 4 shows the schematic flow diagram of the localization method of the another exemplary embodiment according to the disclosure.The exemplary method It can be executed by the terminal device of accessing mobile communication network.As shown in figure 4, the exemplary method includes:

S410, terminal device send the request for obtaining the second GPS positioning data of GPS reference station to mobile communications network.

About the request for the second GPS positioning data for obtaining GPS reference station, step S310 is referred to, details are not described herein.

S420, terminal device receive edge calculations equipment in response to the GPS positioning request send, be based on GPS benchmark The third GPS positioning data for the second GPS positioning data stood.

About third GPS positioning data, step S330 is referred to, details are not described herein.

Fig. 5 shows the schematic flow diagram of the localization method of the another exemplary embodiment according to the disclosure.The exemplary method It can be executed by GPS reference station.As shown in figure 5, the exemplary method includes:

S510, GPS reference station accessing mobile communication network.

Step S510 can be realized by the way that mobile communication module is arranged in GPS reference station, can also make GPS reference station By other network (such as internet) accessing mobile communication networks, or otherwise access.

S520, edge calculations equipment of the GPS reference station into mobile communications network send the second of the GPS reference station GPS positioning data.

The 2nd GPS of the GPS reference station is sent about edge calculations equipment of the GPS reference station into mobile communications network Location data refers to the detailed description in conjunction with made by Fig. 2.It in addition to this, can not also include base station in a variation example Management system and edge calculations equipment management system.It in this variant, can be by after GPS reference station accessing mobile communication network Corresponding edge calculations equipment detects.For example, the information that is sent to mobile communications network by base station of GPS reference station can be with It is detected by the edge calculations equipment near the base station, then the edge calculations equipment is the corresponding side of the GPS reference station Edge calculates equipment.As shown in Figure 1, respectively by edge calculations equipment 121 after the accessing mobile communication network of GPS reference station 111 and 112 It is detected with 123, and edge calculations equipment 122 does not detect any GPS reference station, then edge calculations equipment 122 does not have phase Corresponding GPS reference station.As described above, edge calculations equipment 122 can be by multicast group from edge calculations equipment 121 and edge It calculates and obtains the second GPS positioning data at equipment 123, and retain last updated data.Same, in this variant, GPS After base station accessing mobile communication network its second GPS positioning number momentarily or periodically can be sent to mobile communications network According to, such as the second GPS positioning data are transferred into mobile communications network via base station, the edge calculations equipment near the base station The second GPS positioning data can be detected and capture, so as to save and use the second GPS positioning data.GPS base Quasi- station only needs actively (periodically or aperiodically) or the second GPS positioning data is passed through mobile radio communication based on request Network is transferred to edge calculations equipment, without using traditional GPS data chain directly in response to terminal device.

Fig. 6 shows the interaction diagrams according to each equipment of one exemplary embodiment of the disclosure in localization method.At this In example, it is illustrated so that positioning device is arranged in edge calculations equipment as an example.As shown in fig. 6, the process includes:

S1, GPS reference station are registered in accessing mobile communication network backward reference station administration system initiating equipment.

S2, base station management system records the information of GPS reference station registration, and the information of GPS reference station is informed edge Calculate equipment management system.

S3, edge calculations equipment management system are that GPS reference station matches corresponding edge according to the information of GPS reference station Calculate equipment.

The information of GPS reference station is sent to the corresponding edge meter matched by S4, edge calculations equipment management system Calculate equipment.

S5, the information of the corresponding edge calculations equipment record GPS reference station, and second is obtained from the GPS reference station GPS positioning data.

S6, the corresponding edge calculations equipment save the second GPS positioning data of acquired GPS reference station.

S7, the request of GPS positioning that terminal device is sent to mobile communications network detected by the edge calculations equipment, wherein It include the first GPS positioning data of terminal device in GPS positioning request.

S8, edge calculations equipment determine the position of terminal device according to the first GPS positioning data and the second GPS positioning data It sets.

The position for the terminal device determined is sent to terminal device as positioning result by S9, edge calculations equipment.

About the details of previous step S1-S9, may refer to above in conjunction with Fig. 1-6 description, details are not described herein again.

As the exemplary variation example of Fig. 6, step S7-9 can be replaced with following steps:

S7 ', the request of the second GPS positioning data of the acquisition GPS reference station that terminal device is sent to mobile communications network It is detected by the edge calculations equipment.

