CN110045402A - GNSS alignment quality information-pushing method, device, equipment and storage medium - Google Patents
GNSS alignment quality information-pushing method, device, equipment and storage medium Download PDFInfo
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- CN110045402A CN110045402A CN201910303857.3A CN201910303857A CN110045402A CN 110045402 A CN110045402 A CN 110045402A CN 201910303857 A CN201910303857 A CN 201910303857A CN 110045402 A CN110045402 A CN 110045402A
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/55—Push-based network services
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The application provides a kind of GNSS alignment quality information-pushing method, device, equipment and storage medium, this method comprises: passing through terminal obtains GNSS location information；According to GNSS location information and map, the GNSS alignment quality figure layer of map is constructed；GNSS alignment quality figure layer is pushed to user, not only realizes to user and pushes GNSS alignment quality information, but also improve the accuracy and real-time of GNSS alignment quality.
Description
Technical field
The present invention relates to technical field of satellite navigation more particularly to a kind of GNSS alignment quality information-pushing method, device,
Equipment and storage medium.
Background technique
Global Satellite Navigation System (Global Navigation Satellite System, GNSS) refers to all defend
Star navigation system, such as: Chinese Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS),
Global positioning system (Global Positioning System, GPS), Global Satellite Navigation System (Global
Navigation Satellite System, GLONASS), galileo satellite navigation system (Galileo satellite
Navigation system, GALILEO) etc., GNSS has formd the powerful application of global space positioning.With driving automatically
The development of technology is sailed, user is stepping up the required precision of GNSS alignment quality information.
In the prior art, high-precision Aerospace Satellite rail usually is established from the basic threedimensional model emulation of high-precision
Road, ground segment multichannel improve GNSS through effect model, navigator fix Environmental Evaluation Model and sequence quality prediction mechanics
The accuracy of alignment quality information.
However in the prior art, by emulation mode rather than in real time dynamic analytic process, be unable to satisfy automatic Pilot
Demand to GNSS alignment quality information high-precision and real-time.
Summary of the invention
The present invention provides a kind of GNSS alignment quality information-pushing method, device, equipment and storage medium, with realize to
Family pushes GNSS alignment quality information, improves the accuracy and real-time of GNSS alignment quality.
In a first aspect, the application provides a kind of GNSS alignment quality information-pushing method, comprising:
GNSS location information is obtained by terminal；According to GNSS location information and map, the GNSS positioning matter of map is constructed
Spirogram layer；Push GNSS alignment quality figure layer in real time to user.
In the present solution, obtaining GNSS location information by terminal, and according to the GNSS location information and map got, structure
The GNSS alignment quality figure layer of map is built, most rear line pushes GNSS alignment quality figure layer, not only realizes real-time to user
GNSS alignment quality figure layer is pushed, and since GNSS location information is obtained by terminal, improves GNSS alignment quality letter
The accuracy and real-time of breath.
GNSS alignment quality information push-delivery apparatus, equipment, storage medium and computer program product is explained below, in
Holding effect can refer to method part, repeat no more below to this.
Second aspect, the application provide a kind of GNSS alignment quality information push-delivery apparatus, comprising:
Module is obtained, for obtaining GNSS location information by terminal；Construct module, for according to GNSS location information and
Map constructs the GNSS alignment quality figure layer of map；Release module, for pushing GNSS alignment quality figure layer to user in real time.
The third aspect, the application provide a kind of air navigation aid, comprising:
It receives and is obtained according to the GNSS alignment quality information-pushing method provided such as first aspect and first aspect optional way
The GNSS alignment quality figure layer obtained.
According to GNSS alignment quality figure layer, navigation strategy is adjusted.
Fourth aspect, the application provide a kind of navigation device, comprising:
Receiving module, for receiving GNSS alignment quality figure layer.
Module is adjusted, for adjusting navigation strategy according to GNSS alignment quality figure layer.
5th aspect, a kind of navigation map, including GNSS alignment quality figure layer.
6th aspect, a kind of vehicle, including navigation map described in the 5th aspect.
7th aspect, the application provide a kind of Cloud Server, comprising:
Processor；Memory；And computer program；Wherein, computer program is stored in memory, and is matched
It is set to and is executed by processor, computer program includes for executing such as the GNSS of first aspect or first aspect optional way positioning
Quality information method for pushing.
