CN111123302A - Display method of positioning reference information, mobile terminal and readable medium - Google Patents

Display method of positioning reference information, mobile terminal and readable medium Download PDF

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Publication number
CN111123302A
CN111123302A CN201910621254.8A CN201910621254A CN111123302A CN 111123302 A CN111123302 A CN 111123302A CN 201910621254 A CN201910621254 A CN 201910621254A CN 111123302 A CN111123302 A CN 111123302A
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Prior art keywords
value
positioning
reference value
error
data table
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CN201910621254.8A
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Chinese (zh)
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温紫瑄
刘佳
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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
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • 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
    • G01S19/01—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
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
    • 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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system

Abstract

The invention relates to the technical field of satellite positioning information processing, and discloses a display method of positioning reference information, a mobile terminal related to the positioning reference information and a readable medium, wherein the method comprises the following steps: obtaining an error reference value for obtaining satellite positioning according to a preset first mapping relation; and displaying the positioning reference information on a display interface of the mobile terminal according to the error reference value and a preset second mapping relation. Some technical effects of the invention are as follows: factors (precision factors and signal-to-noise ratios) related to satellite positioning precision are selected and are associated with the error reference value, changes of the external environment where the mobile terminal is located are indirectly associated with changes of the error reference value to a certain degree, the error reference value can reflect the influence degree of the current environment on the positioning of the mobile terminal more reliably, and a user can obtain information of the current positioning reliability more intuitively.

Description

Display method of positioning reference information, mobile terminal and readable medium
Technical Field
The invention relates to the technical field of satellite positioning information processing, in particular to a display method of satellite positioning reference information, a mobile terminal and a readable medium.
Background
More and more mobile terminals (such as mobile phones, portable computers, vehicle navigation devices, etc.) have a satellite positioning function, but in the satellite positioning (hereinafter referred to as "positioning"), due to the influence of external factors, a high-precision positioning result cannot be obtained all the time, and the positioning accuracy of the mobile terminal is affected under the conditions that the relative position of a satellite and the mobile terminal is changed, the satellite signal propagation process is blocked by trees or tall buildings, etc.
Currently, in the positioning process of the mobile terminal, a location point is generally only displayed on the electronic map, but due to the influence of the external factors, the location point may not reliably reflect the actual location condition of the mobile terminal.
Disclosure of Invention
In order to at least solve the technical problem, which represents the actual positioning situation of the mobile terminal from other aspects, the invention provides a display method of positioning reference information, the mobile terminal and a readable medium. The main technical scheme is as follows:
the display method of the positioning reference information comprises the following steps: acquiring a numerical value of a precision factor and a numerical value of a signal-to-noise ratio; processing according to a preset first mapping relation to obtain an error reference value of satellite positioning; the first mapping relation comprises a positive correlation relation between a numerical value of a precision factor and the error reference value and a negative correlation relation between a numerical value of a signal-to-noise ratio and the error reference value; and displaying the positioning reference information on a display interface of the mobile terminal according to the error reference value and a preset second mapping relation.
Preferably, the mobile terminal sends GNSS data to the server and receives data corresponding to the error reference value; the error reference value is obtained by processing the GNSS data by a server to obtain a numerical value of a precision factor and a numerical value of a signal-to-noise ratio and then processing according to the first mapping relation; and the mobile terminal displays the positioning reference information according to the second mapping relation.
Preferably, the GNSS data are processed, and the number of high-quality satellites suitable for positioning calculation at that time is obtained through statistics according to preset filtering conditions; the filtering condition comprises that the satellite signal frequency, the numerical value of the satellite altitude angle or the pseudo range value is in a set range; the first mapping further includes a negative correlation of the number of good satellites with the error reference value.
Preferably, the signal-to-noise ratio value comprises an average signal-to-noise ratio value of the number of good satellites and a minimum signal-to-noise ratio value; and the value of the minimum signal-to-noise ratio is the value of the signal-to-noise ratio corresponding to the satellite with the minimum signal-to-noise ratio in all the high-quality satellites suitable for positioning calculation at that time according to the filtering condition.
Preferably, the processing according to the preset first mapping relationship to obtain the error reference value of the satellite positioning specifically includes: calling a first data table, and inquiring to obtain corresponding weight values according to the numerical value of the precision factor, the numerical value of the signal-to-noise ratio and the number of the high-quality satellites; respectively multiplying the numerical value of the precision factor, the numerical value of the signal-to-noise ratio and the number of the high-quality satellites by corresponding weights, and accumulating to obtain a calculation reference value; calling a second data table, and inquiring to obtain the corresponding error reference value according to the calculation reference value; and calling a third data table, and inquiring and obtaining the text content of the corresponding positioning reference information according to the error reference value.
