CN110927764A

CN110927764A - Vehicle positioning method and device and vehicle

Info

Publication number: CN110927764A
Application number: CN201911089361.7A
Authority: CN
Inventors: 林丰; 郑登平; 张中强
Original assignee: Beijing Mobike Technology Co Ltd
Current assignee: Hanhai Information Technology Shanghai Co Ltd
Priority date: 2019-11-08
Filing date: 2019-11-08
Publication date: 2020-03-27

Abstract

The invention discloses a vehicle positioning method and device and a vehicle. The method is realized based on a global navigation satellite system GNSS positioning mode, and comprises the following steps: acquiring satellite almanac data periodically and updating and storing the satellite almanac data to the local, wherein the satellite almanac data comprises predicted orbit parameters of a satellite and reference time data corresponding to the predicted orbit parameters; determining whether satellite almanac data is valid when starting a GNSS positioning; under the condition that the satellite almanac data are effective, visual satellite query is carried out based on the satellite almanac data according to the geographic position and the current time determined by other non-GNSS modes; if four or more visible satellites are inquired, the GNSS positioning is carried out by utilizing the inquired visible satellites.

Description

Vehicle positioning method and device and vehicle

Technical Field

The present invention relates to the field of positioning technologies, and in particular, to a vehicle positioning method, a vehicle positioning device, and a vehicle.

Background

The shared economy has become a trend of the times, and various shared vehicles such as public bicycles funded by governments, shared bicycles operated by enterprises, tricycles, electric vehicles, automobiles, and the like have appeared in life. A user uses a shared vehicle through a terminal (for example, a mobile phone) loaded with an APP (application).

For shared vehicles, it is often necessary to determine where the vehicle is located during routine operations. For example, operators need to place/transfer vehicles according to the distribution of existing vehicles, monitor the safety of vehicles to prevent vehicles from being lost, and search for faulty vehicles.

In the prior art, positioning of a vehicle is mainly based on GNSS positioning of an on-board GNSS receiver. The GNSS is generally called a Global Navigation Satellite System (Global Navigation Satellite System), and generally refers to all Satellite Navigation systems including Global, regional, and enhanced Satellite Navigation systems, such as the Global Positioning System (GPS) in the united states, glonass in russia, galileo in europe, and so on.

For moving vehicles, especially for shared vehicles, the speed of positioning is very critical, and will directly affect the reliability of the positioning result, so it is necessary to provide a positioning solution that can improve the positioning speed.

Disclosure of Invention

It is an object of the present invention to provide a new solution for vehicle positioning.

According to a first aspect of the present invention, there is provided a vehicle positioning method implemented based on a global navigation satellite system GNSS positioning manner, including:

acquiring satellite almanac data periodically and updating and storing the satellite almanac data to a local area, wherein the satellite almanac data comprises predicted orbit parameters of a satellite and reference time data corresponding to the predicted orbit parameters;

determining whether the satellite almanac data is valid when starting a GNSS position fix;

performing visual satellite query based on the satellite almanac data according to the geographic position and the current time determined by other non-GNSS modes under the condition that the satellite almanac data is effective;

if four or more visible satellites are inquired, the GNSS positioning is carried out by utilizing the inquired visible satellites.

Optionally, the method further comprises:

performing a full band search to find a visible satellite if the satellite almanac data is invalid;

and performing GNSS positioning according to the found visible satellites.

Optionally, the method further comprises:

if the number of the inquired visible satellites is less than four, performing full-band search to find the visible satellites;

and performing GNSS positioning according to the found visible satellites.

Optionally, the method further comprises:

and if the satellite almanac data is invalid, re-acquiring the satellite almanac data.

Optionally, the non-GNSS positioning mode includes any one or any combination of the following: wifi positioning, Bluetooth positioning, base station positioning.

According to a second aspect of the present invention, there is provided a positioning device for a vehicle, the device enabling positioning of the vehicle based on a global navigation satellite system GNSS positioning, the device comprising a memory and a processor, the memory storing a computer program, the computer program when executed by the processor enabling the steps of:

Optionally, the instructions when executed by the processor implement the steps of:

under the condition that the satellite almanac data are invalid, performing full-band search to search for a visible satellite, and performing GNSS positioning according to the searched visible satellite; and/or the presence of a gas in the gas,

in the event that the satellite almanac data is invalid, reacquiring the satellite almanac data.

and performing GNSS positioning according to the found visible satellites.