Second GPS positioning data of the GPS reference station are sent to terminal device by S8 ', edge calculations equipment.

S9 ', terminal device is according to itself the first GPS positioning data and the 2nd GPS obtained from edge calculations equipment Location data determines the position of itself.

By the localization method embodiment of the disclosure, can pass through in mobile communications network around traditional GPS data chain Edge calculations equipment transmits the GPS positioning data of GPS reference station, and the stronger load capacity of mobile communications network makes it possible to keep away Exempt from data congestion and propagation delay time, so as to avoid thus bring GPS location precision loss.In addition, according to disclosure reality The localization method for applying example can realize the GPS positioning data of GPS reference station based on mobile communications network (for example, 4G/5G network) Distribution, this make the generic terminal devices of such as mobile phone terminal also can use DGNSS data improve positioning accuracy.Due to passing The high-performance RTK differential system of system requires user to be equipped with expensive special-purpose terminal equipment, therefore ordinary user is obtaining high-precision There are higher thresholds in terms of stationkeeping ability, and this programme effectively reduces the threshold terminal of user.In further embodiments, The GPS positioning data and rover station (such as terminal device) of base station can also be used using the operational capability of edge calculations equipment GPS positioning data the position of terminal device is determined by Differential positioning calculating, to alleviate terminal device or GPS system Difference after-treatment system computation burden.

Such as mobile phone can be used in map application or positioning product, user according to the localization method of the embodiment of the present disclosure Terminal device realizes high accuracy positioning (for example, sub-meter grade).It in terminal side, needs to develop corresponding SDK, enables and movement The edge calculations equipment of communication network side establishes network connection, and completes GPS signal data transmission.When the application on terminal device When (for example, map application) needs to call the stationkeeping ability of terminal device, which will send terminal device to edge calculations equipment The GPS signal data (or being GPS positioning data) detected or the GPS signal number from edge calculations equipment crawl base station According to, and finally GPS positioning information is exported to upper layer application.In network side, edge calculations equipment can be periodically or at any time near Base station obtain the second GPS positioning data, and distribute them to other edge calculations equipment.Terminal device can be directly from attached Close edge calculations equipment obtains stationkeeping ability and supports, including the second GPS positioning data acquisition or GPS positioning calculated result It obtains.

It is positioned according to the panorama that the another application of the localization method of the embodiment of the present disclosure is target object.Goal pair As can be pedestrian, animal, bicycle etc., these targets usually not approach and network communication and the position for reporting oneself.? In car networking/automatic Pilot, the accurate location of this kind of target is extremely important to driving safety, still, and equipped with positioning device Target object is different, and the target objects such as pedestrian, the pet at crossing cannot carry out direct communication with network, can not also report oneself Position is into network.Therefore there is an urgent need to be capable of providing the technology of the panorama position location of this kind of target object.Fig. 7 shows root According to one exemplary embodiment of the disclosure for implementing the environment schematic of panorama localization method.As shown in fig. 7, one or more Camera 711 and 712 (in figure by taking two cameras as an example) can shoot the image of target object as described above, analysis shooting Image obtain opposite (camera relative to shooting) position of object included in image, and be sent to mobile radio communication Corresponding edge calculations equipment 721 and 722 in network.Edge calculations equipment 721 and 722 can be according in each implementation as described above Localization method obtain camera 711 and 712 the absolute position GPS, so as to according to object relative to the opposite of camera The GPS location of position and camera determines the absolute position of one or more object included in image.By one or The position Synthesis for the object that multiple edge calculations equipment are determined is to together, so that it may obtain the panorama positioning figure of object, that is, wrap It is contained in the map of the position for all (or most of) concern objects that the corresponding moment actually exists in a certain geographic range.Example Such as, corresponding time when one or more edge calculations equipment are by the position of identified object and determination is sent to edge Equipment management system 731 is calculated, is aligned the position of object according to the time by edge calculations equipment management system 731, from And obtain panorama positioning figure.

Camera 711 and 722 may include hanging high camera or vehicle-mounted camera.Hang high camera be typically mounted on it is red green On the poles such as lamp, RSU (roadside unit), the visual field is wider, and vehicle-mounted camera is installed onboard, can also provide the letter of object Breath.Captured image can be video or static image, be also possible to laser radar, millimetre-wave radar, ultrasonic radar etc. The image of acquisition.Here it is possible to regard camera 711 and 722 as terminal device in localization method embodiment as described above, The terminal device has the function of shooting image.