Preferably, an equipment information data table is called, wherein the equipment information data table is used for recording the model of the mobile terminal and the information corresponding to the model of the mobile terminal, the number of the first data table, the number of the second data table and the number of the third data table in a one-to-one correspondence manner; and according to an equipment information data table and mobile terminal signal information, inquiring and obtaining the number of the first data table, the number of the second data table and the number information of the third data table, so as to call the first data table, the second data table and the third data table.
Preferably, the positioning reference information includes information of an estimation error; the second mapping relationship comprises a preset mapping relationship between the error reference value and the numerical value of the estimation error.
Preferably, the positioning reference information includes information of credibility; the second mapping relation comprises a preset mapping relation between the error reference value and the credibility value.
The mobile terminal comprises a positioning module, a communication module, a storage module and a display module; the positioning module is used for receiving satellite signals and processing the satellite signals to obtain GNSS data; the communication module is used for establishing communication with the server, and comprises the steps of sending GNSS data and receiving data of the corresponding error reference value returned by the server; the storage module is used for storing the third data table; and the display module is used for obtaining and displaying the text content of the positioning reference information.
A readable medium having a program executable by a processor, the program, when executed, implementing the steps of the display method.
Some technical effects of the invention are as follows: factors (precision factors and signal-to-noise ratios) related to satellite positioning precision are selected and are associated with the error reference value, changes of the external environment where the mobile terminal is located are indirectly associated with changes of the error reference value to a certain degree, the error reference value can reflect the influence degree of the current environment on the positioning of the mobile terminal more reliably, and a user can obtain information of the current positioning reliability more intuitively.
Drawings
For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:
FIG. 1 is a diagram illustrating a communication relationship between a satellite, a mobile terminal and a server according to an embodiment;
FIG. 2 is a diagram illustrating an error reference value and a calculated reference value for an experimental scenario in one embodiment;
FIG. 3 is a diagram illustrating an exemplary display of positioning reference information;
fig. 4 is a schematic diagram illustrating another display manner of positioning reference information according to an embodiment.
In the above drawings, the reference numbers and their corresponding technical features are as follows:
1-a display interface of the mobile terminal part; 2-display area of error reference value and confidence level; 3-positioning points; 4-pattern; 5-indicator mark.
Detailed Description
The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.
On the general idea, the display method of the positioning reference information comprises the following steps: acquiring a numerical value of a precision factor and a numerical value of a signal-to-noise ratio; processing according to a preset first mapping relation to obtain an error reference value of satellite positioning; the first mapping relation comprises a positive correlation relation between a numerical value of a precision factor and the error reference value and a negative correlation relation between a numerical value of a signal-to-noise ratio and the error reference value; and displaying the positioning reference information on a display interface of the mobile terminal according to the error reference value and a preset second mapping relation.
The positioning reference information (i.e., the presentation and form corresponding to the error reference value) herein refers to information for reference by a user regarding a description of the accuracy or credibility of positioning, and generally includes at least one type of information:
(1) the information describing the type of positioning error, if displayed in text form, may be in the form of "positioning error: 0.50 meters "" "estimation error: 1.00 m inner characters and the like are displayed;
(2) information describing the type of location confidence level may be displayed in text form, such as "location confidence level: 90% "" location confidence level: and displaying characters such as A' and the like.
The display mode (i.e. the display mode) of the positioning reference information comprises graphics, texts or a mode of combining the graphics and the texts.
The positioning reference information helps the user to better know the current positioning condition, and generally speaking, the user can make a comprehensive judgment on the current positioning condition by combining the positioning reference information and the positioning point/positioning mark/positioning information displayed on the electronic map.
The error reference value is understood to be a reference quantity value which is described for the positioning error at an angle, the variation of which means the variation of an external (influencing) factor during the positioning process (which also varies the positioning error). It may be a custom value as long as it has a mapping relationship with the values of the variables (e.g., the value of the precision factor and the value of the signal-to-noise ratio) obtained in the positioning.