Optionally, the apparatus further comprises: the system comprises a Wifi positioning module, a Bluetooth positioning module and a base station positioning module;

the non-GNSS positioning mode includes any one or any combination of the following: wifi positioning, Bluetooth positioning, base station positioning.

According to a third aspect of the present invention, there is provided a vehicle having the positioning device of the vehicle provided in any one of the second aspects of the present invention.

According to one embodiment of the present disclosure, satellite almanac data is periodically acquired by the vehicle being provided with a GNSS receiver or other means of the vehicle. When starting GNSS positioning, judging whether the satellite almanac data is valid. Under the condition that the satellite almanac is effective, the geographic position determined by other non-GNSS modes is utilized, visual satellite query is carried out based on satellite almanac data according to the geographic position and the current time, signals of the visual satellites can be directly searched after the visual satellites are determined, accurate positioning is further carried out on the vehicle, the time for searching satellite signals in a full frequency band can be saved, and the speed and the accuracy for positioning the vehicle are improved.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 illustrates a block diagram of a vehicle system that may be used to implement an embodiment of the invention;

fig. 2 shows a flowchart of a positioning method of a vehicle of the first embodiment of the invention;

fig. 3 shows a block diagram of a positioning apparatus of a vehicle of a second embodiment of the invention;

fig. 4 shows a block diagram of a vehicle of a third embodiment of the invention.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< vehicle System >

As shown in fig. 1, the vehicle system 100 includes a server 1000, a user terminal 2000, a vehicle 3000, and a network 4000.

The server 1000 is a service point that provides processing, databases, and communications facilities. The server 1000 may be a unitary server or a distributed server across multiple computers or computer data centers. The server may be of various types, such as, but not limited to, a web server, a news server, a mail server, a message server, an advertisement server, a file server, an application server, an interaction server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported or implemented by the server. For example, a server, such as a blade server, a cloud server, etc., or may be a server group consisting of a plurality of servers, which may include one or more of the above types of servers, etc.

In one example, the server 1000 may be as shown in fig. 1, including a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600. Although the server may also include speakers, microphones, etc., these components are not relevant to the present invention and are omitted here. The processor 1100 may be, for example, a central processing unit CPU, a microprocessor MCU, or the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a serial interface, an infrared interface, and the like. Communication device 1400 is capable of wired or wireless communication, for example. The display device 1500 is, for example, a liquid crystal display, an LED display touch panel, or the like. The input device 1600 may include, for example, a touch screen, a keyboard, and the like.

In the present embodiment, the user terminal 2000 is an electronic device having a communication function and a service processing function. The user terminal 2000 may be a mobile terminal held by a user using a vehicle, such as a mobile phone, a laptop, a tablet computer, a palmtop computer, and the like, and has a corresponding APP, through which the user uses the vehicle.

As shown in fig. 1, the user terminal 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, an output device 2700, a camera device 2800, and the like. The processor 2100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 2200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 2300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 2400 is capable of wired or wireless communication, for example, and includes a Wifi communication module, a bluetooth communication module, a 2G/3G/4G communication module, and the like. The display device 2500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 2600 may include, for example, a touch screen, a keyboard, or a microphone. The output device 2700 is for outputting information, and may be, for example, a speaker for outputting voice information to a user. The image pickup device 2800 is used for image pickup of acquisition information, and is, for example, a camera or the like. The user terminal 2000 may include a positioning device (not shown), for example, a GNSS positioning module such as a GPS positioning module, a beidou positioning module, etc.

The vehicle 3000 is any vehicle that can give the right to share the use by different users in time or separately, for example, a shared bicycle, a shared moped, a shared electric vehicle, a shared vehicle, and the like. The vehicle 3000 may be a bicycle, a tricycle, an electric scooter, a motorcycle, a four-wheeled passenger vehicle, or the like.