It is understood that camera 711 and 712 can be direct without analysis by captured image as variation example It is sent to edge calculations equipment 721 and 722, is analyzed by edge calculations equipment 721 and 722 pair image to obtain institute in image Relative position of the object for including relative to camera.

As another variation example, edge calculations equipment can also only provide the precise location information of camera to camera, The determination of object absolute position is completed by camera.

As another variation example, edge calculations equipment can only provide the second GPS positioning data of GPS reference station to camera shooting Head is completed the location Calculation to itself by camera.

Fig. 8 shows the schematic flow diagram of the panorama localization method according to one exemplary embodiment of the disclosure.Such as Fig. 8 institute Show, which includes:

S810, edge calculations equipment obtain phase of the object relative to the terminal device in the image of terminal device shooting To position.

Here terminal device is the terminal device with shooting ability, for example, camera.As described above, being wrapped in image The relative position of the object contained can be determined by terminal device and be sent to edge calculations equipment, can also will be clapped by terminal device The image and parameter taken the photograph are sent to edge calculations equipment, and the opposite of the object for including in image is determined by edge calculations equipment Position.

In one example, it can be detected by image object with vision positioning or fingerprint location technology and be determined in image Object relative position.For example, the camera of terminal device takes pictures to target objects such as pedestrians, and mesh is carried out to picture Mark detection, finds pedestrian or pet or other objects in picture.Then (terminal is set the target range camera in calculating picture It is standby) between relative positional relationship, i.e. 3D (3 dimension) distance.Calculation method can be binocular visual positioning, and it is fixed to be also possible to matching Position carries out grid dividing region to camera view in advance, establishes grid-position mapping table, pass through the object in detection image Which grid table body is in, that is, may know that the position of object.

Terminal device can initiatively or the request based on edge calculations equipment and by object in captured image or image The relative position information of body is sent to edge calculations equipment.For example, edge calculations equipment or edge calculations equipment management system to The message of terminal device/camera requests target object position.It is included at least in following information at least in the request message One: camera id information, timer information, object category (pedestrian, pet etc.), timestamp, location type (absolute position or Relative position) etc..Terminal device/camera returns to the object information detected to server.It is included at least in the message as follows At least one of information: object type identifies (pedestrian, pet etc.), (total number is corresponding of all categories for object number Number), the location information (can be absolute position, be also possible to relative position) of object, position format (i.e. under what coordinate system ), timestamp (time at moment of taking pictures), the confidence level instruction of each object space, article size information, object color information Deng.

For another example edge calculations equipment or its management system do not send request, but after an image is captured by terminal device In real time, edge calculations equipment or its management system momentarily or are periodically reported to.In one example, terminal device can To initiate authentication request message to edge calculations equipment or its management system, after the authentication is passed could to edge calculations equipment or its Management system sends data, to avoid false data is maliciously reported.At least one of following message is carried in the message: camera shooting Head ID, the information such as key, type.Server feedback allows terminal device to be sent to it object in image or image after the authentication is passed The relative position information of body.

It can be wire communication between terminal device and edge calculations equipment, be also possible to wirelessly communicate.Image or object Location information edge calculations equipment or edge calculations equipment management system can be transmitted directly to by terminal device, can also be through It is forwarded by other equipment.For example, terminal device is sent to RSU, edge calculations equipment is then passed to by RSU.For another example may be used also To be sent to base station by terminal device, then edge calculations equipment or edge calculations equipment management system passed to by base station.

S820, edge calculations equipment obtain the GPS positioning data of GPS reference station and based on acquired GPS positioning data Determine the absolute position of terminal device.

About the step, the description for being previously with regard to each embodiment of localization method is referred to.

As previously mentioned, edge calculations equipment can be by the GPS positioning number after the GPS positioning data for obtaining GPS reference station According to terminal device is directly returned to, self poisoning is calculated by terminal device, can also be determined by edge calculations equipment according to the GPS of acquisition Digit is accordingly and the GPS positioning data of terminal device itself determine the absolute position of terminal device.

S830, edge calculations equipment according to the object in described image relative to the relative position of the terminal device and The absolute position of the terminal device determines the absolute position of the object in described image.