Thus, in some embodiments, it may refer to a specific size of the estimation error, such as 1 (meter), 10 (centimeter), etc.; the estimation error may be preset based on experience. For example, the values of the variables obtained in the positioning (e.g., the values of the precision factors and the values of the signal-to-noise ratios) and the corresponding actual measurement errors (the difference between the position coordinates obtained by the positioning of the mobile terminal itself and the position coordinates obtained by the positioning device with higher precision and measured at the same point or nearby) may be obtained through a previous experiment, and the values of the variables and the actual measurement errors are summarized to establish the mapping relationship. According to the mapping relation, in the real-time positioning process, the estimated value of the actual measurement error, namely the numerical value of the estimated error is obtained according to the data of the variable. In essence, the variation of the error reference value is an estimate of the error variation during each positioning of the mobile terminal.
In some embodiments, the error reference value may also be other customized values, which have a mapping relationship with specific values of the estimation error, such as 1 meter of estimation error corresponding to the customized error reference value 100 and 2 meters of estimation error corresponding to the customized error reference value 200; for example, when the error reference value is 10, the corresponding estimation error is 0-10 meters.
More specifically, for GNSS data (Global Navigation Satellite System) obtained by positioning a mobile terminal at multiple epochs by taking a way of performing statistics after actual measurement, values of variables in the positioning process, including values of precision factors and values of signal to noise ratios, are extracted, and variable values of different sizes and positioning error values corresponding to the variable types are obtained through measurement, so that the change in the size of the values of the variables can be reflected through the change in the display content/form through a first mapping relationship established in advance for the types of the variables, the values of the variables and an error reference value, and a second mapping relationship established in advance for the error reference value and the displayed content/form, i.e., positioning reference information. Generally, the variation of the values of these variables also means that the positioning accuracy varies in the actual situation where the user uses the mobile terminal.
The significance of the first mapping relation is mainly that the relevance between the change of some parameters/variables in the GNSS data and the change of the positioning error is indirectly established, so that the change condition of the positioning error can be judged/displayed through the change of some parameters/variables obtained by processing the GNSS data when the mobile terminal is positioned.
It will be understood by those skilled in the art that the variation of the positioning error is influenced by various factors, such as an error caused by monitoring the operation state of the satellite, an error caused by interference of the satellite signal during propagation, and an error caused by the satellite signal receiving apparatus (e.g., a receiver, the mobile terminal) itself, which all affect the accuracy of the positioning result and cannot perform absolute accurate measurement.
The GNSS data is navigation message data obtained by analyzing and processing satellite signals. Different countries or different organizations may have different specifications for different satellite navigation positioning system data, and in one embodiment, the GNSS data includes six types of data of NMEA-0183(NMEA is an abbreviation of National Marine Electronics Association, which may be understood as the american National Marine Electronics Association) standard: and the time, the position, the precision factor, the number of satellites, the elevation angle, the azimuth angle, the signal-to-noise ratio and other parameters of satellite positioning in unit of epoch can be read from the data.
Therefore, the first mapping relation cannot absolutely and hundred percent reflect the error change condition of the mobile terminal when being influenced by external factors because the selected variables (such as precision factors and signal-to-noise ratios) are limited; the first mapping relation has the function of establishing judgment basis for providing a reference of positioning information accuracy for a user.
The Precision factors include one or more of PDOP (Position Precision of Precision), TDOP (time Precision of clock), HDOP (horizontal Precision of horizontal component), VDOP (vertical Precision of vertical component), which belong to the common general knowledge field and are not expanded herein.
In one embodiment, the accuracy factor refers to HDOP, and the positive correlation between the value of the accuracy factor and the error reference value refers to the value S of HDOP1The positive correlation with the error reference value E can be embodied, for example, in the form of the following for reference:
(1) the preset linear relationship is as follows: c1·S1+ X ═ E, where C1X is a self-defined constant and can also be a calculation result of other self-defined formulas;
(2) the preset exponential relationship is as follows: c1·S1 n+ X ═ E, where C1The constant is a self-defined constant, n is a self-defined index, and X can be the self-defined constant or the calculation result of other self-defined formulas;
(3) other relationships preset: for example when S1When the value is in a numerical range of less than 0.5, the value of E is 1; when S is1When the value is in the range of 0.5 to 1.0, the value of E is 2; when S is1In the range of values greater than 1.0, E takes the value 3.