Eighth aspect, the application provide a kind of computer readable storage medium, and computer-readable recording medium storage has meter
Calculation machine program, computer program execute server such as the GNSS alignment quality of first aspect or first aspect optional way letter
Cease method for pushing.
9th aspect, the embodiment of the present invention provide a kind of computer program product, comprising: executable instruction can be performed and refer to
Enable the GNSS alignment quality information-pushing method for realizing such as first aspect or first aspect optional way.
GNSS alignment quality information-pushing method provided by the invention, device, equipment and storage medium, this method pass through end
End obtains GNSS location information；According to GNSS location information and map, the GNSS alignment quality figure layer of map is constructed；It is pushed away to user
Send GNSS alignment quality figure layer.Due to obtaining GNSS location information by terminal, and according to the GNSS location information that gets and
Map, constructs the GNSS alignment quality figure layer of map, and most rear line pushes GNSS alignment quality figure layer, not only realize to
Family pushes GNSS alignment quality figure layer, and since GNSS location information is obtained by terminal, improves GNSS alignment quality
The accuracy and real-time of information.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the first embodiment flow diagram of GNSS alignment quality information-pushing method provided by the present application；
Fig. 2 is the second embodiment flow diagram of GNSS alignment quality information-pushing method provided by the present application；
Fig. 3 is the structural schematic diagram one in lane provided by the present application；
Fig. 4 is the structural schematic diagram two in lane provided by the present application；
Fig. 5 is the structural schematic diagram of the first embodiment of GNSS alignment quality information push-delivery apparatus provided by the present application；
Fig. 6 is the schematic structural diagram of the second embodiment of GNSS alignment quality information push-delivery apparatus provided by the present application；
Fig. 7 is the 3rd embodiment structural schematic diagram of GNSS alignment quality information push-delivery apparatus provided by the present application；
Fig. 8 is the structural schematic diagram of server provided by the embodiments of the present application；
Fig. 9 is the flow diagram of air navigation aid provided by the embodiments of the present application；
Figure 10 is the structural schematic diagram of navigation device provided by the embodiments of the present application.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
With the development of automatic Pilot technology, user is stepping up the required precision of GNSS alignment quality information.It is existing
Have in technology is usually that can not consider real road conditions by emulation mode computed user locations GNSS alignment quality information, plant
Influence of the factors such as quilt, seasonal variations, dynamic object to GNSS signal, therefore automatic Pilot is unable to satisfy to GNSS alignment quality
The demand of information high-precision and real-time.To solve the above-mentioned problems, the application provides a kind of GNSS alignment quality information push
Method, apparatus, equipment and storage medium.
Hereinafter, the exemplary application scene to the embodiment of the present invention is introduced.
In the automated driving system of vehicle, automatic driving vehicle needs to obtain the letter of the GNSS alignment quality in planning path
Breath, according to GNSS alignment quality information, the locating module in automated driving system can adjust positioning strategy in advance, such as: if
Within the front preset distance of vehicle, GNSS alignment quality is poor, and locating module can select inertia to survey according to actual needs
The non-GNSS sensors such as amount unit (Inertial measurement unit, IMU), radar, laser radar or camera, are obtained
The high precision position for obtaining vehicle, until GNSS alignment quality information meets the needs of the Vehicular automatic driving.By obtaining in advance
GNSS alignment quality information in vehicle planning path is conducive to the reliability for improving vehicle location, promotes the peace of automatic Pilot
Quan Xing.Based on this, the application provides a kind of GNSS alignment quality information-pushing method, device, equipment and storage medium.
Fig. 1 is the first embodiment flow diagram of GNSS alignment quality information-pushing method provided by the present application, the party
Method can be executed by GNSS alignment quality information push-delivery apparatus, which can be realized by way of software and/or hardware, example
Such as: the device can be some or all of server, push away below using server as executing subject to GNSS alignment quality information
Delivery method is illustrated, as shown in Figure 1, GNSS alignment quality information-pushing method provided by the embodiments of the present application may include:
Step S101: GNSS location information is obtained by terminal.