Similarly, the movement in step S830 can also be completed by terminal device.

According to an exemplary embodiment, object in the image that edge calculations equipment obtains terminal device shooting relative to Before the relative position of the terminal device, the localization method further include:

Terminal device shoots described image；

Terminal device determines relative position of the object in described image relative to the terminal device according to described image；

The relative position of object in identified described image is sent to the edge calculations and set by terminal device It is standby.

According to an exemplary embodiment, the localization method further include:

Edge calculations equipment management system is absolute by object identified, in image captured by multiple terminal devices Position is aligned according to the time, to obtain the positioning of panorama object.

According to the another aspect of the embodiment of the present disclosure, a kind of positioning device is also provided, which can be used to execute institute as above Each embodiment of the transmission method of the localization method and GPS positioning data stated.As previously mentioned, the device can be located at edge calculations Functional module in equipment, terminal device or other mobile communication network devices, is also possible to have access to mobile communications network Autonomous device.Fig. 9 shows the signal composition block diagram of the positioning device 900 according to one exemplary embodiment of the disclosure, such as Fig. 9 Shown, which includes:

Receiving unit 910 is configured as receiving the request for carrying out terminal device GPS positioning；

First acquisition unit 920 is configured as obtaining the first GPS positioning number of terminal device from the terminal device According to；

Second acquisition unit 930 is configured as obtaining the second GPS positioning number of GPS reference station from edge calculations equipment According to；

Position determination unit 940 is configured as determining institute according to the first GPS positioning data and the second GPS positioning data State the position of terminal device.

According to an exemplary embodiment, the second acquisition unit 930 is configured as:

The second GPS positioning number of GPS reference station corresponding with the edge calculations equipment is obtained from edge calculations equipment According to.

According to an exemplary embodiment, the second acquisition unit 930 is configured as:

From the edge calculations equipment obtain other edge calculations equipment be sent to the edge calculations equipment, with it is described Second GPS positioning data of other corresponding GPS reference stations of edge calculations equipment.

Each unit/module function and the realization process and correlative detail of effect are specifically detailed in above-mentioned positioning device The realization process of step is corresponded in above method embodiment, details are not described herein.

Positioning device embodiment in the above various embodiments can by way of hardware, software, firmware or combinations thereof come It realizes, and which can be implemented as an individual devices, also may be implemented as each composition units/modules and are dispersed in one Or it is multiple calculate equipment in and respectively execute corresponding function logic integrated system.

Each unit/module of positioning device is formed in the above various embodiments to be divided according to logic function, they can To be repartitioned according to logic function, such as the device can be realized by more or fewer units/modules.These groups It can be realized by way of hardware, software, firmware or combinations thereof respectively at units/modules, they can be the only of difference Vertical component is also possible to multiple components and combines execute integrated unit/module of corresponding logic function.It is the hardware, soft The mode of part, firmware or combinations thereof may include: the hardware component of separation, by the functional module of programming mode realization, pass through The functional module, etc. that programmable logic device is realized, or with the combination of upper type.

According to an exemplary embodiment, positioning device embodiment can be implemented as a kind of calculating equipment, the calculating equipment Including memory and processor, computer program is stored in the memory, the computer program is by the processor When execution, so that described any calculated in equipment execution each positioning/GPS positioning data transmission method embodiment as described above It is a, alternatively, the computer program makes the calculating equipment realize each positioning as described above when being executed by the processor The function that component units/module of Installation practice is realized.

Processor described in above embodiment can refer to single processing unit, such as central processing unit CPU, can also To be the processing unit/processor distributed processor system for including multiple dispersions.

Memory described in above embodiment may include one or more memories, can be and calculates equipment Internal storage, such as transient state or non-transient various memories, are also possible to be connected to calculating equipment by memory interface External memory.

Figure 10 shows the signal composition block diagram of such exemplary embodiment for calculating equipment 1001.Such as Figure 10 institute Show, which can include but is not limited to: at least one processing unit 1010, at least one storage unit 1020, connection The bus 1030 of different system components (including storage unit 1020 and processing unit 1010).

The storage unit is stored with program code, and said program code can be executed by the processing unit 1010, make It obtains various according to the disclosure described in the description section of the execution of processing unit 1010 this specification above-mentioned example method The step of illustrative embodiments.For example, the processing unit 1010 can execute each step as shown in figures 2-6.