The signal-to-noise ratio value comprises one or two of an average signal-to-noise ratio value and a minimum signal-to-noise ratio value. The average snr value can be obtained by averaging the snr values of the visible satellites, by averaging the snr values of the available satellites (the signals of which can be used for positioning calculation), or by averaging the snr values of the satellites (the signals of which can be used for positioning calculation but also meet other set conditions) that have been screened according to the set screening conditions. The value of the minimum signal-to-noise ratio can be selected according to similar ideas, and the value of the lowest signal-to-noise ratio in the visible satellite, the available satellite or the satellite screened according to the set screening condition is selected as the value of the minimum signal-to-noise ratio.
When the value of the signal-to-noise ratio is one of the value of the average signal-to-noise ratio or the value of the minimum signal-to-noise ratio, the relationship between the value of the signal-to-noise ratio and the error reference value can be set according to the thinking of the linear relationship, the exponential relationship and the custom relationship; e.g. the value of the average signal-to-noise ratio S2The relationship with the error reference value E is a negative correlation relationship, and can be embodied in the form of:
-C2·S2+ Y ═ E, where, C2For the custom constant, Y can be the custom constant or the calculation result of other custom formulas.
In other embodiments, when the first mapping depends only on the values of HDOP and average signal-to-noise ratio as variables, then the first mapping may be established in the form/equation: (C)1·S1)·(C2·S2) E. Wherein S is in different value ranges1Different from C1One-to-one correspondence is realized; s in different value ranges2Different from C2And correspond to each other.
Of course, the above forms/equations are only some examples, and those skilled in the art can make many more variations on the principles and concepts described herein.
Selecting the precision factor and the signal-to-noise ratio as parameters for establishing the first mapping relation, mainly because the precision factor and the signal-to-noise ratio have better correlation with the size of the positioning error; and also for the purpose of improving data processing efficiency, since these parameters can be obtained by processing the satellite signals with a small amount of computation.
The second mapping relationship mainly represents the relevance between different error reference values and corresponding display contents and/or forms on a display interface of the mobile terminal, namely the relevance between the error reference values and the positioning reference information, and the key point is that a user can feel the change situation of the error reference values.
For example, when the error reference value is 1.0, the displayed content may be "estimation error: 1.0 meter ", when the error reference value is 2.0, the displayed content may be" estimation error: 2.0 meters ", the two values remain the same.
For example, when the error reference value is 1.0, the displayed content may be "error score 10", and when the error reference value is 2.0, the displayed content may be "error score 200", so that the error reference value and the displayed number maintain a positive correlation.
For example, when the error reference value is 1.0, the displayed content may be a graphic having a first color (e.g., green), when the error reference value is 2.0, the displayed content may be a graphic having a second color (e.g., red), and when the error reference value is other numerical values, the displayed content may be a graphic having other colors; this may indicate a change in the positioning error (or estimation error) as a change in the color of the pattern.
For example, when the error reference value changes, it can be displayed in the form of: the filling area of a certain color in a designated area of the display interface is proportionally changed.
In essence, the idea of the invention is to select a part of variables related to the positioning error in the GNSS data, and convert the part of variables into the positioning reference information visible to the user according to the preset first mapping relationship and the preset second mapping relationship, so that the user can sense the change of the positioning error in real time/in time. The first mapping relation and the second mapping relation can be designed in different ways, which can be changed by those skilled in the art in addition to the embodiments disclosed above.
Based on the above thought, the processing or calculation of the related data related to the first mapping relationship may be performed by the server (which may reduce the calculation workload of the mobile terminal or reduce the requirement for the performance of the mobile terminal), may be performed by the mobile terminal (which may reduce the calculation pressure of the server), and may also be performed by other relay devices.
In one embodiment, the mobile terminal sends GNSS data to the server and receives data corresponding to the error reference value; the error reference value is obtained by processing the GNSS data by a server to obtain a numerical value of a precision factor and a numerical value of a signal-to-noise ratio and then processing according to the first mapping relation; and the mobile terminal displays the positioning reference information according to the second mapping relation. The first mapping relation may be stored in the server in the form of table data, and the server searches the table to obtain a corresponding error reference value by obtaining values such as a precision factor and a signal-to-noise ratio. The first mapping is also embodied as formulas by which the server calculates the error reference value. When the mobile terminal performs real-time positioning, the GNSS data is also updated in real time and sent to a server.
In one embodiment, GNSS data is processed, and the number of high-quality satellites suitable for positioning calculation at that time is obtained through statistics according to a preset filtering condition; the filtering condition comprises that the satellite signal frequency, the numerical value of the satellite altitude angle or the pseudo range value is in a set range; the first mapping further includes a negative correlation of the number of good satellites with the error reference value. The high-quality satellite is a satellite with the epoch meeting the filtering condition, the positioning error is highly related to the satellite signal quality, and the high-quality satellite has great help for positioning calculation. The purpose of the filter condition design is to screen out 'high-quality satellites' with good satellite signal quality, and the larger the number of the high-quality satellites is, the greater the help of improving the positioning accuracy is.