GNSS location information may include temporal information, location information, course information, GNSS constellation information, precision
The factor and positioning accuracy etc., the embodiment of the present application to the concrete form and particular content of GNSS location information with no restrictions, root
According to different positioning systems, the location information of the systems such as BDS, GPS, GLONASS, GALILEO may be got, the present invention is real
Example is applied to the type of GNSS location information also with no restrictions.
GNSS location information is obtained by terminal, the application program in terminal, locating module in terminal etc. can be passed through
Mode obtains GNSS location information, and how the embodiment of the present invention is to by terminal obtaining GNSS location information with no restrictions.It is optional
, GNSS location information can be obtained by the map application in terminal device.
Optionally, terminal can be PC (Personal Computer, referred to as: PC) or mobile terminal etc., should
Mobile terminal be referred to as user equipment (User Equipment, referred to as: UE), access terminal, subscriber unit, subscriber station,
Movement station, mobile station, user terminal, wireless telecom equipment, user agent or user apparatus.Mobile terminal can be intelligent hand
Machine, cellular phone, wireless phone, tablet computer, personal digital assistant (Personal Digital Assistant, referred to as:
PDA) equipment, handheld device, mobile unit, wearable device with acquisition location information function etc..The embodiment of the present application pair
Also with no restrictions, in a kind of possible embodiment, terminal can also be adopting for high-precision map collecting vehicle to the type of terminal
Collect equipment, acquisition equipment of crowdsourcing more new car etc..
Step S102: according to GNSS location information and map, the GNSS alignment quality figure layer of map is constructed.
After getting GNSS location information by terminal, map can be constructed according to GNSS location information and map
GNSS alignment quality figure layer.Due to obtaining the diversification of the terminal type of GNSS location information, the GNSS location information got
Also more numerous and disorderly, in order to improve the reliability of GNSS location information, in a kind of possible embodiment, positioned according to GNSS
Information and map, before the GNSS alignment quality figure layer for constructing map, further includes:
According to the characteristic information of GNSS location information, GNSS location information is screened, the GNSS after being screened is fixed
Position information, the characteristic information of GNSS location information include at least one of the following:
The constellation types of GNSS location information, the acquisition channel information of GNSS location information and location information.
According to the characteristic information of GNSS location information, GNSS location information is screened, for example, can be fixed according to GNSS
The constellation types of position information, screen GNSS location information, such as: according to user demand, need to retain certain positioning systems
The location information of system then can realize the location information for screening out other positioning systems according to the constellation types of GNSS location information.
For another example GNSS location information can be screened according to the acquisition channel information of GNSS location information, such as:
According to user demand, need to retain the GNSS location information obtained from car-mounted terminal, then it can be by according to GNSS location information
Acquisition channel, screen out the GNSS location information got by other terminals.
For another example GNSS location information is screened by the location information in GNSS location information, such as: retain
The GNSS location information in some region or the GNSS location information for removing some region, for another example, according in location information
Change in location speed can screen the GNSS location information by acquisitions such as fixed terminal, pedestrian's carried terminal, mobile units.
In addition, the screening to GNSS location information, can also according to different requirements, according to the constellation types of GNSS location information,
Any combination of the acquisition channel information and location information of GNSS location information, screens GNSS location information, the present invention
Embodiment is without limitation, in addition, the application is to the unlimited features described above information of the characteristic information of GNSS location information.
Optionally, other than being screened to GNSS location information, can also be believed according to the feature of GNSS location information
Breath, classifies to GNSS location information, the characteristic information of GNSS location information includes at least one of the following: GNSS location information
Constellation types, GNSS location information acquisition channel information and location information.
Such as: according to the constellation types of GNSS location information, GPS system location information, BDS are divided into GNSS location information
System location information, GALILEO system location information, GLONASS system location information or other location informations, the present invention are implemented
Example to according to the constellation types of GNSS location information to the mode classification of GNSS location information with no restrictions.
Again for example: according to the acquisition channel information of GNSS location information, mobile unit positioning being divided into GNSS location information
Information, pedestrian's location information, non-motor vehicle location information etc., the present invention are without limitation.
Again for example: according to the location information of GNSS location information, city orientation information, rural area being divided into GNSS location information
Location information, countryside location information etc., the application is without limitation.Furthermore it is also possible to according to the pace of change of location information,
The information such as course classify to GNSS location information.