As shown in fig. 1, vehicle 3000 may include a processor 3100, a memory 3200, an interface device 3300, a communication device 3400, an output device 3500, an input device 3600, a positioning device 3700, sensors 3800, and so forth. The processor 3100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 3200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface 3300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 3400 is capable of wired or wireless communication, for example, and includes a Wifi communication module, a bluetooth communication module, a 2G/3G/4G communication module, and the like, for example. The output device 3500 may be, for example, a device that outputs a signal, may be a display device such as a liquid crystal display panel or a touch panel, or may be a speaker or the like that outputs voice information or the like. The input device 3600 may include, for example, a touch panel, a keyboard, or the like, and may input voice information through a microphone. The positioning device 3700 is used to provide positioning function, and may include a GNSS positioning module such as a GPS positioning module and a beidou positioning module. The sensor 3800 is used for acquiring vehicle attitude information, and may be, for example, an accelerometer, a gyroscope, or a three-axis, six-axis, nine-axis micro-electro-mechanical system (MEMS), or the like.

The network 4000 may be a wireless communication network or a wired communication network, and may be a local area network or a wide area network. In the vehicle system shown in fig. 1, a vehicle 3000 and a server 1000, and a user terminal 2000 and the server 1000 can communicate with each other through a network 4000. The vehicle 3000 may be the same as the server 1000, or the network 4000 through which the user terminal 2000 communicates with the server 1000 may be different from the server.

It should be understood that although fig. 1 shows only one server 1000, user terminal 2000, vehicle 3000, it is not meant to limit the corresponding number, and multiple servers 1000, user terminals 2000, vehicles 3000 may be included in the vehicle system 100.

Taking the vehicle 3000 as an example of a shared bicycle, the vehicle system 100 is a shared bicycle system. The server 1000 is used to provide all the functionality necessary to support shared bicycle use. The user terminal 2000 may be a mobile phone on which a shared bicycle application is installed, and the shared bicycle application may help a user to acquire a corresponding function using the vehicle 3000, and the like.

The vehicle system 100 shown in FIG. 1 is illustrative only and is not intended to limit the invention, its application, or uses in any way. Although a plurality of devices are shown in fig. 1 for the server 1000, the user terminal 2000, and the vehicle 3000, the present invention may relate to only some of the devices.

In an embodiment of the present invention, the memory 1200 of the server 1000 is used for storing instructions for controlling the processor 1100 to operate so as to execute the part of the vehicle positioning method provided by the embodiment of the present invention, which is executed by the server. In an embodiment of the present invention, the memory 2200 of the user terminal 2000 is configured to store instructions for controlling the processor 2100 to operate to execute a portion of the vehicle positioning method provided by the embodiment of the present invention, where the portion is executed by the user terminal. The memory 3200 of the vehicle 3000 is used to store instructions for controlling the processor 3100 to operate to perform the portions of the vehicle localization methods provided by embodiments of the invention that are performed by the vehicle.

Those skilled in the art can design instructions in accordance with the teachings of the present invention. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.

< first embodiment >

Referring to fig. 2, a method for positioning a vehicle according to an embodiment of the present invention is illustrated, where the method is implemented based on a global navigation satellite system GNSS positioning manner.

The method may be implemented by a vehicle, which may be vehicle 3000 as shown in fig. 1; or may be implemented by a server, which may be the server 1000 shown in fig. 1; the server may be implemented together with the vehicle 3000, and is not limited herein.

The embodiment is applied to positioning, dispatching, operating and managing vehicles, wherein the vehicles are transportation equipment which are released for users to obtain the use rights in modes of time-sharing renting, local renting and the like, and the vehicles can be two-wheel or three-wheel bicycles, mopeds, electric vehicles and motor vehicles with more than four wheels.

The vehicle positioning method comprises the following steps:

at step S202, satellite almanac data is periodically acquired and updated for local storage.

The satellite almanac data includes satellite predicted orbit parameters and reference time data corresponding to the predicted orbit parameters. The predicted orbit parameters of the satellite are predicted orbit parameters of the satellite at a future time (i.e., a reference time) according to actual operation conditions of the satellite. In step S202, the predicted orbit parameters of the satellite for a period of time in the future (for example, for three days) and the reference time data corresponding to the predicted orbit parameters are acquired each time.

Step S204, when starting GNSS positioning, determining whether the satellite almanac data is valid;

step S206, under the condition that the satellite almanac data is valid, visual satellite query is carried out based on the satellite almanac data according to the geographic position and the current time determined by other non-GNSS modes;

in step S208, if four or more visible satellites are searched, GNSS positioning is performed using the searched visible satellites.

In one particular example, in the event that satellite almanac data is invalid, a full band search is conducted to find visible satellites; and performing GNSS positioning according to the found visible satellites.

In a specific example, if the number of the inquired visible satellites is less than four, performing a full-band search to find the visible satellites; and performing GNSS positioning according to the found visible satellites.

