CN111090110A - Method for acquiring or providing VRS service data, user equipment and storage medium - Google Patents

Method for acquiring or providing VRS service data, user equipment and storage medium Download PDF

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Publication number
CN111090110A
CN111090110A CN201910816016.2A CN201910816016A CN111090110A CN 111090110 A CN111090110 A CN 111090110A CN 201910816016 A CN201910816016 A CN 201910816016A CN 111090110 A CN111090110 A CN 111090110A
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vrs
coordinate
grid
user equipment
service data
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周胜伟
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Guangdong Starcart Technology Co ltd
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Guangdong Starcart Technology Co ltd
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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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

Abstract

The disclosure relates to the field of VRS data processing, and discloses a method for acquiring VRS service data, which comprises the following steps: the method comprises the steps that user equipment obtains a first coordinate representing the position of the user equipment; determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS, and obtaining characteristic data of the reference VRS; generating request information for associating the reference VRS characteristics according to the characteristic data; sending the request information to a VRS service system and obtaining VRS service data returned by the VRS service system according to the request information; and the VRS service data is used for eliminating specific errors in positioning calculation. Some technical effects of this disclosure are: the user equipment sends the request information to the VRS service system in the positioning process, rather than directly sending the user position information to the VRS service system, so that the data processing link and the data processing pressure of the VRS service system are reduced, the confidentiality of the data transmission link is improved, and the acquisition efficiency of the VRS service data is greatly improved.

Description

Method for acquiring or providing VRS service data, user equipment and storage medium
Technical Field
The present disclosure relates to the technical field of VRS data processing, and in particular, to a method for acquiring VRS service data, a user equipment, and a method for providing VRS service data.
Background
The VRS (Virtual Reference Station, which may be understood as a "Virtual Reference Station") technology is commonly used in the field of high-precision positioning, and a VRS service system (including a VRS server) may virtually form a Reference Station near a user equipment (which may also be understood as a rover Station, a user terminal, a user positioning device, etc.) in real time to provide VRS service data (including differential data) for the user equipment during high-precision positioning.
The VRS service data is mainly used for eliminating specific errors such as ionosphere errors, troposphere errors, satellite-side errors and the like during positioning calculation.
The conventional VRS service is generally provided by an Ntrip Protocol (network Transport of RTCM video internet Protocol, which can be understood as a "Protocol for performing RTCM network transmission through the internet"), and a user needs to log in and upload the position of the user through user equipment, so that the position information of the user is easily leaked.
Therefore, some proposals provide that an intermediate platform with public credibility is erected between the user equipment and the VRS service system, on one hand, the intermediate platform upwards receives VRS service data provided by the VRS service system, on the other hand, the intermediate platform downwards collects position information of the user equipment, and issues the VRS service data required by positioning the user equipment. In fact, such a method complicates the data interaction procedure, and increases the time delay of high-precision positioning.
Disclosure of Invention
To solve at least one of the foregoing technical problems, the present disclosure in one aspect proposes a method for acquiring VRS service data, comprising the steps of: the method comprises the steps that user equipment obtains a first coordinate representing the position of the user equipment; determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS, and obtaining characteristic data of the reference VRS; generating request information for associating the reference VRS characteristics according to the characteristic data; sending the request information to a VRS service system and obtaining VRS service data returned by the VRS service system according to the request information; and the VRS service data is used for eliminating specific errors in positioning calculation.
Preferably, the characteristic data comprises a third coordinate embodying the position of the reference VRS or a number embodying the characteristic of the reference VRS.
Preferably, "determining a reference VRS from the grid VRS based on the first coordinate and its positional relationship with the grid VRS" comprises: obtaining a corresponding coordinate point of the first coordinate in a second coordinate system, namely a second coordinate, by using the second coordinate system where the grid VRS is located as a reference coordinate system through coordinate transformation; and selecting the VRS closest to the second coordinate in the grid VRS as the reference VRS.
Preferably, before the coordinate transformation, mesh parameters representing the distribution form of the mesh VRSs are obtained, and the mesh parameters include absolute coordinate data of VRSs located at vertices of each unit mesh or relative position data between the VRSs.