Storage unit 1020 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit (RAM) 1021 and/or cache memory unit 1022, it can further include read-only memory unit (ROM) 1023.

Storage unit 1020 can also include program/utility with one group of (at least one) program module 1025 1024, such program module 1025 includes but is not limited to: operating system, one or more application program, other program moulds It may include the realization of network environment in block and program data, each of these examples or certain combination.

Bus 1030 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures Local bus.

The calculating equipment can also be with one or more external equipments 1070 (such as keyboard, sensing equipment, bluetooth equipment Deng) communication, can also be enabled a user to one or more equipment interact with the calculating equipment communicate, and/or with make this Calculate any equipment (such as router, modem etc. that equipment can be communicated with one or more of the other calculating equipment Deng) communication.This communication can be carried out by input/output (I/O) interface 1050.Also, the calculating equipment can also pass through Network adapter 1060 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, example Such as internet) communication.As shown, network adapter 1060 is communicated by bus 1030 with other modules of the calculating equipment. It should be understood that although not shown in the drawings, but the calculating equipment other hardware and/or software module can be used to realize, including But it is not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive And data backup storage system etc..

Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating Equipment (can be personal computer, server, terminal installation or network equipment etc.) is executed according to disclosure embodiment Method.

In an exemplary embodiment of the disclosure, a kind of computer readable storage medium is additionally provided, meter is stored thereon with Calculation machine readable instruction makes computer execute the above method when the computer-readable instruction is executed by the processor of computer The each method embodiment of embodiment part description.

According to one embodiment of the disclosure, a kind of journey for realizing the method in above method embodiment is additionally provided Sequence product, can be using portable compact disc read only memory (CD-ROM) and including program code, and can set in terminal It is standby, such as run on PC.However, the program product of the disclosure is without being limited thereto, in this document, readable storage medium storing program for executing can With to be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or Person is in connection.

Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.

Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal, Optical signal or above-mentioned any appropriate combination.Readable signal medium can also be any readable Jie other than readable storage medium storing program for executing Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its The program of combined use.

The program code for including on readable medium can transmit with any suitable medium, including but not limited to wirelessly, have Line, optical cable, RF etc. or above-mentioned any appropriate combination.

Can with any combination of one or more programming languages come write for execute the disclosure operation program Code, described program design language include object oriented program language-Java, C++ etc., further include conventional Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network (WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP To be connected by internet).

It should be noted that although being referred to several modules or list for acting the equipment executed in the above detailed description Member, but this division is not enforceable.In fact, according to embodiment of the present disclosure, it is above-described two or more Module or the feature and function of unit can embody in a module or unit.Conversely, an above-described mould The feature and function of block or unit can be to be embodied by multiple modules or unit with further division.

In addition, although describing each step of method in the disclosure in the accompanying drawings with particular order, this does not really want These steps must be executed in this particular order by asking or implying, or having to carry out step shown in whole could realize Desired result.Additional or alternative, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/ Or a step is decomposed into execution of multiple steps etc..

Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating Equipment (can be personal computer, server, mobile terminal or network equipment etc.) is executed according to disclosure embodiment Method.

Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by appended Claim is pointed out.

Claims (15)

1. a kind of localization method characterized by comprising

Receive the request that GPS positioning is carried out to terminal device；

The first GPS positioning data of terminal device are obtained from the terminal device；

The second GPS positioning data of GPS reference station are obtained from edge calculations equipment；

The position of the terminal device is determined according to the first GPS positioning data and the second GPS positioning data.

2. the method according to claim 1, wherein described obtain the of GPS reference station from edge calculations equipment Two GPS positioning data include:

The second GPS positioning data of GPS reference station corresponding with the edge calculations equipment are obtained from edge calculations equipment.

3. the method according to claim 1, wherein described obtain the of GPS reference station from edge calculations equipment Two GPS positioning data include:

From the edge calculations equipment obtain other edge calculations equipment be sent to the edge calculations equipment, with it is described other Second GPS positioning data of the corresponding GPS reference station of edge calculations equipment.

4. a kind of transmission method of GPS positioning data characterized by comprising

Edge calculations equipment detects the second GPS positioning data of the acquisition GPS reference station being sent on mobile communications network Request；

The edge calculations equipment obtains the second GPS positioning data from the GPS reference station of accessing mobile communication network；

Third GPS positioning data based on the second acquired GPS positioning data are sent to request by the edge calculations equipment Person.