In one particular example, if the satellite almanac data is invalid, the satellite almanac data is reacquired.

According to the positioning method of the vehicle provided by the embodiment of the invention, the satellite almanac data is periodically acquired by the GNSS receiver arranged on the vehicle or other devices of the vehicle. When starting GNSS positioning, judging whether the satellite almanac data is valid. Under the condition that the satellite almanac is effective, the geographic position determined by other non-GNSS modes is utilized, visual satellite query is carried out based on satellite almanac data according to the geographic position and the current time, signals of the visual satellites can be directly searched after the visual satellites are determined, accurate positioning is further carried out on the vehicle, the time for searching satellite signals in a full frequency band can be saved, and the speed and the accuracy for positioning the vehicle are improved.

The above steps S202 to S208 will be described one by one.

In this embodiment, the vehicle may acquire the satellite almanac data according to a preset interval time, for example, the vehicle acquires the satellite almanac data every 4 hours. The vehicle is provided with a GNSS receiver, and the vehicle can periodically acquire satellite almanac data by the GNSS receiver. The vehicle may also acquire satellite almanac data by other means of the vehicle. For example, the vehicle is connected to a server via a 2G/3G/4G communication network, and satellite almanac data is periodically acquired from the server. The server may be a server of a shared vehicle or a server dedicated to providing satellite assisted positioning services. The vehicle may also obtain satellite almanac data through a terminal device, such as a mobile phone, a tablet computer, a smart watch, or other intelligent terminal device having a function of receiving GNSS signals.

In this embodiment, the satellite almanac data includes the almanac of all satellites associated with the GNSS system. The almanac data for the satellite includes predicted orbit parameters for the satellite for a future period of time (e.g., 3 days, etc.) and reference time data corresponding to the predicted orbit parameters. The almanac of the satellite may be used to calculate the geographic position of the satellite for a future period of time.

The predicted orbit parameters may include a satellite serial number (ID), a satellite Health (Health), an orbit Inclination (Orbital Inclination), a rising intersection Right ascension (Right ascension), a rising intersection Right ascension Rate of change (Rate of Right ascension), a satellite orbit Eccentricity (Eccentricity), a near point depression (angle of sight), an average near point angle (Mean angle), a satellite clock correction parameter (clock difference), a satellite clock correction parameter (clock speed), and the like. Wherein the satellite serial number is a pseudo random noise code (PRN) of the satellite. Satellite health is used to indicate whether a satellite is available. Orbital inclination refers to the angle between the orbital plane of a satellite and the equatorial plane of the earth, and can be indicative of the relationship between the orbital plane and the equatorial plane or the earth's axis. The ascent point right ascension refers to the coordinates of the ascent point passing through the center of the earth, and the ascent point refers to the intersection point with the earth's equatorial plane when the satellite passes through the earth's equatorial plane from south to north.

in a specific example, the step of determining whether the satellite almanac data is valid when starting the GNSS positioning may further include:

step S302, acquiring an age threshold of a satellite almanac and generation time of the satellite almanac in satellite almanac data;

the age threshold of the satellite almanac may indicate a length of validity of the satellite almanac. The greater the age threshold of the satellite almanac, the longer the validity period of the satellite almanac; the smaller the age threshold of the satellite almanac, the shorter the validity period of the satellite almanac. For example, the age threshold for satellite almanac is 1 week.

Step S304, calculating a time difference value between the current time and the generation time of the satellite almanac;

step S306, the time difference is compared with an age threshold of the satellite almanac to determine whether the satellite almanac data is valid.

And if the time difference value is less than or equal to the age threshold of the satellite almanac, determining that the satellite almanac data is valid.

And if the time difference value is larger than the age threshold of the satellite almanac, determining that the satellite almanac data is invalid.

For example, assuming that the age threshold of the satellite almanac is 1 week, and the time difference between the current time and the generation time of the satellite almanac is greater than 1 week, it is determined that the satellite almanac data is invalid.

In another specific example, the step of determining whether the satellite almanac data is valid when starting the GNSS positioning may further comprise:

step S402, calculating the time difference between the current time and the time when the vehicle acquires the satellite almanac data;

step S404, comparing the time difference value with a preset valid time threshold to determine whether the satellite almanac data is valid.

And if the time difference is less than or equal to a preset effective time threshold, determining that the satellite almanac data is effective.