Preferably, "selecting a VRS closest to the second coordinate in the grid VRS as the reference VRS" comprises the steps of: and calculating to obtain a grid vertex coordinate closest to the second coordinate according to the grid parameters and a preset calculation rule, and taking the grid vertex coordinate as the coordinate of the reference VRS.
Preferably, the grid VRS comprises a plurality of connected VRSs distributed in an equilateral triangle; the grid parameters comprise the side length d of the equilateral triangle; the preset calculation rules include the following rules: and calculating the coordinate of the grid vertex closest to the second coordinate according to the rule of the connected equilateral triangles and the side length d.
In other aspects, the present disclosure provides a method of providing VRS service data, comprising the steps of:
the VRS server receives request information sent by user equipment; analyzing the request information, and identifying the characteristics of a reference VRS; generating VRS service data corresponding to the reference VRS according to the characteristics, wherein the VRS service data is used for eliminating specific errors when the user equipment is used for positioning calculation; and sending the VRS service data to the user equipment.
In other aspects, the present disclosure provides a method for positioning based on feature data, comprising the steps of: the method comprises the steps that user equipment obtains a first coordinate representing the position of the user equipment; determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS, and obtaining characteristic data of the reference VRS; generating request information for associating the reference VRS characteristics according to the characteristic data, and sending the request information to a VRS service system; the VRS service system receives request information sent by user equipment; analyzing the request information, and identifying the characteristics of a reference VRS; generating VRS service data corresponding to the reference VRS according to the characteristics, and sending the VRS service data to the user equipment; and the user equipment performs positioning calculation according to the first coordinate and the VRS service data to obtain a high-precision positioning result.
In some other aspects, the present disclosure provides a user equipment for acquiring VRS service data, comprising: the positioning module is used for positioning the user equipment to obtain a first coordinate; a coordinate registration module for associating the first coordinate with a location of the grid VRS; the processing module is used for determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS to obtain characteristic data of the reference VRS; the information generation module is used for generating request information for associating the reference VRS characteristics according to the characteristic data; the communication module is used for sending the request information to a VRS service system and acquiring VRS service data returned by the VRS service system according to the request information; and the VRS service data is used for eliminating specific errors when the positioning module performs positioning calculation.
In other aspects, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the aforementioned method.
Some technical effects of this disclosure are: the user equipment sends the request information to the VRS service system in the positioning process, rather than directly sending the user position information to the VRS service system, so that the data processing link and the data processing pressure of the VRS service system are reduced, the confidentiality of the data transmission link is improved, and the acquisition efficiency of the VRS service data is greatly improved.
Drawings
For a better understanding of the technical aspects of the present disclosure, reference may be made to the following drawings, which are included to provide an additional description of the prior art or embodiments. These drawings selectively illustrate articles or methods related to the prior art or some embodiments of the present disclosure. The basic information for these figures is as follows:
FIG. 1 is a diagram illustrating the distribution of VRS when the cell grid is square in one embodiment;
FIG. 2 is a diagram illustrating the VRS distribution when the unit cell is in an equilateral triangle in one embodiment;
FIG. 3 is a schematic diagram illustrating the relationship between three VRS positions and a second coordinate in the embodiment of FIG. 2;
FIG. 4 is a schematic diagram of another location of the origin of coordinates when the unit cell is in an equilateral triangle in one embodiment.
In the above drawings, the reference numbers and their corresponding technical features are as follows:
1-VRS location, 2-second coordinate, 3-VRS coverage.
Detailed Description
The technical means or technical effects referred to by the present disclosure will be further described below, and it is apparent that the examples (or embodiments) provided are only some embodiments intended to be covered by the present disclosure, and not all embodiments. All other embodiments, which can be made by those skilled in the art without any inventive step, will be within the scope of the present disclosure, either explicitly or implicitly based on the embodiments and the text of the present disclosure.
In one aspect, the present disclosure provides a method for acquiring VRS service data, comprising the steps of: the method comprises the steps that user equipment obtains a first coordinate representing the position of the user equipment; determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS, and obtaining characteristic data of the reference VRS; generating request information for associating the reference VRS characteristics according to the characteristic data; sending the request information to a VRS service system and obtaining VRS service data returned by the VRS service system according to the request information; and the VRS service data is used for eliminating specific errors in positioning calculation.