In some embodiments, the manner of performing the filtering condition includes:
(1) the frequency of the satellite signal of different satellite navigation positioning systems is generally different, and some positioning calculation algorithms are only suitable for a plurality of specific satellite navigation positioning systems but not suitable for others, such as Beidou, GPS and Glonass navigation positioning systems but not suitable for Galileo navigation positioning systems. The number of satellites contributing to the positioning solution can be obtained by taking the frequency of the satellite signal as a screening basis;
(2) whether the satellite altitude value is within a set range (such as less than 20 ° or 10 °) is judged, and generally, the greater the number of satellites within the set range, the greater the assistance to improve the positioning accuracy.
(3) And judging whether the value of the signal-to-noise ratio of the satellite is within a set range (such as more than 30).
(4) And judging whether the pseudo-range value is within a set range, and when the calculated pseudo-range value is too high or too low, indicating that the pseudo-range value is obviously not in accordance with the actual condition, and considering the epoch data as data with extremely large noise to further remove the data. For example, if the calculated pseudorange value is less than 2 kilometers or greater than 10 kilometers for the epoch data of the GPS signal, the epoch data may be considered to be particularly noisy and may be rejected.
The data such as satellite signal frequency, satellite altitude angle and the like can be directly obtained from GNSS data or obtained by adopting a known and simple calculation mode, so that the practical operation is convenient. Of course, other more filtering conditions may be set to define the "number of good satellites".
In one embodiment, the snr value comprises an average snr value and a minimum snr value for the number of premium satellites; and the value of the minimum signal-to-noise ratio is the value of the signal-to-noise ratio corresponding to the satellite with the minimum signal-to-noise ratio in all the high-quality satellites suitable for positioning calculation at that time according to the filtering condition. When the signal quality of individual satellite is poor, the correlation relationship formed by the average signal-to-noise ratio value and the error reference value cannot reflect the situation more accurately, and the significance of selecting the minimum signal-to-noise ratio value as one of the variable values of the first mapping relationship is that a judgment dimension can be increased, so that the value of the signal-to-noise ratio and the error reference value have better correlation, and thus, better reference for positioning errors can be brought to a user.
In one embodiment, the processing according to the preset first mapping relationship to obtain the error reference value of the satellite positioning specifically includes: calling a first data table, and inquiring to obtain corresponding weight values according to the numerical value of the precision factor, the numerical value of the signal-to-noise ratio and the number of the high-quality satellites; respectively multiplying the numerical value of the precision factor, the numerical value of the signal-to-noise ratio and the number of the high-quality satellites by corresponding weights, and accumulating to obtain a calculation reference value; calling a second data table, and inquiring to obtain the corresponding error reference value according to the calculation reference value; and calling a third data table, and inquiring and obtaining the text content of the corresponding positioning reference information according to the error reference value.
For example, when the first mapping relation is established, the value S of HDOP is selected1Number of qualified satellites S2Average signal-to-noise ratio value S3Value of minimum signal-to-noise ratio S4As variables, the following custom forms (as well as other forms) may be embodied: make (C)1·S1·C2·S2·C3·S3·C4·S4) And calculating a reference value E0Has a corresponding relationship with each other, and has a corresponding relationship,
i.e. E0＝C1·S1·C2·S2·C3·S3·C4·S4；
Wherein C is1、C2、C3、C4Is a custom constant/weight.
For GNSS data of a certain epoch, C1、C2、C3、C4Is determined from the following first data table:
S1 the value being in the range A1 The value being in the range A2 The value being in the range A3
C1 B1 B2 B3
S2 The value being in the range A4 The value being in the range A5 The value being in the range A6
C2 B4 B5 B6
S3 The value being in the range A7 The value being in the range A8 The value being in the range A9
C3 B7 B8 B9
S4 The value being in the range A10 The value being in the range A11 The value being in the range A12
C4 B10 B11 B12
Data range A1To A12Can be set by itself, and is not expanded too much here, but only one example:
for example, range A1Can be designed to be less than 1.0, range A2Can be designed to be between 1.0 and 1.5, and the range A3Can be designed to be greater than 1.5; range A4Can be designed to be larger than 10, range A5Can be designed to be between 5 and 10, and the range A6Can be designed to be less than 5; range A7Can be designed to be larger than 30, range A8Can be designed to be between 20 and 30, and the range A9Can be designed to be less than 20; range A10Can be designed to be larger than 15, range A11Can be designed to be between 10 and 15, and the range A12May be designed to be less than 10.