And if the time difference value is larger than a preset valid time threshold value, determining that the satellite almanac data is invalid.

The effective time threshold value can be set according to engineering experience or experimental simulation results. For example, the validity time threshold is 1 week. And if the time difference between the current time and the acquisition time of the satellite almanac data is more than 1 week, determining that the satellite almanac data is invalid.

And step S206, under the condition that the satellite almanac data are effective, performing visual satellite query based on the satellite almanac data according to the geographic position and the current time determined by other non-GNSS modes.

Specifically, in step S206, a visual satellite query is made by:

and calculating the running state of the satellite at the current moment, including the azimuth and the altitude of the satellite at the current moment, by using the predicted orbit parameters and the reference moment data corresponding to the predicted orbit parameters.

The geographical position determined by other non-GNSS modes is used as the reference geographical position of the vehicle, and satellites which can be observed at the reference geographical position of the vehicle at the current moment can be calculated according to the reference geographical position of the vehicle, the azimuth and the altitude of the satellites at the current moment, that is, whether the satellites are visible relative to the reference geographical position of the vehicle is judged.

The non-GNSS positioning mode can be any one or any combination of Wifi positioning, Bluetooth positioning and base station positioning.

In one particular example, the reference geographic location of the vehicle may be initially determined by Wifi positioning. The method specifically comprises the following steps: the vehicle to be positioned is positioned through the vehicle to be positioned or the geographic position of at least one Wifi Access device (Wifi AP, Wifi Access Point) connected with the terminal of the user of the vehicle to be positioned. Since the user uses the vehicle to be located, the geographical position of the terminal is the reference geographical position of the vehicle to be located.

Each Wifi AP has a globally unique MAC address and Wifi APs generally do not move for a period of time. The terminal can scan and collect signals of surrounding Wifi APs under the condition that the Wifi is started, the MAC address of the Wifi AP is obtained, and the process does not require the terminal and the Wifi APs to establish a real wireless connection relation.

In one example, the terminal sends the scanned MAC addresses of the plurality of Wifi APs to the server, the server retrieves the geographical position of each Wifi AP from the Wifi AP position database according to the MAC address of each Wifi AP, and the reference geographical position of the vehicle to be positioned is comprehensively determined according to the geographical positions of the plurality of Wifi APs. For example, the central positions of a plurality of Wifi APs are used as the reference geographical positions of the vehicle to be positioned.

In another example, the terminal sends the strength of the scanned Wifi AP signals to the server, after the server retrieves the geographic position of each Wifi AP, the server may determine the distance between the vehicle to be positioned and the corresponding Wifi AP according to the Signal strength based on a RSSI (Received Signal strength indication) positioning principle, and calculate the reference geographic position of the vehicle to be positioned according to the distance between the vehicle to be positioned and each Wifi AP and the geographic position of each Wifi AP.

In another specific example, the reference geographic location of the vehicle may be initially determined by bluetooth location. The method specifically comprises the following steps: and positioning the vehicle to be positioned through the vehicle to be positioned or by using the geographic position of at least one Bluetooth device connected with the terminal of the user of the vehicle to be positioned. In one example, the Bluetooth device may be another vehicle whose geographic location has been accurately calibrated. In one embodiment, bluetooth beacons (beacons) are pre-populated within the zone, where the bluetooth devices may be bluetooth beacons within the zone.

Bluetooth is a short-range communication mode, and in one example, the geographic location of the vehicle to be located or a bluetooth device connected using a terminal of a user of the vehicle to be located may be used as a reference geographic location of the vehicle to be located.

In another example, the number of the vehicles to be positioned or the number of the bluetooth devices connected by the terminal of the user of the vehicle to be positioned is multiple, and the reference geographic position of the vehicle to be positioned can be comprehensively determined according to the geographic positions of the multiple bluetooth devices. For example, the central positions of a plurality of the bluetooth devices are used as the reference geographical position of the vehicle to be positioned.

In another example, the distance between the vehicle to be positioned and the corresponding bluetooth device may be determined according to the Signal Strength based on the RSSI (Received Signal Strength Indication) positioning principle, and the reference geographic position of the vehicle to be positioned may be calculated according to the distance between the vehicle to be positioned and each bluetooth device and the geographic position of each bluetooth device.