In addition, the classification to GNSS location information, it can also be according to different requirements, according to the constellation of GNSS location information
Any combination of the acquisition channel information and location information of type, GNSS location information, classifies to GNSS location information, this
Inventive embodiments are without limitation, in addition, the application is to the unlimited features described above information of the characteristic information of GNSS location information.
After GNSS location information is screened and/or classified, according to GNSS location information and map, map is constructed
GNSS alignment quality figure layer, or the GNSS alignment quality figure layer of map is directly constructed according to GNSS location information and map.This
Inventive embodiments construct the specific embodiment of GNSS alignment quality figure layer of map not to according to GNSS location information and map
It is limited.It, can be by the way that all GNSS location informations in conjunction with map, be constructed GNSS in a kind of possible embodiment
Alignment quality figure layer, still further in a kind of possible embodiment, can by will screen or sorted GNSS positioning letter
Breath constructs GNSS alignment quality figure layer in conjunction with map, and the embodiment of the present invention is without limitation.
The type of the embodiment of the present application to map with no restrictions, such as can be map in mobile phone terminal, in navigator
Map etc., the precision of the embodiment of the present application to map also with no restrictions, such as can be the map etc. in automatic driving vehicle.
According to different map styles, different GNSS alignment quality figure layers can be constructed, the embodiment of the present invention is without limitation.Example
Such as: the different precision of different coordinates, map according to the map, map adopt the various criterion of GNSS alignment quality, map
Different positioning systems etc..
The embodiment of the present application to the specifying information in GNSS alignment quality figure layer with no restrictions, for example, may include considerable
Each system-satellite number such as GPS, GLONASS, BDS, GALILEO measured, signal-to-noise ratio, position dilution of precision (Position
Dilution of Precision, PDOP), horizontal component dilution of precision (Horizontal Dilution of
Precision, HDOP), vertical component dilution of precision (Vertical Dilution of Precision, VDOP), pseudorange it is equal
Square error, localization criteria difference etc..
Step S103: GNSS alignment quality figure layer is pushed in real time to user.
After the GNSS alignment quality figure layer for successfully constructing map, GNSS alignment quality figure layer can be pushed to user,
So as to include GNSS alignment quality figure layer in map, user can obtain GNSS alignment quality information according to the map.The present invention is real
It applies specific embodiment that example opposite direction user pushes GNSS alignment quality figure layer with no restrictions, such as can be taken by real-time release
Business, pushes to user for GNSS alignment quality figure layer.
In conclusion obtaining GNSS location information by terminal, and according to the GNSS location information and map got, structure
The GNSS alignment quality figure layer of map is built, finally GNSS alignment quality figure layer is pushed to user in real time, not only realizes to user
GNSS alignment quality figure layer is pushed, and since GNSS location information is obtained by terminal, improves GNSS alignment quality letter
The accuracy and real-time of breath.
In order to realize the GNSS alignment quality figure layer for constructing map according to GNSS location information and map, optionally, Fig. 2
It is the second embodiment flow diagram of GNSS alignment quality information-pushing method provided by the present application, this method can be by GNSS
Alignment quality information push-delivery apparatus executes, which can be realized by way of software and/or hardware, such as: the device can
To be some or all of server, GNSS alignment quality information-pushing method is said using server as executing subject below
It is bright, as shown in Fig. 2, the step S102 in above-described embodiment may include:
Step S201: coordinate system according to the map projects in GNSS location information to map, and the GNSS after being projected is fixed
Position information.
It may include the GNSS location information obtained by different terminals, therefore GNSS location information in GNSS location information
In may include the location information of different types of coordinate system, moreover, being used according to different vendor or country variant and area
The type of map may be different, and the coordinate system that different types of map uses may also be different.According to GNSS location information and ground
The type of figure projects in GNSS location information to map, can be by will GNSS location information where GNSS location information
Coordinate system is transformed into coordinate system where map, and then realizes in projection GNSS location information to map, and after being projected
GNSS location information.Such as: the coordinate system where GNSS location information is World Geodesic Coordinate System 1984 system (World
Geodetic System-1984, WGS84), coordinate system used by map is Mars coordinate system, is needed WGS84 coordinate
The lower location information of system is such as: longitude information, latitude information and elevation information are transformed into Mars coordinate system, realize and project
GNSS location information in GNSS location information to map, after being projected.If the coordinate system of GNSS location information and map
Coordinate system is identical, then do not need carry out coordinate system conversion, the embodiment of the present invention to where GNSS location information coordinate system and
The type of coordinate system where map is with no restrictions.