In the same way, C1、C2、C3、C4Value of (B)1To B12And is also custom-defined. For example based on A above1To A12The value of (a) is selected,
B1＝10，B2＝5，B3＝1；
B4＝6，B5＝4，B6＝2；
B7＝2，B8＝1，B9＝0.5；
B10＝2，B11＝1，B12＝0.5；
accordingly, a calculation reference value E can be calculated therefrom0The second data table can then be designed in the form:
calculating a reference value E0 Error reference value E
Interval of values D1 Numerical value or interval of numerical values D4
Interval of values D2 Numerical value or interval of numerical values D5
Interval of values D3 Numerical value or interval of numerical values D6
Data range D1、D2、D2And a value D4、D5、D6Custom settings can be made. Of course, it is also possible to combine the error reference value E with the calculated reference value E0Maintaining an equal relationship.
In a special case, the reference value E is calculated when the error reference value E is kept identical to the value of the estimation error to be presented on the display (the value of the estimation error, which can be generalized from experimental or statistical data, with the aim of estimating the current positioning error of the user mobile terminal, through the previous experimental/statistical case, in case the values of the variables are equal or similar)0The data range of (a) can be set according to the relationship between the calculated reference value and the actual measurement error value obtained by statistical induction.
More specifically, as shown in fig. 2, when a first mapping relation is used to calculate a calculation reference value E corresponding to an epoch0And comparing the accurate position point with the actual measurement position point obtained by the actual measurement of the mobile terminal to obtain an actual measurement error, wherein the plurality of actual measurement error data form the experimental data or the statistical data. For example, an RTK device with millimeter-scale positioning accuracy is used to obtain an accurate position point, the mobile terminal itself positions the obtained actual position point based on the RTD technique, the distance between the two points is 5 meters, the actual measurement error is 5 meters, and it is assumed that the calculation reference value E calculated according to the first mapping relationship is calculated0And 30, a point of fig. 2 with an abscissa of 5 and an ordinate of 30 is formed. When actual measurement errors of a plurality of epochs are obtained and a reference value E is calculated0The scatter plot of fig. 2 is then formed. Accordingly, the calculation reference value E can be summarized according to the statistical condition of the experimental data0Correlation with an error reference (whose value corresponds to the measured error) (absolute correlation is not required). Such a correlation can be generalized, for example, from the situation of fig. 2: data range D1、D2、D3Respectively designed to be 0-25 (not including original number), 25-100 (not including original number), more than 100, and correspondingly, numerical value or interval D4、D5、D6Can be designed to be more than 15 (meter), 5-15 (meter) and less than 5 (meter). Obviously, such a generalization does not reflect the situation of fig. 2 in hundreds (because the actual situation has too many factors influencing the variation of the positioning error), but reflects the situation of fig. 2 to a certain degree/probability. It should be noted that the more variables used in the first mapping relationship, the more beneficial the induction and the reflection of the real situation.
Thereafter, whenever GNSS data is transmitted from a mobile terminal (e.g., a smartphone) of the model, the calculation reference value E may be calculated according to the first mapping relationship0Then, the corresponding error reference value E is determined and displayed on the display interface in the form of estimation error. For example, a calculation reference value E is calculated030, then can beThe error reference value E is displayed in such a way that: estimation error: 5-15 m. Therefore, the user can obtain the positioning reference information which has certain reference value.
Thus, after the GNSS data is processed, S is obtained1、S2、S3、S4Obtaining corresponding C through searching of the first data table1、C2、C3、C4Further, a calculation reference value E can be calculated0And then, the corresponding error reference value E can be obtained through searching of the second data table, and the mobile terminal displays the error reference value E according to the second mapping relation.
It should be particularly emphasized that some of the above embodiments give a reference form of the first mapping relation design, and only in order to understand the related technical solution from one perspective, a person skilled in the art may also design the first mapping relation in other forms according to the prior art. As long as the principle is followed: the first mapping relationship at least includes a positive correlation between a value of a precision factor and the error reference value, and a negative correlation between a value of a signal-to-noise ratio and the error reference value, and the aforementioned positive correlation and negative correlation can be described by those skilled in the art by using equations and formulas in the prior art or by using a custom method, for example, a document with a publication number of CN108759835A discloses a correlation between a GPS precision estimation value (which can be used as the error reference value E) and a geometric precision factor (i.e., the precision factor in the present invention): the error reference E is positively correlated with the accuracy factor by using the formula, such as GDOP UERE.