In yet another specific example, the reference geographic location of the vehicle may be initially determined by way of a base station location. The positioning of the base station is a mature positioning technology and is not described herein too much. In brief, the vehicle to be located or the terminal of the user using the vehicle to be located may measure the downlink pilot signals of different base stations to obtain TOA (Time of Arrival) or TDOA (Time Difference of Arrival) of the downlink pilot signals of different base stations, and the reference geographical position of the vehicle to be located may be calculated according to the measurement result and the geographical coordinates of the base stations, and further, the reference geographical position may be uploaded to the server.

According to the scheme of the example, under the condition that the satellite almanac is effective, the geographic position determined by other non-GNSS modes is utilized, visual satellite query is carried out according to the geographic position and the current time based on the satellite almanac data, signals of the visual satellites can be directly searched to further accurately position the vehicle after the visual satellites are determined, the time for searching satellite signals in a full frequency band can be saved, and the speed and the accuracy for positioning the vehicle can be improved.

In this embodiment, after the visible satellites are queried, if the number of the visible satellites reaches four or more, the queried visible satellites can be directly used for GNSS positioning. The number of visible satellites up to four and more is determined according to GNSS positioning principles.

According to the scheme of the example, after the visible satellite is determined, the signal of the visible satellite can be directly searched, and the vehicle can be further accurately positioned, so that the time for searching the satellite signal in the full frequency band can be saved.

In one example, steps S502-S504 are also included after determining whether the satellite almanac data is valid.

Step S502, under the condition that the satellite almanac data is invalid, full-band search is carried out to search for a visible satellite.

Step S504, GNSS positioning is carried out according to the found visible satellite.

According to the scheme of the example, the visible satellites are searched through full-band search, positioning can be carried out according to signals of the visible satellites, and therefore accurate positioning of the vehicle is achieved under the condition that satellite almanac data are invalid.

In another example, step S602 is further included after determining whether the satellite almanac data is valid.

And step S602, if the satellite almanac data is invalid, the satellite almanac data is acquired again.

According to the scheme of the example, when the satellite almanac data are invalid, the satellite almanac data can be acquired again through the GNSS receiver arranged on the vehicle or other devices of the vehicle, the visual satellite query is carried out based on the satellite almanac data according to the geographic position and the current time, after the visual satellite is determined, the signal of the visual satellite can be directly searched for further positioning, the time for searching the satellite signal in the full frequency band can be saved, and the speed and the accuracy for positioning the vehicle are improved.

In yet another example, if the number of visible satellites queried in step S206 is less than four, steps S702-S704 are performed.

Step S702, a full-band search is performed to find a visible satellite.

Step S704, performing GNSS positioning according to the found visible satellite.

According to the above example, when the number of the visible satellites queried in step S206 is less than four, the GNSS positioning is performed by searching for visible satellites through a full-band search instead.

According to the positioning method of the vehicle provided by the embodiment of the invention, the satellite almanac data can be acquired regularly through the GNSS receiver arranged on the vehicle or other devices of the vehicle. When starting GNSS positioning, judging whether the satellite almanac data is valid. Under the condition that the satellite almanac is effective, the geographic position determined by other non-GNSS modes is utilized, visual satellite query is carried out based on satellite almanac data according to the geographic position and the current time of the vehicle, signals of the visual satellites can be directly searched after the visual satellites are determined, the vehicle is further accurately positioned, the time for searching satellite signals in a full frequency band can be saved, and the speed and the accuracy for positioning the vehicle are improved.

< second embodiment >

Referring to fig. 3, an embodiment of the present invention provides a vehicle positioning apparatus 300, where the vehicle positioning apparatus 300 is configured to perform positioning of a vehicle based on a global navigation satellite system GNSS positioning manner, the vehicle positioning apparatus 300 includes a memory 310 and a processor 320, the memory 310 stores a computer program, and the computer program, when executed by the processor 320, performs the following steps:

determining whether satellite almanac data is valid when starting a GNSS positioning;

under the condition that the satellite almanac data are effective, visual satellite query is carried out based on the satellite almanac data according to the geographic position and the current time determined by other non-GNSS modes;

In this embodiment, the vehicle positioning device 300 further includes a Wifi positioning module 330, a bluetooth positioning module 340, and a base station positioning module 350.

Other non-GNSS approaches include any or any combination of the following: wifi positioning, Bluetooth positioning, base station positioning.

