CN111148015A - Positioning method and device, mobile terminal, Android system terminal and Android system application system - Google Patents
Positioning method and device, mobile terminal, Android system terminal and Android system application system Download PDFInfo
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- CN111148015A CN111148015A CN201811323007.1A CN201811323007A CN111148015A CN 111148015 A CN111148015 A CN 111148015A CN 201811323007 A CN201811323007 A CN 201811323007A CN 111148015 A CN111148015 A CN 111148015A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention is suitable for the technical field of positioning, and provides a positioning method and device, a mobile terminal and a terminal of an Android system, wherein the positioning method comprises the following steps: receiving a positioning indication; acquiring original positioning observation data; when ephemeris data exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data; acquiring corresponding differential information from a server based on the single-point positioning information; and fusing based on the single-point positioning information and the differential information to obtain a positioning result. In the invention, the differential positioning result is obtained by combining the differential information of the server and the self-calculated single-point positioning information, and the positioning precision can be improved.
Description
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to a positioning method and device, a mobile terminal, a terminal of an Android system and an application system.
Background
In the prior art, outdoor positioning technologies of mobile terminals (such as mobile phones) can be basically divided into two types, one is a positioning method based on an operator base station, and the method is to determine the position of a mobile phone terminal by using the distance measurement of the mobile phone to the base station; the other method is a method based on satellite (GPS, Beidou, GLONASS and the like) positioning, and the method realizes positioning by utilizing a positioning module in a mobile phone terminal.
The basic principle of the mobile phone satellite positioning technology is as follows: the method comprises the steps that a satellite system broadcasts a navigation message of a ranging signal, the navigation message contains position information of a satellite, a mobile phone terminal positioning module calculates the distance from a terminal to the satellite when receiving three or more satellite signals, and the position coordinate of the mobile phone terminal is obtained by combining triangular position intersection calculation; the mobile phone satellite positioning accuracy has more sources of errors, is mainly influenced by satellite ephemeris, clock error, multipath error and the like, and is not high in positioning accuracy of a common mobile phone terminal.
Disclosure of Invention
The embodiment of the invention provides a positioning method and device, a mobile terminal, a terminal of an Android system and an application system, and aims to solve the problem of low precision caused by positioning only by a positioning module of the mobile terminal in the prior art.
A method of positioning, comprising:
receiving a positioning indication;
acquiring original positioning observation data;
when ephemeris data exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data;
acquiring corresponding differential information from a server based on the single-point positioning information;
and fusing based on the single-point positioning information and the differential information to obtain a positioning result.
Preferably, the raw positioning observation data includes raw satellite data, and after the raw positioning observation data is acquired and when ephemeris data does not exist in the raw positioning observation data, before the calculating single-point positioning information based on the raw positioning observation data and requesting differential information from a server, the method further includes:
and judging whether the original satellite data carries ephemeris data.
Preferably, after determining whether the raw satellite data carries ephemeris data, the method further includes:
and when the judgment result is negative, acquiring ephemeris data from the server and performing positioning calculation to obtain a positioning result.
Preferably, when ephemeris data does not exist in the raw positioning observation data, calculating single-point positioning information based on the raw positioning observation data and requesting difference information from a server specifically includes:
acquiring a native positioning GPS;
performing RTK calculation based on the native positioning GPS and the original satellite data to obtain single-point positioning information;
requesting differential information from the server based on the standalone positioning information.
Preferably, the fusing based on the single-point positioning information and the differential information, and obtaining a positioning result includes:
correcting the single-point positioning information based on the differential information to obtain first positioning information;
and fusing based on the first positioning information, the single-point positioning information and the native positioning GPS to obtain a positioning result.
Preferably, the raw positioning observation data further includes sensing data, and the obtaining of the positioning result based on the fusion of the first positioning information, the single-point positioning information, and the raw positioning GPS includes:
fusing based on the first positioning information, the single-point positioning information and the native positioning GPS to obtain second positioning information;
and performing inertial navigation calculation based on the second positioning information and the sensing data to obtain a positioning result.