Regarding the user equipment. The user equipment is generally understood to be a device or apparatus with positioning function, which may be one-piece or split from a mechanical point of view. Common user equipment includes smart phones, wearable devices, tablet computers, portable computers, car navigation systems, handheld RTK (Real-time kinematic) receivers or robots with positioning functions.
The location information of the ue is related to the privacy of the user or the related user in work or life, and when the ue requests to access the VRS service network to obtain the VRS service data, if the ue needs to frequently send its location information to the VRS service network, the risk of privacy disclosure may occur. In addition, in the conventional method, the VRS service system needs to determine, by calculation, which VRS is used to provide the relevant VRS service data according to the location information of the user, and after determining the VRS, the VRS service system can generate or update the VRS service data corresponding to the VRS, and then send the VRS service data to the user equipment. When the VRS service network needs to deal with service requests of a plurality of user equipments, the VRS service system may face a pressure of processing a large amount of data in a short time, and the user equipments may not be able to acquire the VRS service data as soon as possible, which may affect timeliness and accuracy of positioning.
By adopting the method for acquiring the VRS service data, the data processing link and the data processing pressure of the VRS service system are reduced, the confidentiality of the data transmission link is improved, and the acquisition efficiency of the VRS service data is greatly improved.
With respect to the first coordinates. The first coordinate obtaining mode includes a satellite positioning mode (single-point positioning or differential positioning), and also includes other positioning modes (such as vision, laser positioning, and the like). The meaning of the first coordinate is that the user equipment can know the position information of the user equipment, so that the position of the VRS closest to the position of the user equipment in the service area where the user equipment is located is calculated or searched, and thus, the user equipment can specify the VRS service system to provide the VRS service data by taking the VRS as a reference. Therefore, the specific value of the first coordinate may change from moment to moment with the change of the location of the user equipment, or may change without changing with a small range (e.g. hundreds of meters or tens of meters) of the location of the user equipment, which depends critically on the mechanism for updating the value of the first coordinate by the user equipment.
In some embodiments, the first coordinates are high precision positioning coordinates obtained by the user equipment in a last positioning period; in some embodiments, the first coordinate is a positioning coordinate obtained by the user equipment starting up for the first single point positioning; in some embodiments, the first coordinates are location coordinates of the user device obtained after data interaction with a nearby device/facility with respect to the device/facility. That is, there may be multiple ways to "embody its location", and the first coordinate may be data that accurately represents the location of the user equipment or data that fuzzily represents the location of the user equipment; typically, each VRS covers a service range of several kilometers, so the first coordinate does not necessarily represent the location of the user equipment with absolute accuracy. The first coordinate may be only required to show that the user equipment is located in a service range covered by some VRSs.
"determining a reference VRS from the grid VRS according to the first coordinate and the position relationship between the first coordinate and the grid VRS" means that the user equipment needs to specify the VRS, and more specifically, the user equipment may calculate the required features of the VRS according to a preset calculation rule or a calculation program. Generally, the user equipment may receive information of related calculation rules or calculation programs through a service interface provided by the VRS system in advance; or the user equipment downloads a program/software containing such calculation rules or calculation programs and then obtains the relevant information; the user may manually configure the user device, so that the user device has the execution capability of the relevant calculation rule or calculation program.
In some cases, the aforementioned "calculation rule or calculation program" can guide the user equipment to find the locations of the VRSs closest to the first coordinate by using the first coordinate, and the user equipment will select one of the first coordinate and the second coordinate to obtain the feature data, which can help the VRS service system to directly determine the identity information or location information of the VRSs, or can indirectly help the VRS service system to obtain the determined identity information or location information of the VRSs by recognizing the request information corresponding to the feature data and using another fixed calculation rule, so that the VRS service system can clearly know which VRS the VRS service data is to be provided for.
And (3) calculation rules or calculation programs of the user equipment. Generally, the calculation rule or the calculation program may be embodied by a formula and a calculation step, or may be embodied by a data set and a search step for the data set.