Step S202: according to the GNSS location information after projection, the GNSS alignment quality attribute of target position, GNSS are obtained
Alignment quality attribute includes the quantity of the first Observable satellite, the distribution situation and GNSS positioning accuracy of the first Observable satellite.
According to the GNSS location information after projection, the GNSS alignment quality attribute of available target position, target position
Such as may is that the position where vehicle or some position on vehicle running path etc..GNSS alignment quality attribute can wrap
Include the quantity of the first Observable satellite, the distribution situation and GNSS positioning accuracy of the first Observable satellite, the embodiment of the present invention
It is not limited to above-mentioned GNSS alignment quality attribute.
Fig. 3 is the structural schematic diagram one in lane provided by the present application, as shown in figure 3, form point 31 can be in traffic lane line 32
On, it can also be introduced so that form point is on traffic lane line as an example below in the other positions in lane, on traffic lane line 32,
Form point 31 can be set by spacing distance, such as: it is every in turning roadway in Through Lane at interval of 3 meters of settings, one form point
It is spaced 1 meter of setting, one form point etc., the application example is without limitation, and is identified to each form point 31, illustratively,
Form point can be identified by coding, longitude and latitude etc., the embodiment of the present application is without limitation.
In order to obtain the GNSS alignment quality attribute of target position, optionally, Fig. 4 is the structure in lane provided by the present application
Schematic diagram two, as shown in figure 4, choosing one of form point 31 as target position, mesh in multiple form points on traffic lane line
The preset range 33 of cursor position can be configured according to lane width, Vehicle length etc., such as: the preset range of target position
It is target position the left and right of parallel track direction is 2 meters each, target position each 2.5 meters and target before and after vertical track direction
Each 3 meters of ranges, the embodiment of the present application are without limitation up and down in the elevation direction of position.Below with reference to Fig. 3 and Fig. 4, to acquisition
The GNSS alignment quality attribute of target position is introduced.
Optionally, the GNSS alignment quality attribute of target position is obtained, comprising:
Obtain the quantity of the second Observable satellite within the preset range 33 of target position；According to the second Observable satellite
Quantity obtain the quantity of the first Observable satellite.
Within the preset range 33 of target position, may there are a plurality of GNSS location information, every GNSS positioning letter
Positioning system used by ceasing may be different, such as: BDS, GPS, GLONASS and GALILEO.For every kind of positioning system, divide
Not Huo Qu GNSS location information, obtain the quantity of the second Observable satellite under the positioning system.
For every kind of positioning system, multiple second Observables may be got within the preset range 33 of target position
The quantity of satellite obtains the quantity of the first Observable satellite according to the quantity of the second Observable satellite, optionally, by multiple
The quantity of second Observable satellite calculates arithmetic average or intermediate value or according to calculating weighted average at a distance from target position,
Then the quantity of the first Observable satellite of the target position is obtained by being rounded.
Wherein, according to weighted average is calculated at a distance from target position, it can be basis and set at a distance from target position
Set weight, such as distance objective position is closer, and weight is bigger etc., the embodiment of the present invention is without limitation.Pass through target position
Preset range within Observable satellite quantity, determine target position Observable satellite quantity, improve in mesh
The accuracy of the quantity of the Observable satellite of cursor position.
Optionally, the GNSS alignment quality attribute of target position is obtained, comprising:
The dilution of precision within the preset range 33 of target position is obtained, dilution of precision includes at least one of the following: position
Dilution of precision, horizontal component dilution of precision and vertical component dilution of precision；According to dilution of precision, the first Observable satellite is obtained
Distribution situation.
Obtain target position preset range 33 within dilution of precision, dilution of precision can be position dilution of precision and/
Or Horizontal Dilution of Precision or position dilution of precision and vertical dilution of precision or Horizontal Dilution of Precision and vertical dilution of precision etc., this
Inventive embodiments are without limitation.