5. according to the method described in claim 4, it is characterized in that, the edge calculations equipment is from accessing mobile communication network GPS reference station obtains the second GPS positioning data

The edge calculations equipment obtains the of the GPS reference station from GPS reference station corresponding with the edge calculations equipment Two GPS positioning data.

6. according to the method described in claim 5, it is characterized in that, the edge calculations equipment from the edge calculations equipment The second GPS positioning data that corresponding GPS reference station obtains the GPS reference station include:

The edge calculations equipment receives from edge calculations equipment management system and records the letter of the corresponding GPS reference station Breath；

The edge calculations equipment is obtained according to the information of the corresponding GPS reference station recorded from the GPS reference station Take the second GPS positioning data.

7. according to the method described in claim 6, it is characterized in that, in the edge calculations equipment from edge calculations equipment management Before system receives and records the information of the corresponding GPS reference station, the method also includes:

The GPS reference station accessing mobile communication network is simultaneously carried out to the base station management system accessed in mobile communications network Registration；

The information of the GPS reference station is sent to the edge calculations in mobile communications network by the base station management system Equipment management system；

The edge calculations equipment management system determines that the corresponding edge calculations are set according to the information of the GPS reference station It is standby, and the information of the GPS reference station is sent to the edge calculations equipment.

8. according to the method described in claim 4, it is characterized in that, the edge calculations equipment is from accessing mobile communication network GPS reference station obtains the second GPS positioning data

The edge calculations equipment obtains corresponding with other described edge calculations equipment described from other edge calculations equipment Second GPS positioning data of GPS reference station.

9. according to the method described in claim 8, it is characterized in that, the edge calculations equipment is obtained from other edge calculations equipment The the second GPS positioning data for taking the GPS reference station corresponding with other described edge calculations equipment include:

Other the described edge calculations equipment for having recorded the corresponding GPS reference station are sent to the edge calculations equipment leads to Know；

The edge calculations equipment notifies to obtain the corresponding GPS to other described edge calculations device requests according to described Second GPS positioning data of base station.

10. according to the method described in claim 5, it is characterized in that, the edge calculations equipment is set from the edge calculations The second GPS positioning data that standby corresponding GPS reference station obtains the GPS reference station include:

The edge calculations equipment sends location data acquisition request to the corresponding GPS reference station；

The edge calculations equipment receives the GPS reference station in response to the location data acquisition request to the edge calculations The second GPS positioning data that equipment is sent.

11. the method according to the description of claim 7 is characterized in that the edge calculations equipment is set from the edge calculations The second GPS positioning data that standby corresponding GPS reference station obtains the GPS reference station include:

The edge calculations equipment detection captures on mobile communications network, GPS reference station is sent out to base station management system The GPS positioning data sent report information；

The case where determining the corresponding GPS reference station that the GPS reference station is recorded by the edge calculations equipment Under, the edge calculations device replication simultaneously saves the GPS positioning data and reports the second GPS positioning data for including in information.

12. according to the method for claim 11, which is characterized in that the edge calculations equipment is by comparing the institute recorded The information for stating corresponding GPS reference station and the GPS positioning data captured report GPS benchmark included in information The information stood, to determine the corresponding GPS benchmark that whether GPS reference station is recorded by the edge calculations equipment It stands.

13. according to the method for claim 11, which is characterized in that the third GPS data are as follows:

Second GPS data；Or

The position of the terminal device of determination according to the first GPS data of the second GPS data and terminal device.

14. a kind of positioning device characterized by comprising

Receiving unit is configured as the GPS positioning request of receiving terminal apparatus transmission；

First acquisition unit is configured as obtaining the first GPS positioning data of terminal device from the terminal device；

Second acquisition unit is configured as obtaining the second GPS positioning data of GPS reference station from edge calculations equipment；

Position determination unit is configured as determining that the terminal is set according to the first GPS positioning data and the second GPS positioning data Standby position.

15. a kind of calculating equipment, including processor and memory, it is stored with computer-readable instruction on the memory, institute Processor is stated to be configured as realizing when executing the computer-readable instruction on the memory according to claim 1 to appointing in 13 Method described in one.