Preferably, the fusing based on the first positioning information, the single-point positioning information and the native positioning GPS, and obtaining the second positioning information includes:
analyzing whether the state of the first positioning information is one of floating point solution, fixed solution and code difference;
when the first positioning information is judged to be the second positioning information, outputting the first positioning information as the second positioning information;
and when the judgment result is no, selecting one with the smallest precision range from the first positioning information, the single-point positioning information and the native positioning GPS as the second positioning information.
Preferably, performing inertial navigation calculation based on the second positioning information and the sensing data, and obtaining a positioning result includes:
calculating the position of the current movement based on the sensing data;
and fusing based on the second positioning information and the current movement position to obtain a positioning result.
Preferably, the fusing based on the second positioning information and the position of the current motion, and obtaining the positioning result includes:
judging whether the current environment has a GPS signal;
when the current movement position is judged to be not the current movement position, taking the current movement position as a positioning result;
and when the judgment result is yes, outputting a positioning result based on the second positioning information.
Preferably, outputting the positioning result based on the second positioning information comprises:
judging whether the precision range of the second positioning information is within a preset range or not;
if so, acquiring a difference value between the current second positioning information and the last second positioning information;
and when the difference is smaller than a threshold value, taking the second positioning information as a positioning result.
Preferably, the positioning method is based on an Android system.
The invention also proposes an application system, which performs the following steps:
receiving a positioning indication;
acquiring original positioning observation data;
when ephemeris data exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data;
acquiring corresponding differential information from a server based on the single-point positioning information;
and fusing based on the single-point positioning information and the differential information to obtain a positioning result.
The present invention also provides a positioning device, comprising:
a receiving unit, configured to receive a positioning indication;
the first acquisition unit is used for acquiring original positioning observation data;
the calculation unit is used for calculating single-point positioning information based on the original positioning observation data when ephemeris data exists in the original positioning observation data;
a second obtaining unit, configured to obtain differential information from a server based on the single-point positioning information;
and the fusion positioning unit is used for fusing based on the single-point positioning information and the differential information to obtain a positioning result.
The invention also provides a mobile terminal, which comprises a positioning device, wherein the positioning device comprises:
a receiving unit, configured to receive a positioning indication;
the first acquisition unit is used for acquiring original positioning observation data;
the calculation unit is used for calculating single-point positioning information based on the original positioning observation data when ephemeris data exists in the original positioning observation data;
a second obtaining unit, configured to obtain differential information from a server based on the single-point positioning information;
and the fusion positioning unit is used for fusing based on the single-point positioning information and the differential information to obtain a positioning result.
The invention also provides a terminal of an Android system, which comprises a positioning device, wherein the positioning device comprises:
a receiving unit, configured to receive a positioning indication;
the first acquisition unit is used for acquiring original positioning observation data;
the calculation unit is used for calculating single-point positioning information based on the original positioning observation data when ephemeris data exists in the original positioning observation data;
a second obtaining unit, configured to obtain differential information from a server based on the single-point positioning information;
and the fusion positioning unit is used for fusing based on the single-point positioning information and the differential information to obtain a positioning result.
The present invention also provides a memory storing a computer program, wherein the computer program is executed by a processor to perform the steps of:
receiving a positioning indication;
acquiring original positioning observation data;
when ephemeris data exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data;
acquiring corresponding differential information from a server based on the single-point positioning information;
and fusing based on the single-point positioning information and the differential information to obtain a positioning result.
The invention also provides a positioning terminal, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the following steps:
receiving a positioning indication;
acquiring original positioning observation data;
when ephemeris data exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data;
acquiring corresponding differential information from a server based on the single-point positioning information;
and fusing based on the single-point positioning information and the differential information to obtain a positioning result.
In the embodiment of the invention, the differential positioning result is obtained by combining the differential information of the server and the single-point positioning information calculated by the server, so that the positioning precision can be improved.