After getting dilution of precision, optionally, according to dilution of precision, the distribution feelings of the first Observable satellite are obtained
Condition may include:
For any dilution of precision, by calculating arithmetic average to multiple dilution of precisions in GNSS location information
Intermediate value or according at a distance from target position calculate weighted average, as the dilution of precision of the target position, and then obtain
The distribution situation of first Observable satellite.
Wherein, according to weighted average is calculated at a distance from target position, it can be basis and set at a distance from target position
Set weight, such as distance objective position is closer, and weight is bigger etc., the embodiment of the present invention is without limitation.Pass through target position
Dilution of precision within preset range determines the distribution situation of the first Observable satellite, improves point of the first Observable satellite
The accuracy of cloth situation.
Optionally, the GNSS alignment quality attribute of target position is obtained, comprising:
Obtain the latitude standard deviation and longitude standard deviation within the preset range 33 of target position；According to latitude standard deviation and
Longitude standard deviation obtains GNSS positioning accuracy.
The multiple latitude standard deviations and multiple longitude standard deviations within the preset range 33 of target position are obtained, and needle respectively
To dimension standard deviation and longitude standard deviation, the arithmetic average or intermediate value of multiple dimension standard deviations or multiple longitude standard deviations are calculated
Or according to weighted average is calculated at a distance from target position, the latitude standard deviation or longitude standard deviation of target position are obtained, into
And GNSS positioning accuracy is obtained according to the latitude standard deviation and longitude standard deviation of target position.
Optionally, in order to obtain the GNSS positioning accuracy of target position, can also obtain target position preset range it
Interior elevation standard deviation, and arithmetic average or intermediate value by calculating multiple elevation standard deviations or according to target position away from
From weighted average is calculated, the elevation standard deviation of target position is obtained, then according to the latitude standard deviation of target position, through scale
Quasi- difference and elevation standard deviation, obtain GNSS positioning accuracy.
In the present solution, determining that GNSS is fixed by latitude standard deviation and longitude standard deviation within the preset range of target position
Position precision, improves the accuracy of GNSS positioning accuracy.
Step S203: according to the GNSS alignment quality attribute of target position and target position, the GNSS positioning of map is constructed
Quality figure layer.
For each target position, the GNSS alignment quality attribute of target position is obtained, and according to the mark of the target position
Know, corresponds the GNSS alignment quality attribute of target position, the mark of target position and target position, construct map
GNSS alignment quality figure layer.
In the present solution, projected in GNSS location information to map by the type according to GNSS location information and map, it is real
Showed type according to the map, GNSS location information projected to the map, then according to the mark of target position with
And the GNSS alignment quality attribute of target position, the GNSS alignment quality figure layer of map is constructed, GNSS alignment quality figure is realized
The building of layer, and then the accuracy of GNSS alignment quality information is improved, improve the accuracy of GNSS alignment quality information.
Following is Installation practice provided by the present application, can be used for executing embodiment of the present invention method.For the present invention
Undisclosed details, please refers to embodiment of the present invention method in Installation practice.
Fig. 5 is the structural schematic diagram of the first embodiment of GNSS alignment quality information push-delivery apparatus provided by the present application, should
Device can realize by way of software and/or hardware, such as: the device can be some or all of server, such as Fig. 5
Shown, GNSS alignment quality information push-delivery apparatus provided in an embodiment of the present invention may include:
Module 51 is obtained, for obtaining GNSS location information by terminal；
Module 52 is constructed, for constructing the GNSS alignment quality figure layer of map according to GNSS location information and map；
Release module 53, for pushing GNSS alignment quality figure layer to user in real time.
Optionally, Fig. 6 is the second embodiment structural representation of GNSS alignment quality information push-delivery apparatus provided by the present application
Scheme, which can be realized by way of software and/or hardware, such as: the device can be some or all of server,
As shown in fig. 6, GNSS alignment quality information push-delivery apparatus provided in an embodiment of the present invention can also include:
Screening module 54 is screened GNSS location information, is obtained for the characteristic information according to GNSS location information
GNSS location information after screening, the characteristic information of GNSS location information include at least one of the following:
The constellation types of GNSS location information, the acquisition channel information of GNSS location information and location information.