When a formula and a calculation step are embodied by the calculation rule or the calculation program, the formula and the calculation step are used for guiding the user equipment to calculate the position information (not necessarily absolute position coordinates, but relative position coordinates, as long as the VRS service system can identify) of the reference VRS according to the first coordinates. The formulas and calculation steps are also differentiated by the distribution pattern of the grid VRS. As a supplement, the following is explained: in general, a mesh VRS can be understood as: in the service area, there are a plurality of VRSs, and if they are connected together by virtual lines, the arrangement form of them is a grid, that is, the grid VRS may refer to a plurality of VRSs arranged in a grid. The mesh VRS includes one or more cell meshes VRS, i.e., a mesh of the mesh VRS is composed of one or more cell meshes. It is often the case that multiple cell grids are contiguous to form a grid of the grid VRS. The mesh described herein refers to a shape and a position relationship between VRSs, and the mesh vertex is the position where the VRS is located.
Generally, square grids are generally adopted in the morphological design of grid VRS at present. As shown in fig. 1, each circle in the figure represents each VRS, and thus the grid of fig. 1 can be seen as being composed of a plurality of square unit grids. The calculation rule or algorithm may then be such that: unifying the coordinate system of the first coordinate with the coordinate system of the grid VRS in the figure 1 to obtain the coordinate of the first coordinate in the coordinate system of the grid VRS in the figure 1, namely a second coordinate, and determining a vertex (common mathematical knowledge, which is not expanded here) of a certain unit grid, which is closest to the second coordinate, when the second coordinate falls into the unit grid, wherein the position of the vertex is the position of the reference VRS. Alternatively, the distance between the second coordinates and the coordinates of the vertex of each unit mesh may be calculated one by one, and when the calculated distance is within a set distance, the corresponding vertex coordinates may be regarded as the position coordinates of the reference VRS. The person skilled in the art may also use other methods to calculate the vertex coordinates of the mesh closest to the second coordinate, which all belong to the aforementioned technical rules or calculation procedures.
When the calculation rule or calculation program is embodied as a data set and a search step for the data set, generally, the user equipment is required to download a file of the relevant data set. The data set may be embodied in the form of a table, for example, a plurality of coordinate ranges may be preset, each coordinate range corresponds to one reference VRS, and the table is used for recording such a correlation. When the user equipment calls the table, the user equipment can judge which coordinate range the first coordinate is located in according to the first coordinate of the user equipment, and then can know which VRS service data is needed, wherein the VRS is the reference VRS. The relationship of the coordinate ranges to the associated VRSs is typically set in advance by the VRS service provider.
After the reference VRS is determined, the feature data of the reference VRS can be obtained, wherein the feature data can be an identity number, such as a corresponding specific character (such as 001 number, 002 number and the like); the feature data may be coordinate values of the reference VRS. The feature data is mainly used to indicate the uniqueness (feature) of each VRS, so that the VRS service system can determine which VRS service data the user equipment requests.
The feature data may be obtained directly from the calculation rule or the calculation program, or may be obtained by processing a result obtained directly from the calculation rule or the calculation program. Those skilled in the art will appreciate that the specific implementation may be varied according to specific requirements.
Thus, those skilled in the art should understand the principle, principle and some specific forms of the implementation of the step of determining the reference VRS from the grid VRS according to the first coordinate and the position relationship between the first coordinate and the grid VRS, and obtaining the feature data of the reference VRS.
The reference VRS refers to a VRS: the VRS service system generates service data (i.e., VRS service data) based on the VRS. As for the specific step of the VRS service system invoking the CORS (Continuously Operating Reference Stations) observation data to generate the VRS service data, it belongs to the common general knowledge and is not described herein.
"generating request information for associating the reference VRS characteristics from the characteristic data" means that in some embodiments, the request information may directly contain characteristic data that can be recognized by the VRS service system and obtain identity information of the reference VRS; in other embodiments, the request message may also contain characters that have a mapping relationship with the characteristic data, and the characters can be recognized by the VRS service system and converted into identity information or characteristics of the reference VRS. Regardless of the manner in which it is implemented, the primary purpose of the request message is to help the VRS service system determine two pieces of information: firstly, determining that VRS service data needs to be provided for user equipment, and secondly, determining the characteristics of a reference VRS to decide to select a certain VRS to generate VRS service data. Incidentally, the present disclosure does not unduly limit the communication manner between the user equipment and the VRS service system, and there may or may not be a relay device/apparatus for receiving and forwarding information or data between them. Besides being used for associating the reference VRS characteristics, the request information may also have other functions, such as indicating the identity, type, etc. of the user equipment, i.e. the request information may also carry more information content, and the disclosure is not particularly limited.