Drawings
Fig. 1 is a flowchart of a positioning method according to a first embodiment of the present invention;
fig. 2 is a flowchart illustrating a step S3 of a positioning method according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a step S5 of a positioning method according to a first embodiment of the present invention;
fig. 4 is a flowchart illustrating a step S52 of a positioning method according to a first embodiment of the present invention;
FIG. 5 is a block diagram of a positioning device according to a second embodiment of the present invention;
fig. 6 is a structural diagram of a positioning terminal according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In an embodiment of the present invention, a positioning method includes: receiving a positioning indication; acquiring original positioning observation data; when ephemeris data do not exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data; acquiring differential information from a server based on the single-point positioning information; and fusing based on the single-point positioning information and the differential information to obtain a positioning result.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 shows a flowchart of a positioning method according to a first embodiment of the present invention, where the method includes:
step S1, receiving positioning indication;
specifically, the positioning method is a positioning method for a terminal based on an operating system, which may be preferably an android system, and the terminal may be any mobile terminal, such as a mobile phone, and the like, which is not limited herein. When the positioning is needed, the user can send out a positioning instruction based on the operation interface of the terminal.
Step S2, acquiring original positioning observation data;
specifically, raw positioning observation data is obtained, which may include: raw satellite data (raw data) and sensor data (sensor), wherein the raw satellite data are collected in real time, and the sensor data are collected when a positioning algorithm is started. The sensor is an Android system self-contained element, and the switch is controlled by a program.
Step S3, when ephemeris data exists in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data;
specifically, whether the original positioning observation data includes ephemeris data is firstly analyzed, that is, whether the original satellite data carries the ephemeris data is analyzed, and when the original positioning observation data does not carry the ephemeris data, single point positioning information (that is, PPP) is calculated based on the original positioning observation data.
Step S4, acquiring corresponding difference information from the server based on the single point positioning information;
specifically, a request for differential information is sent to the server based on the single-point positioning information, and when the server receives the request, corresponding differential information is obtained based on the single-point positioning information and fed back, wherein the differential information is obtained through differential positioning operation.
Step S5, fusing based on the single point positioning information and the differential information to obtain a positioning result;
specifically, fusion positioning processing is performed based on the single-point positioning information and the differential information, and a corresponding positioning result is obtained.
In this embodiment, the differential positioning result is obtained by combining the differential information of the server and the single-point positioning information calculated by the server, so that the positioning accuracy can be improved.
In a preferable embodiment of this embodiment, after the step S2 and before the step S3, the method further includes:
step S6, judging whether the original satellite data carries ephemeris data;
specifically, whether the original satellite data carries ephemeris data is analyzed and judged, and when the original satellite data carries the ephemeris data, the step S3 is carried, otherwise, the step S7 is carried;
step S7, ephemeris data is obtained from the server and positioning calculation is carried out to obtain a positioning result;
specifically, ephemeris data is requested from a server, and after ephemeris data fed back by the server is received, solution positioning is directly performed based on the ephemeris data to obtain a positioning result. The resolving positioning method may be an existing positioning method, which is not limited herein.
In a preferred embodiment of this embodiment, as shown in fig. 2, a specific flowchart of step S3 of a positioning method according to a first embodiment of the present invention is provided, where step S3 specifically includes:
step S31, acquiring a native positioning GPS;
in particular, a native position GPS (location GPS) is obtained from the system, preferably from a positioning module of the android system.
Step S32, performing RTK calculation based on the original positioning GPS and the original satellite data to obtain single-point positioning information;
specifically, RTK calculation is performed based on the native positioning GPS and the original satellite data to obtain single-point positioning information.
In a preferred embodiment of this embodiment, as shown in fig. 3, a specific flowchart of step S5 of a positioning method according to a first embodiment of the present invention is provided, where step S5 specifically includes:
step S51, correcting the single-point positioning information based on the difference information to obtain first positioning information;
specifically, the single-point positioning information is corrected based on the received difference information, and an error of the single-point positioning information is corrected to obtain the first positioning information.