Optionally, Fig. 7 is the 3rd embodiment structural representation of GNSS alignment quality information push-delivery apparatus provided by the present application
Scheme, which can be realized by way of software and/or hardware, such as: the device can be some or all of server,
As shown in fig. 7, building module 52 may include:
Submodule 61 is projected, for the type according to GNSS location information and map, projects GNSS location information to map
On, the GNSS location information after being projected.
Acquisition submodule 62, for obtaining the GNSS alignment quality of target position according to the GNSS location information after projection
Attribute, GNSS alignment quality attribute include the distribution situation and GNSS of the quantity of the first Observable satellite, the first Observable satellite
Positioning accuracy.
Submodule 63 is constructed, for according to the mark of target position and the GNSS alignment quality attribute of target position, building
The GNSS alignment quality figure layer of map.
Optionally, acquisition submodule 62 is specifically used for:
Obtain the quantity of the second Observable satellite within the preset range of target position；According to the second Observable satellite
Quantity obtains the quantity of the first Observable satellite.
Optionally, acquisition submodule 62 is specifically used for:
The dilution of precision within the preset range of target position is obtained, dilution of precision includes at least one of the following: position essence
Spend the factor, horizontal component dilution of precision and vertical component dilution of precision；According to dilution of precision, point of the first Observable satellite is obtained
Cloth situation.
Optionally, acquisition submodule 62 is specifically used for:
Obtain the latitude standard deviation and longitude standard deviation within the preset range of target position；According to latitude standard deviation and warp
Standard deviation is spent, GNSS positioning accuracy is obtained.
The application provides a kind of server, and Fig. 8 is the structural schematic diagram of server provided by the embodiments of the present application, such as Fig. 8
Shown, which includes:
Processor 71, memory 72, transceiver 73 and computer program；Wherein, transceiver 73 realizes server and its
Data transmission between his equipment, computer program is stored in memory 72, and is configured as being executed by processor 71,
Computer program includes the instruction for executing above-mentioned GNSS alignment quality information-pushing method, content and the effect side of please referring to
Method embodiment.
The application provides a kind of air navigation aid, and Fig. 9 is the flow diagram of air navigation aid provided by the embodiments of the present application；It should
Navigation device execution can be used in air navigation aid, and navigation device can be some or all of terminal device, and terminal device can be with
It is car-mounted terminal, air navigation aid provided by the present application is introduced using car-mounted terminal as executing subject below, as shown in figure 9,
Air navigation aid provided by the embodiments of the present application may include:
Step S801: GNSS alignment quality figure layer is received.
Step S802: according to GNSS alignment quality figure layer, navigation strategy is adjusted.
Mobile unit receives the GNSS alignment quality figure layer obtained such as above method embodiment, passes through the GNSS obtained in real time
Alignment quality figure layer, the adjustable positioning strategy of mobile unit or the preferable route of selective positioning quality are driven, to ensure
Higher safety and reliability.Such as: it is the section of vegetation serious shielding in front of vehicle line, GNSS alignment quality is poor,
Locating module may be selected by the non-GNSS sensor such as IMU, radar, laser radar or camera and obtain high precision position or lead
Navigate the module planning sections of road good to GNSS alignment quality.The embodiment of the present invention to how according to GNSS alignment quality figure layer,
Adjust the concrete mode of navigation strategy with no restrictions.
The application provides a kind of navigation device, and Figure 10 is the structural schematic diagram of navigation device provided by the embodiments of the present application,
Device can be some or all of terminal device, and terminal device can be car-mounted terminal, as shown in Figure 10, provided by the present application
Navigation device may include:
Receiving module 91, for receiving GNSS alignment quality figure layer.
Module 92 is adjusted, for adjusting navigation strategy according to GNSS alignment quality figure layer.
Its content and effect can refer to air navigation aid provided by the above embodiment.
The application provides a kind of vehicle, including navigation device provided by the above embodiment, and content and method can refer to this
Apply for the air navigation aid that embodiment provides.