In one embodiment, a device information data table is called, wherein the device information data table is used for recording the information of the model of the mobile terminal, the number of the first data table, the number of the second data table and the number of the third data table which correspond to the model of the mobile terminal, and the information is in one-to-one correspondence; and according to an equipment information data table and mobile terminal signal information, inquiring and obtaining the number of the first data table, the number of the second data table and the number information of the third data table, so as to call the first data table, the second data table and the third data table.
The device information data includes mobile terminal model information, and considering that mobile terminals of different models have different hardware, the satellite positioning performance of the mobile terminals is influenced. Different types of mobile terminals may receive different types of satellite signals and different positioning calculation methods. When displaying the positioning reference information, it is necessary to consider such differences, and it is preferable to design different first mapping relationships and/or second mapping relationships for mobile terminals with different models/hardware configurations/software configurations.
The specific storage locations of the device information data table, the first data table, the second data table, and the third data table are not particularly limited, and may be stored in one body at the same time or may be stored in a plurality of bodies in a dispersed manner, which is not the gist of the present invention.
In one embodiment, the positioning reference information comprises information of an estimation error; the second mapping relationship comprises a preset mapping relationship between the error reference value and the numerical value of the estimation error.
In order to further present more positioning reference information to the user, in one embodiment, the positioning reference information comprises information of credibility; the second mapping relation comprises a preset mapping relation between the error reference value and the credibility value. The relationship between the error reference value and the reliability value can be induced through experimental statistics, for example, 2 ten thousand epochs of data are counted, and after calculation, the calculation result of 1 ten thousand of data falls into the value interval D of the calculation reference value1However, in 1 ten thousand of data, only 9 thousand of data have the calculation result in accordance with the value interval D1Corresponding set estimation error range (i.e. range value or value interval D of error reference value E)4E.g. estimation of error range, D4All values are 0-5 m), the reliability value is 90%; after calculation, the calculation results of 1.5 ten thousand data fall into the numerical range D of the calculation reference value2However, the data count of 1.4 ten thousand out of 1.5 ten thousand dataThe calculation result conforms to the value interval D2Corresponding set estimation error range (i.e. range value or value interval D of error reference value E)5E.g. estimation of error range, D5All values are 0-8 m), the confidence value is 93%. The mapping relationship between the error reference value and the reliability value is equal to the two values. Of course, in other embodiments, the two may be different values as long as they have a corresponding relationship.
Information of trustworthiness can be visualized as: for example, when the reliability value is 90%, the display content "reliability: 90% "are correlated; for example, when the reliability value is 80%, the display content "reliability: 80% "are correlated.
Therefore, the user can know the estimation error of the current positioning and the information of the reliability corresponding to the estimation error in real time through the first mapping relation and the second mapping relation.
In one embodiment, the graphics, text, or a combination of graphics and text comprises at least one of a numeric or numeric indicator graphic; the second mapping relation embodies a linear correlation relation of the numbers and the error reference value or embodies a mapping relation of the number indication graph set and the error reference value set.
As shown in fig. 3, in the display interface 1 of the mobile terminal part, the error reference value and the reliability value are displayed in the display area 2 mainly in text, and the estimation error value and the reliability value are displayed. The user can refer to the position of the positioning point 3, and by combining with the positioning reference information, know the variation and reliability of the current positioning error from more angles.
Fig. 4 shows another display method of the positioning reference information, which uses a combination of graphics and text, wherein the graphics 4 are marked with numbers (0, 5m, 10m) to illustrate the scale of the estimation error (error reference value), and the graphics 4 have indication marks 5 (numbers indicate graphics to indicate numbers) to indicate the current magnitude of the estimation error.
In one embodiment, the mobile terminal comprises a positioning module, a communication module, a storage module and a display module; the positioning module is used for receiving satellite signals and processing the satellite signals to obtain GNSS data;
the communication module is used for establishing communication with the server, and comprises the steps of sending GNSS data and receiving data of the corresponding error reference value returned by the server; the storage module is used for storing the third data table; and the display module is used for obtaining and displaying the text content of the positioning reference information.