Step S52, fusing based on the first positioning information, the single-point positioning information and the native positioning GPS to obtain a positioning result;
specifically, the first positioning information, the single-point positioning information and the native positioning GPS are integrated to perform fusion positioning processing, and a positioning result is obtained.
In a preferred embodiment of this embodiment, as shown in fig. 4, a specific flowchart of step S5 of a positioning method according to a first embodiment of the present invention is provided, where step S52 specifically includes:
step S521, fusing based on the first positioning information, the single-point positioning information and the native positioning GPS to obtain second positioning information;
specifically, whether the state of the first positioning information is one of floating point solution, fixed solution and code difference is analyzed;
when the positioning information belongs to one of the positioning information, outputting the first positioning information as second positioning information, namely using the first positioning information as the second positioning information;
if not, selecting one with the smallest precision range from the first positioning information, the single-point positioning information and the native positioning GPS as the second positioning information;
step S522, performing inertial navigation calculation based on the second positioning information and the sensing data to obtain a positioning result;
specifically, the current movement position is calculated based on the sensing data, and then fusion is performed based on the second positioning information and the current movement position to obtain a positioning result; for example, the moving distance between the current point and the previous point is determined by an accelerometer, the direction between the current point and the previous point is determined by a gyroscope, and the current position point is calculated from the parameters corresponding to the 2 points.
And further, judging whether the current environment has a GPS signal, when judging that the current environment has the GPS signal, firstly judging that the precision range of the second positioning information is within a preset range and the difference value between the precision range of the second positioning information and the last stored second positioning information is less than a threshold value by taking the second positioning information as a positioning result, and otherwise, directly calculating the positioning result by using inertial navigation. The preset range and the threshold may be set according to practical situations, and are not limited herein. Preferably, the accuracy range is determined according to the number of satellites and the signal strength, and the accuracy range is more accurate when the number of satellites is larger and the signal is stronger.
And when the judgment is not carried out, the position of the current motion obtained by calculation is taken as a positioning result.
For ease of understanding, the implementation of the present invention is described below as an example:
the Android system of the mobile terminal is provided with a positioning module, and a high-precision positioning unit is additionally arranged and is arranged on a frame layer (frame) of the Android system, the high-precision positioning unit comprises a positioning chip and a computing unit, the computing unit is connected with the positioning chip through a serial port, and the computing unit is connected with an external server (such as a cloud positioning server).
The method comprises the steps that a user starts a mobile terminal (preferably a mobile phone), a framework layer of an Android system initializes a positioning module and initializes a high-precision positioning unit, when the user starts a positioning application program, the high-precision positioning unit is started, a positioning chip obtains original positioning data and feeds the original positioning data back to a computing unit, the computing unit firstly obtains the serial number of a satellite through original satellite data and then checks whether ephemeris data exist, when the satellite does not exist, the computing unit sends a request for obtaining the ephemeris data to a server, the server obtains corresponding ephemeris data based on the serial number of the satellite and feeds the ephemeris data back to the computing unit, and an AGNSS computing unit of the computing unit (including the AGNSS computing unit) performs positioning calculation based on the ephemeris data to obtain a positioning. When ephemeris data exists, a native positioning GPS is obtained from a positioning module, RTK calculation is carried out by combining original satellite data, single-point positioning information is obtained, then a difference information request is sent to a server, the server obtains corresponding difference information based on the single-point positioning information and feeds the difference information back to a calculating unit, and the calculating unit corrects the single-point positioning information after receiving the difference information to obtain first positioning information. Performing fusion positioning processing based on the first positioning information, the native positioning GPS and the single-point positioning information, first determining whether the state of the first positioning information belongs to any one of a floating solution, a fixed solution or a code difference, and if the state of the first positioning information belongs to any one of the three, selecting and outputting the first positioning information as second positioning information, and if the state of the first positioning information does not belong to any one of the three, selecting the second positioning information as the one having the smallest deviation of the precision ranges among the first positioning information, the native positioning GPS and the single-point positioning information; in addition, the original observation data also comprises sensing data, the computing unit calculates the current vehicle-mounted inertial navigation or handheld inertial navigation mode based on the sensing data, then, the position of the current movement is calculated according to the inertial navigation mode and the sensing data, if the current movement belongs to the initial starting, when the current precision value of GPS positioning meets the requirement, the GPS point is taken as the starting point of inertial navigation, then judging whether there is GPS signal, if not, using the position of the movement as the positioning result, if so, carrying out fusion calculation on the position of the current movement and the second positioning information, when the precision range of the second positioning information is within the preset range and the difference value with the second positioning information stored last time is less than the threshold value, the second positioning information is taken as the positioning result, the preset range and the threshold may be set according to actual conditions, which is not limited herein. And when the positioning result is obtained, returning the positioning result to the positioning application.