From another perspective, the technical solution of the present disclosure is essentially that the user equipment enables the VRS service system to provide corresponding VRS service data by means of specifying the VRS in advance (i.e. determining the reference VRS). Therefore, the VRS service system does not need to acquire the position information of the user equipment, and a controller of the VRS service system can only acquire that the user equipment is positioned in a certain service area, but cannot acquire the specific position information of the user equipment at each moment.
In one embodiment, the characteristic data comprises a third coordinate embodying the reference VRS position or a number embodying the reference VRS characteristic. As shown in fig. 1, each circle represents a VRS having a coordinate, and the partial coordinates (0, 0), (1, 0), (2, 0), (3, 0), (0, 1), (0, 2), (1, 1) are shown in the figure, and these coordinates represent the position of the VRS, and when a certain VRS is determined as the reference VRS, the coordinate is the third coordinate. Of course, the position of each VRS may be numbered, and the number may be used as the number of the VRS as the feature data.
When a first coordinate system where the first coordinate is located and a second coordinate system where the grid VRS is located are the same coordinate system, the position of the first coordinate in the grid VRS can be directly determined; but when they are not the same coordinate system, coordinate transformation is required. In one embodiment, "determining a reference VRS from the grid VRS based on the first coordinate and its positional relationship with the grid VRS" comprises: obtaining a corresponding coordinate point of the first coordinate in a second coordinate system, namely a second coordinate, by using the second coordinate system where the grid VRS is located as a reference coordinate system through coordinate transformation; and selecting the VRS closest to the second coordinate in the grid VRS as the reference VRS.
In one embodiment, before the coordinate transformation, mesh parameters representing the distribution of the VRSs of the mesh are obtained, and the mesh parameters include absolute coordinate data of VRSs located at vertices of each unit mesh or relative position data between the VRSs. The mesh parameters are generally provided by the VRS service provider, and may be obtained when the user equipment first accesses the VRS service, or may be obtained by downloading through a specified path by the user equipment before the first access.
In one embodiment, "selecting a VRS of the grid VRS closest to the second coordinate as the reference VRS" comprises the steps of: and calculating to obtain a grid vertex coordinate closest to the second coordinate according to the grid parameters and a preset calculation rule, and taking the grid vertex coordinate as the coordinate of the reference VRS.
The foregoing mentions the case where the position distribution pattern of the VRS is a square grid. In fact, other forms of the mesh VRS will also be applicable to the technical solution proposed by the present disclosure, such as triangle, pentagon, hexagon or irregular shape.
In one embodiment, the grid VRS comprises a plurality of connected VRSs distributed in an equilateral triangle; the grid parameters comprise the side length d of the equilateral triangle; the preset calculation rules include the following rules: and calculating the coordinate of the grid vertex closest to the second coordinate according to the rule of the connected equilateral triangles and the side length d.
When the VRS distribution form is equilateral triangle, that is, the unit grid is equilateral triangle, the area of the service area is the same, and the effective distance covered by each VRS is the same, the number of VRS can be saved better than that of the square grid, on one hand, the data processing amount of the VRS service system can be reduced, and on the other hand, the frequency of switching VRS by the user equipment can be reduced.
Several examples of calculation rules when the unit grid is an equilateral triangle are listed below for the related ideas to be more clearly understood by those skilled in the art.
Fig. 2 shows the arrangement of VRSs in a two-dimensional service area. The connection lines (dotted lines) of the cell grid at the VRS positions 1 form a plurality of equilateral triangles, each VRS coverage 3 is a regular hexagon (of course, in other embodiments, the VRS coverage can be circular or other shapes; each VRS coverage 3 can be connected or can have a small area overlapping, which is more beneficial for the user equipment to perform VRS switching). When the side length of the equilateral triangle is d, the coordinates of the selectable positions on the x axis are respectively (0, 0), (0, d), (0, 2d), (0, 3d), (0, 4d), (0, 5d), (0, 6d) from small to large, and the coordinates of the selectable positions on the y axis are respectively (0, 0) and (0),
Figure BDA0002186377960000101
The coordinates of the VRS position 1 that are not on the x-axis and the y-axis can be derived from existing, well-known mathematical rules. Therefore, the coordinates of the VRS position 1 closest to the second coordinate 2 (coordinate value is (x, y)) in the coordinate system (second coordinate system) in fig. 2 can be obtained by calculation, and a specific calculation method may refer to the scheme disclosed in the present disclosure, or may refer to other mathematically known methods.