A typical communication relationship is shown in fig. 1, where a satellite a, a satellite B, a satellite C, a satellite D, and a satellite E send out satellite signals, a mobile terminal receives the satellite signals through a satellite positioning antenna, performs radio frequency and baseband processing to obtain GNSS data, and then sends the GNSS data to a server, the server determines an error reference value through a first mapping relationship and returns the data to the mobile terminal, and the mobile terminal displays the error reference value on a display interface thereof through a second mapping relationship.
It will be appreciated by those skilled in the art that, in the case of common sense, descriptions of some of the steps described above may be stored in a readable medium in the form of a computer program.
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 scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.

Claims (10)

1. The display method of the positioning reference information is characterized in that:
acquiring a numerical value of a precision factor and a numerical value of a signal-to-noise ratio;
processing according to a preset first mapping relation to obtain an error reference value of satellite positioning;
the first mapping relation comprises a positive correlation relation between a numerical value of a precision factor and the error reference value and a negative correlation relation between a numerical value of a signal-to-noise ratio and the error reference value;
and displaying the positioning reference information on a display interface of the mobile terminal according to the error reference value and a preset second mapping relation.
2. The display method according to claim 1, wherein:
the mobile terminal sends GNSS data to the server and receives data of the corresponding error reference value;
the error reference value is obtained by processing the GNSS data by a server to obtain a numerical value of a precision factor and a numerical value of a signal-to-noise ratio and then processing according to the first mapping relation;
and the mobile terminal displays the positioning reference information according to the second mapping relation.
3. The display method according to claim 1, wherein:
processing GNSS data, and counting according to a preset filtering condition to obtain the number of high-quality satellites suitable for positioning calculation at that time;
the filtering condition comprises that the satellite signal frequency, the numerical value of the satellite altitude angle or the pseudo range value is in a set range;
the first mapping further includes a negative correlation of the number of good satellites with the error reference value.
4. The display method according to claim 3, wherein:
the signal-to-noise ratio value comprises an average signal-to-noise ratio value of the number of the good satellites and a minimum signal-to-noise ratio value;
and the value of the minimum signal-to-noise ratio is the value of the signal-to-noise ratio corresponding to the satellite with the minimum signal-to-noise ratio in all the high-quality satellites suitable for positioning calculation at that time according to the filtering condition.
5. The display method according to claim 3, wherein:
processing according to a preset first mapping relation to obtain an error reference value of satellite positioning, specifically:
calling a first data table, and inquiring to obtain corresponding weight values according to the numerical value of the precision factor, the numerical value of the signal-to-noise ratio and the number of the high-quality satellites;
respectively multiplying the numerical value of the precision factor, the numerical value of the signal-to-noise ratio and the number of the high-quality satellites by corresponding weights, and accumulating to obtain a calculation reference value;
calling a second data table, and inquiring to obtain the corresponding error reference value according to the calculation reference value;
and calling a third data table, and inquiring and obtaining the text content of the corresponding positioning reference information according to the error reference value.
6. The display method according to claim 5, wherein:
calling an equipment information data table, wherein the equipment information data table is used for recording the model of the mobile terminal and the information corresponding to the model of the mobile terminal, the number of the first data table, the number of the second data table and the number of the third data table one by one;
and according to an equipment information data table and mobile terminal signal information, inquiring and obtaining the number of the first data table, the number of the second data table and the number information of the third data table, so as to call the first data table, the second data table and the third data table.
7. The display method according to claim 1, wherein:
the positioning reference information includes information of an estimation error;
the second mapping relationship comprises a preset mapping relationship between the error reference value and the numerical value of the estimation error.
8. The display method according to claim 1, wherein:
the positioning reference information comprises credibility information;
the second mapping relation comprises a preset mapping relation between the error reference value and the credibility value.
9. A mobile terminal, characterized in that:
the device comprises a positioning module, a communication module, a storage module and a display module;
the positioning module is used for receiving satellite signals and processing the satellite signals to obtain GNSS data;
the communication module is used for establishing communication with the server, and comprises the steps of sending GNSS data and receiving data of the corresponding error reference value returned by the server;
the storage module is used for storing the third data table;
and the display module is used for obtaining and displaying the text content of the positioning reference information.
10. A readable medium having a program executable by a processor, characterized in that:
the program when executed implements the steps of the display method of any one of claims 1 to 8.
CN201910621254.8A 2019-07-10 2019-07-10 Display method of positioning reference information, mobile terminal and readable medium Withdrawn CN111123302A (en)

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