Further, different characteristics of vehicles and pedestrians are distinguished according to the spectrogram, walking speed and shaking of people are different from those of the vehicles, the human mode mobile phone is placed in a pocket, walking can generate speed and direction, the ranges of data of the human mode mobile phone and the walking can be different in the spectrogram, and the vehicle-mounted inertial navigation mode or the handheld inertial navigation mode is deduced according to the spectrogram.
Further, the process of calculating the current movement position in the handheld inertial navigation mode is as follows: the inertial navigation sets a point A as a starting point, a person walks to an actual point B after one second, the handheld inertial navigation collects sensor information (including direction and walking speed) for one second, and a point C is calculated according to the point A by calculating the direction and the walking speed, wherein the point C is called the current position calculated by the handheld inertial navigation.
Further, the process of calculating the current motion position in the vehicle-mounted inertial navigation mode is as follows: the inertial navigation sets a point A as a starting point, the vehicle travels to an actual point B after one second, the vehicle-mounted inertial navigation collects sensor information (including direction and traveling speed) of one second, and a point C is calculated according to the point A by calculating the direction and the traveling speed, wherein the point C is called as a current position calculated by vehicle-mounted inertial navigation.
In this embodiment, the differential positioning result is obtained by combining the differential information of the server and the single-point positioning information calculated by the server, so that the positioning accuracy can be improved.
Secondly, when there is no GPS signal, the inertial navigation is used to carry out positioning, and the positioning practicability can be improved.
Based on the first embodiment, the present invention further provides an application system, where the application system is configured to implement the steps of the first embodiment, and the specific working principle of the application system is consistent with the implementation process of the first embodiment, and the steps are described herein.
Example two:
based on the first embodiment, as shown in fig. 5, a structure diagram of a positioning apparatus according to a second embodiment of the present invention is provided, where the detecting apparatus includes: receiving unit 1, first acquisition unit 2 connected with receiving unit 1, calculation unit 3 connected with first acquisition unit 2, second acquisition unit 4 connected with calculation unit 3, fuse positioning unit 5 connected with second acquisition unit 4, wherein:
a receiving unit 1, configured to receive a positioning instruction;
specifically, the positioning method is a positioning method for a terminal based on an operating system, which may be preferably an android system, and the terminal may be any mobile terminal, such as a mobile phone, and the like, which is not limited herein. When the positioning is needed, the user can send out a positioning instruction based on the operation interface of the terminal.
The acquisition unit 2 is used for acquiring original positioning observation data;
acquiring original positioning observation data;
specifically, raw positioning observation data is obtained, which may include: raw satellite data (raw data) and sensor data (sensor), wherein the raw satellite data are collected in real time, and the sensor data are collected when a positioning algorithm is started. The sensor is an Android system self-contained element, and the switch is controlled by a program.
The calculation unit 3 is used for calculating single-point positioning information based on the original positioning observation data when ephemeris data exists in the original positioning observation data;
specifically, whether the original positioning observation data includes ephemeris data is firstly analyzed, that is, whether the original satellite data carries the ephemeris data is analyzed, and when the original positioning observation data does not carry the ephemeris data, single-point positioning information is calculated based on the original positioning observation data.