In some cases, from the coordinate value (x, y) of the second coordinate 2, the coordinate points of the three VRS positions 1 closest to (x, y) can be quickly known, and with reference to fig. 2 and 3, the coordinates of the first VRS position 11, the second VRS position 12, and the third VRS position 13 are (x, y), respectively1，y1)、(x3，y3)、(x2，y2) Their distance is closest to the second coordinate 2. Only (x) needs to be calculated at this time1，y1)、(x3，y3)、(x2，y2) And (x, y) selecting the first VRS position 11 as the position of a reference VRS according to the principle of minimum distance, thereby obtaining the position of the VRS to be generated in a world coordinate system, and then generating VRS information.
In some cases, the more commonly used calculation is to order
Figure BDA0002186377960000111
Figure BDA0002186377960000112
x3＝x1+1 d; determining the property of a first type set, which is an odd number set or an even number set (i.e. determining whether the first type set according to the present calculation is an odd number set or an even number set, for example, if the first type set is designated/determined as an odd number set, the expressions of "the first type set" appearing subsequently in the present calculation all refer to odd number sets); judgment of
Figure BDA0002186377960000113
If so, the value of (A) is ordered
Figure BDA0002186377960000114
If not, order
Figure BDA0002186377960000115
Figure BDA0002186377960000116
Separately calculating the coordinates (x) to be compared1，y1)、(x2，y2)、(x3，y3) Distance to coordinate point (x, y); in this case, the VRS position 1 closest to (x, y) can be obtained, and this VRS can be used as the reference VRS.
The case of fig. 2 applies to such a calculation: judgment of
Figure BDA0002186377960000121
If the value of (1) belongs to the odd set, and if so, the order is given
Figure BDA0002186377960000122
If not, order
Figure BDA0002186377960000123
Figure BDA0002186377960000124
The case of fig. 4 applies to such a calculation: judgment of
Figure BDA0002186377960000125
If it belongs to the even set, then order
Figure BDA0002186377960000126
If not, order
Figure BDA0002186377960000127
Figure BDA0002186377960000128
In one embodiment, additional different calculations are providedThe same applies to the case of fig. 2. Coordinates of three VRS positions 1 are obtained, namely (x)1，y1)、(x2，y2)、(x3，y3) (ii) a Wherein the content of the first and second substances,
Figure BDA0002186377960000129
x3＝x1+1 d; when in use
Figure BDA00021863779600001210
When the value of (d) is odd: if it is
Figure BDA00021863779600001211
Is odd, then
Figure BDA00021863779600001212
If it is
Figure BDA00021863779600001213
If the value of (1) is even, then
Figure BDA00021863779600001214
When in use
Figure BDA00021863779600001215
When the value of (d) is an even number: if it is
Figure BDA00021863779600001216
If the value of (1) is even, then
Figure BDA00021863779600001217
Figure BDA00021863779600001218
If it is
Figure BDA00021863779600001219
Is odd, then
Figure BDA00021863779600001220
Separately calculating the coordinates (x) to be compared1，y1)、(x2，y2)、(x3，y3) Distance to (x, y); in this case, the VRS position 1 closest to (x, y) can be obtained, and this VRS can be used as the reference VRS.