In one particular example, the geographic location of the vehicle may be initially determined by Wifi positioning module 330. The method specifically comprises the following steps: and positioning the vehicle to be positioned through the vehicle to be positioned or the geographic position of at least one Wifi access device connected with the terminal of the user of the vehicle to be positioned.

In another specific example, the current geographic location of the vehicle may be determined by the Bluetooth location module 340. The method specifically comprises the following steps: and positioning the vehicle to be positioned through the vehicle to be positioned or by using the geographic position of at least one Bluetooth device connected with the terminal of the user of the vehicle to be positioned.

In yet another specific example, the geographic location of the vehicle may be initially determined by the base station location module 350. Specifically, the method includes measuring downlink pilot signals of different base stations by a vehicle to be located or by using a terminal of a user of the vehicle to be located, obtaining TOA (Time of Arrival) or TDOA (Time difference of Arrival) of downlink pilot signals of the different base stations, and calculating the geographical position of the vehicle to be located according to the measurement result and the geographical coordinates of the base stations.

In one embodiment, the instructions when executed by the processor 320 may further implement the steps of:

under the condition that the satellite almanac data is invalid, performing full-band search to find a visible satellite;

and performing GNSS positioning according to the found visible satellites.

In another embodiment, the instructions when executed by the processor 320 may further implement the steps of:

and performing GNSS positioning according to the found visible satellites.

In yet another embodiment, the instructions when executed by the processor 320 may further implement the steps of:

According to the positioning device of the vehicle, the satellite almanac data can be acquired periodically by the vehicle provided with the GNSS receiver or other devices of the vehicle. When starting GNSS positioning, judging whether the satellite almanac data is valid. Under the condition that the satellite almanac is effective, the geographic position determined by other non-GNSS modes is utilized, visual satellite query is carried out based on satellite almanac data according to the geographic position and the current time of the vehicle, signals of the visual satellites can be directly searched after the visual satellites are determined, the vehicle is further accurately positioned, the time for searching satellite signals in a full frequency band can be saved, and the speed and the accuracy for positioning the vehicle are improved.

< third embodiment >

Referring to fig. 4, in the present embodiment, there is provided a vehicle 400, the vehicle 400 including: the second embodiment provides a positioning device 300 for a vehicle.

The vehicle is a transportation device which is released for a user to obtain a use right in modes of time-sharing lease, local lease and the like, and can be a two-wheel or three-wheel bicycle, a moped, an electric vehicle or a motor vehicle with more than four wheels.

According to the vehicle provided by the embodiment of the invention, the satellite almanac data can be acquired periodically by the vehicle provided with a GNSS receiver or other devices of the vehicle. When starting GNSS positioning, judging whether the satellite almanac data is valid. Under the condition that the satellite almanac is effective, the geographic position determined by other non-GNSS modes is utilized, visual satellite query is carried out based on satellite almanac data according to the geographic position and the current time of the vehicle, signals of the visual satellites can be directly searched after the visual satellites are determined, the vehicle is further accurately positioned, the time for searching satellite signals in a full frequency band can be saved, and the speed and the accuracy for positioning the vehicle are improved.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the server embodiment, since it is substantially similar to the method embodiment, the description is simple, and for relevant points, reference may be made to part of the description of the method embodiment.

The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A vehicle positioning method is realized based on a Global Navigation Satellite System (GNSS) positioning mode and comprises the following steps:

2. The method of claim 1, further comprising:

and performing GNSS positioning according to the found visible satellites.

3. The method of claim 1, further comprising:

and performing GNSS positioning according to the found visible satellites.

4. The method of claim 1, further comprising:

5. The method of claim 1, wherein the non-GNSS positioning mode comprises any one or any combination of the following: wifi positioning, Bluetooth positioning, base station positioning.

6. A positioning apparatus for a vehicle, the apparatus enabling positioning of the vehicle based on a global navigation satellite system, GNSS, positioning, the apparatus comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, enables the steps of:

7. The apparatus of claim 6, wherein the instructions when executed by the processor implement the steps of:

8. The apparatus of claim 6, wherein the instructions when executed by the processor implement the steps of:

and performing GNSS positioning according to the found visible satellites.

9. The apparatus of claim 6, wherein the apparatus further comprises: the system comprises a Wifi positioning module, a Bluetooth positioning module and a base station positioning module;

10. A vehicle having a positioning device of the vehicle according to any one of claims 6 to 9.