A second obtaining unit 4, configured to obtain corresponding difference information from the server based on the single-point positioning information;
specifically, a request for differential information is sent to the server based on the single-point positioning information, and when the server receives the request, corresponding differential information is obtained based on the single-point positioning information and fed back, wherein the differential information is obtained through differential positioning operation.
The fusion positioning unit 5 is used for carrying out fusion based on the single-point positioning information and the differential information to obtain a positioning result;
specifically, fusion positioning processing is performed based on the single-point positioning information and the differential information, and a corresponding positioning result is obtained.
In this embodiment, the differential positioning result is obtained by combining the differential information of the server and the single-point positioning information calculated by the server, so that the positioning accuracy can be improved.
In a preferable aspect of this embodiment, the positioning device further includes: a judging unit 6 connected with the first acquiring unit 2 and the calculating unit 3, wherein:
the judging unit 6 is used for judging whether the original satellite data carries ephemeris data;
specifically, whether the original satellite data carries ephemeris data is analyzed and judged, and when carrying the ephemeris data, the ephemeris data is fed back to the calculating unit 3, otherwise, the ephemeris data is fed back to the fusion positioning unit 5;
the fusion positioning unit 5 is further configured to acquire ephemeris data from the server and perform positioning calculation to obtain a positioning result;
specifically, ephemeris data is requested from a server, and after ephemeris data fed back by the server is received, solution positioning is directly performed based on the ephemeris data to obtain a positioning result. The resolving positioning method may be an existing positioning method, which is not limited herein.
In a preferable aspect of the present embodiment, the calculating unit 3 includes: a native acquisition subunit and a single-point computation subunit, wherein:
the native acquisition subunit is used for acquiring a native positioning GPS;
in particular, a native position GPS (location GPS) is obtained from the system, preferably from a positioning module of the android system.
The single-point calculation subunit is used for performing RTK calculation based on the original positioning GPS and the original satellite data to obtain single-point positioning information;
specifically, RTK calculation is performed based on the native positioning GPS and the original satellite data to obtain single-point positioning information.
In a preferred embodiment of this embodiment, the fusion positioning unit 5 specifically includes: first acquisition subunit, the fusion positioning subunit who is connected with first acquisition subunit, wherein:
the first obtaining subunit is configured to correct the single-point positioning information based on the difference information to obtain first positioning information;
specifically, the single-point positioning information is corrected based on the received difference information, and an error of the single-point positioning information is corrected to obtain the first positioning information.
The fusion positioning subunit is used for performing fusion based on the first positioning information, the single-point positioning information and the native positioning GPS to obtain a positioning result;
specifically, the first positioning information, the single-point positioning information and the native positioning GPS are integrated to perform fusion positioning processing, and a positioning result is obtained.
In a preferred embodiment of this embodiment, the fusion localization subunit is specifically configured to:
fusing based on the first positioning information, the single-point positioning information and the native positioning GPS to obtain second positioning information;
specifically, whether the state of the first positioning information is one of floating point solution, fixed solution and code difference is analyzed;
when the positioning information belongs to one of the positioning information, outputting the first positioning information as second positioning information, namely using the first positioning information as the second positioning information;
if not, selecting one with the smallest precision range from the first positioning information, the single-point positioning information and the native positioning GPS as the second positioning information;
the inertial navigation device is also used for carrying out inertial navigation calculation based on the second positioning information and the sensing data to obtain a positioning result;
specifically, the current movement position is calculated based on the sensing data, and then fusion is performed based on the second positioning information and the current movement position to obtain a positioning result, for example, the moving distance between the current point and the previous point is judged according to an accelerometer, the directions of the current point and the previous point are judged according to a gyroscope, and the current position point is calculated according to parameters corresponding to the 2 points;
and further, judging whether the current environment has a GPS signal, and when judging that the second positioning information is used as a positioning result, firstly judging that the precision range of the second positioning information is within a preset range and the difference value between the precision range and the last stored second positioning information is smaller than a threshold value, and using the second positioning information as the positioning result.