In yet another embodiment, a different way of calculating the arrangement of VRS position 1 shown in FIG. 2 is provided: setting the side length of the equilateral triangle as d; two coordinate points to be compared are obtained, namely (x) respectively1，y1)、(x2，y2) (ii) a Determining the property of a first type set, which is an odd number set or an even number set (i.e. determining whether the first type set according to the present calculation is an odd number set or an even number set, for example, if the first type set is designated/determined as an odd number set, the expressions of "the first type set" appearing subsequently in the present calculation all refer to odd number sets); judgment of
Figure BDA0002186377960000131
Value of and
Figure BDA0002186377960000132
if the values of (a) belong to the first type set (i.e. belong to the odd number set or belong to the even number set at the same time), if so, the value of (b) is obtained
Figure BDA0002186377960000133
Figure BDA0002186377960000134
If not, can obtain
Figure BDA0002186377960000135
Figure BDA0002186377960000136
In this way, by comparing the coordinate point (x, y) corresponding to the second coordinate 2 with the two coordinate points (x, y) to be compared1，y1)、(x2，y2) And comparing the distances, and selecting the coordinate point to be compared with the closest distance as the coordinate point of the reference VRS.
When the coordinate point of the reference VRS is obtained in this way, the feature data of the reference VRS is obtained.
As can be seen from the above-listed examples, the calculation rule or calculation program of the user equipment does not need to relate to the actual location of the VRS in some embodiments, and only needs to perform calculation according to a given calculation formula, and send the calculation result (generally, the coordinates of the reference VRS) to the VRS service system in a manner of requesting information, where the VRS service system can confirm that the VRS service data is generated at the corresponding location thereof according to the characteristics (i.e., the coordinates) of the reference VRS. Thus, the possibility that the location information of the user equipment is leaked is reduced, and the possibility that the VRS location information of the VRS service system is leaked is also reduced. Even in some cases, the VRS service system can analyze the received request information to obtain the feature data, perform customized rule conversion on the feature data to obtain the real VRS location data, and then generate the VRS service data according to the location data, so that the confidentiality can be improved greatly.
Those skilled in the art can understand again that the calculation rules and the calculation program can adopt more other customized forms, and only the VRS service system needs to be able to "read" the characteristic data of the reference VRS calculated by the user equipment according to the calculation rules and the calculation program.
Accordingly, in an aspect of the VRS service system, the present disclosure provides a method of VRS service data, comprising the steps of: the VRS server receives request information sent by user equipment; analyzing the request information, and identifying the characteristics of a reference VRS; generating VRS service data corresponding to the reference VRS according to the characteristics, wherein the VRS service data is used for eliminating specific errors when the user equipment is used for positioning calculation; and sending the VRS service data to the user equipment.
In the aspect of data interaction between user equipment and a VRS service system, the present disclosure provides a method for positioning based on feature data, comprising the following steps: the method comprises the steps that user equipment obtains a first coordinate representing the position of the user equipment; determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS, and obtaining characteristic data of the reference VRS; generating request information for associating the reference VRS characteristics according to the characteristic data, and sending the request information to a VRS service system; the VRS service system receives request information sent by user equipment; analyzing the request information, and identifying the characteristics of a reference VRS; generating VRS service data corresponding to the reference VRS according to the characteristics, and sending the VRS service data to the user equipment; and the user equipment performs positioning calculation according to the first coordinate and the VRS service data to obtain a high-precision positioning result.
For the foregoing solution, the present disclosure provides a user equipment for acquiring VRS service data, including: the positioning module is used for positioning the user equipment to obtain a first coordinate; a coordinate registration module for associating the first coordinate with a location of the grid VRS; the processing module is used for determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS to obtain characteristic data of the reference VRS; the information generation module is used for generating request information for associating the reference VRS characteristics according to the characteristic data; the communication module is used for sending the request information to a VRS service system and acquiring VRS service data returned by the VRS service system according to the request information; and the VRS service data is used for eliminating specific errors when the positioning module performs positioning calculation.
In one aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the aforementioned method. It will be understood by those skilled in the art that all or part of the steps in the embodiments may be implemented by hardware instructions associated with a computer program, and the program may be stored in a computer readable medium, which may include various media capable of storing program code, such as a flash memory, a removable hard disk, a read-only memory, a random access memory, a magnetic or optical disk, and the like.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the skill of the disclosed technology, as will be understood or inferred by those skilled in the art from the figures and above.
Moreover, the descriptions of the various embodiments are expanded upon with varying emphasis, and where not already described, may be had by reference to the prior art or other related descriptions herein.