A kind of navigation map, including it is obtained according to GNSS alignment quality information-pushing method provided by the above embodiment
GNSS alignment quality figure layer, content and effect can refer to the GNSS alignment quality information-pushing method of examples detailed above offer.This
Outside, the embodiment of the present application also provides a kind of computer storage medium, and computer execution is stored in computer readable storage medium
Instruction, when at least one processor of user equipment executes the computer executed instructions, user equipment execute it is above-mentioned it is various can
The method of energy.
The application provides a kind of computer program product, including computer instruction, when executed by the processor, so that
Computer realizes the GNSS alignment quality information-pushing method in above method embodiment.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (14)
1. a kind of GNSS alignment quality information-pushing method characterized by comprising
Global Satellite Navigation System GNSS location information is obtained by terminal；
According to the GNSS location information and map, the GNSS alignment quality figure layer of the map is constructed；
Push the GNSS alignment quality figure layer in real time to user.
2. the method according to claim 1, wherein constructing institute according to the GNSS location information and map
Before the GNSS alignment quality figure layer for stating map, further includes:
According to the characteristic information of the GNSS location information, the GNSS location information is screened, the institute after being screened
GNSS location information is stated,
The characteristic information of the GNSS location information includes at least one of the following:
The acquisition channel information and location information of the constellation types of the GNSS location information, the GNSS location information.
3. according to the method described in claim 2, it is characterized in that, according to the GNSS location information and map, described in building
The GNSS alignment quality figure layer of map, comprising:
It according to the coordinate system of the map, projects in the GNSS location information to the map, the GNSS after being projected is fixed
Position information；
According to the GNSS location information after the projection, the GNSS alignment quality attribute of target position, the GNSS positioning are obtained
Qualitative attribute includes the quantity of the first Observable satellite, the distribution situation and GNSS positioning accuracy of the first Observable satellite；
According to the GNSS alignment quality attribute of target position and the target position, the GNSS alignment quality figure of the map is constructed
Layer.
4. according to the method described in claim 3, it is characterized in that, it is described obtain target position GNSS alignment quality attribute,
Include:
Obtain the quantity of the second Observable satellite within the preset range of the target position；
The quantity of the first Observable satellite is obtained according to the quantity of the second Observable satellite.
5. according to the method described in claim 4, it is characterized in that, it is described obtain target position GNSS alignment quality attribute,
Include:
The dilution of precision within the preset range of the target position is obtained, the dilution of precision includes at least one of the following: position
Set dilution of precision, horizontal component dilution of precision and vertical component dilution of precision；
According to the dilution of precision, the distribution situation of the first Observable satellite is obtained.
6. according to the method described in claim 5, it is characterized in that, it is described obtain target position GNSS alignment quality attribute,
Include:
Obtain the latitude standard deviation and longitude standard deviation within the preset range of the target position；
According to the latitude standard deviation and the longitude standard deviation, the GNSS positioning accuracy is obtained.
7. a kind of GNSS alignment quality information push-delivery apparatus characterized by comprising
Module is obtained, for obtaining GNSS location information by terminal；
Module is constructed, for constructing the GNSS alignment quality figure layer of the map according to the GNSS location information and map；
Release module, for pushing the GNSS alignment quality figure layer to user in real time.
8. device according to claim 7, which is characterized in that further include:
Screening module is screened the GNSS location information, is obtained for the characteristic information according to the GNSS location information
The GNSS location information after to screening,
The characteristic information of the GNSS location information includes at least one of the following:
The acquisition channel information and location information of the constellation types of the GNSS location information, the GNSS location information.
9. a kind of air navigation aid characterized by comprising
Receive GNSS alignment quality figure layer；
According to the GNSS alignment quality figure layer, navigation strategy is adjusted.
10. a kind of navigation device characterized by comprising
Receiving module, for receiving GNSS alignment quality figure layer；
Module is adjusted, for adjusting navigation strategy according to the GNSS alignment quality figure layer.
11. a kind of vehicle, which is characterized in that including navigation device as claimed in claim 10.
12. a kind of navigation map, which is characterized in that including GNSS alignment quality figure layer.
13. a kind of Cloud Server characterized by comprising
Processor；Memory；And computer program；
Wherein, the computer program is stored in the memory, and is configured as being executed by the processor, described
Computer program includes the instruction for executing as the method according to claim 1 to 6.
14. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer journey
Sequence, the computer program make server perform claim require the described in any item methods of 1-6.
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