It is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present disclosure, are only used for explaining and explaining the technical solutions of the present disclosure in detail for the convenience of the reader, and do not limit the protection scope or application of the present disclosure. Any modifications, equivalents, improvements and the like which come within the spirit and principle of the disclosure are intended to be covered by the scope of the disclosure.

Claims (10)

1. The method for acquiring the VRS service data is characterized by comprising the following steps:
the method comprises the steps that user equipment obtains a first coordinate representing the position of the user equipment;
determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS, and obtaining characteristic data of the reference VRS;
generating request information for associating the reference VRS characteristics according to the characteristic data;
sending the request information to a VRS service system and obtaining VRS service data returned by the VRS service system according to the request information;
and the VRS service data is used for eliminating specific errors in positioning calculation.
2. The method of claim 1 for obtaining VRS service data, wherein:
the characteristic data includes a third coordinate embodying the reference VRS position or a number embodying the reference VRS characteristic.
3. The method of claim 1 for obtaining VRS service data, wherein:
"determining a reference VRS from the grid VRS based on the first coordinate and its positional relationship with the grid VRS" includes:
obtaining a corresponding coordinate point of the first coordinate in a second coordinate system, namely a second coordinate, by using the second coordinate system where the grid VRS is located as a reference coordinate system through coordinate transformation;
and selecting the VRS closest to the second coordinate in the grid VRS as the reference VRS.
4. A method of obtaining VRS service data according to claim 3, wherein:
before coordinate transformation is carried out, grid parameters for expressing the VRS distribution form of the grid are obtained, and the grid parameters comprise absolute coordinate data of VRSs positioned at the vertex of each unit grid or relative position data among the VRSs.
5. The method of claim 4 for obtaining VRS service data, wherein:
"selecting a VRS closest to the second coordinate in the mesh VRS as the reference VRS" includes the steps of: and calculating to obtain a grid vertex coordinate closest to the second coordinate according to the grid parameters and a preset calculation rule, and taking the grid vertex coordinate as the coordinate of the reference VRS.
6. The method of claim 5 for obtaining VRS service data, wherein:
the grid VRS comprises a plurality of connected VRSs distributed in an equilateral triangle; the grid parameters comprise the side length d of the equilateral triangle;
the preset calculation rules include the following rules: and calculating the coordinate of the grid vertex closest to the second coordinate according to the rule of the connected equilateral triangles and the side length d.
7. A method for providing VRS service data, comprising the steps of:
the VRS server receives request information sent by user equipment;
analyzing the request information, and identifying the characteristics of a reference VRS;
generating VRS service data corresponding to the reference VRS according to the characteristics, wherein the VRS service data is used for eliminating specific errors when the user equipment is used for positioning calculation;
and sending the VRS service data to the user equipment.
8. The method for positioning based on the characteristic data is characterized by comprising the following steps:
the method comprises the steps that user equipment obtains a first coordinate representing the position of the user equipment; determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS, and obtaining characteristic data of the reference VRS; generating request information for associating the reference VRS characteristics according to the characteristic data, and sending the request information to a VRS service system;
the VRS service system receives request information sent by user equipment; analyzing the request information, and identifying the characteristics of a reference VRS; generating VRS service data corresponding to the reference VRS according to the characteristics, and sending the VRS service data to the user equipment;
and the user equipment performs positioning calculation according to the first coordinate and the VRS service data to obtain a high-precision positioning result.
9. User equipment for obtaining VRS service data, comprising:
the positioning module is used for positioning the user equipment to obtain a first coordinate;
a coordinate registration module for associating the first coordinate with a location of the grid VRS;
the processing module is used for determining a reference VRS from the grid VRS according to the first coordinate and the position relation between the first coordinate and the grid VRS to obtain characteristic data of the reference VRS;
the information generation module is used for generating request information for associating the reference VRS characteristics according to the characteristic data;
the communication module is used for sending the request information to a VRS service system and acquiring VRS service data returned by the VRS service system according to the request information;
and the VRS service data is used for eliminating specific errors when the positioning module performs positioning calculation.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program realizing the steps of the method as claimed in any one of claims 1 to 7 when executed by a processor.
CN201910816016.2A 2019-08-30 2019-08-30 Method for acquiring or providing VRS service data, user equipment and storage medium Pending CN111090110A (en)

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