The preset range and the threshold may be set according to practical situations, and are not limited herein. Preferably, the accuracy range is determined according to the number of satellites and the signal strength, and the accuracy range is more accurate when the number of satellites is larger and the signal is stronger.
And when the judgment is not carried out, the position of the current motion obtained by calculation is taken as a positioning result.
For ease of understanding, the implementation of the present invention is described below as an example:
the Android system of the mobile terminal is provided with a positioning module (the mobile terminal is configured to leave a factory), and a high-precision positioning unit (namely the positioning device) is additionally arranged and is arranged on a frame layer (frame) of the Android system, the high-precision positioning unit comprises a positioning chip and a computing unit, the computing unit is connected with the positioning chip through a serial port, and the computing unit is connected with an external server (such as a cloud positioning server).
The method comprises the steps that a user starts a mobile terminal (preferably a mobile phone), a framework layer of an Android system initializes a positioning module and initializes a high-precision positioning unit, when the user starts a positioning application program, the high-precision positioning unit is started, a positioning chip obtains original positioning data and feeds the original positioning data back to a computing unit, the computing unit firstly obtains the serial number of a satellite through original satellite data and then checks whether ephemeris data exist, when the satellite does not exist, the computing unit sends a request for obtaining the ephemeris data to a server, the server obtains corresponding ephemeris data based on the serial number of the satellite and feeds the ephemeris data back to the computing unit, and an AGNSS computing unit of the computing unit (including the AGNSS computing unit) performs positioning calculation based on the ephemeris data to obtain a positioning. When ephemeris data exists, a native positioning GPS is obtained from a positioning module, RTK calculation is carried out by combining original satellite data, single-point positioning information is obtained, then a difference information request is sent to a server, the server obtains corresponding difference information based on the single-point positioning information and feeds the difference information back to a calculating unit, and the calculating unit corrects the single-point positioning information after receiving the difference information to obtain first positioning information. Performing fusion positioning processing based on the first positioning information, the native positioning GPS and the single-point positioning information, first determining whether the state of the first positioning information belongs to any one of a floating solution, a fixed solution or a code difference, and if the state of the first positioning information belongs to any one of the three, selecting and outputting the first positioning information as second positioning information, and if the state of the first positioning information does not belong to any one of the three, selecting the second positioning information as the one having the smallest deviation of the precision ranges among the first positioning information, the native positioning GPS and the single-point positioning information; in addition, the original observation data further includes sensing data, the calculating unit calculates a current vehicle-mounted inertial navigation mode or a handheld inertial navigation mode based on the sensing data, then calculates a current moving position according to the inertial navigation mode and the sensing data, judges whether a GPS signal exists currently, if not, uses the moving position as a positioning result, if so, performs fusion calculation on the current moving position and the second positioning information, and when a precision range of the second positioning information is within a preset range and a difference value between the current moving position and the last stored second positioning information is smaller than a threshold value, uses the second positioning information as a positioning result, wherein the preset range and the threshold value can be set according to an actual situation, and the size is not limited herein. And when the positioning result is obtained, returning the positioning result to the positioning application.
Further, different characteristics of vehicles and pedestrians are distinguished according to the spectrogram, walking speed and shaking of people are different from those of the vehicles, the human mode mobile phone is placed in a pocket, walking can generate speed and direction, the ranges of data of the human mode mobile phone and the walking can be different in the spectrogram, and the vehicle-mounted inertial navigation mode or the handheld inertial navigation mode is deduced according to the spectrogram.
Further, the process of calculating the current movement position in the handheld inertial navigation mode is as follows: the inertial navigation sets a point A as a starting point, a person walks to an actual point B after one second, the handheld inertial navigation collects sensor information (including direction and walking speed) for one second, and a point C is calculated according to the point A by calculating the direction and the walking speed, wherein the point C is called the current position calculated by the handheld inertial navigation.
Further, the process of calculating the current motion position in the vehicle-mounted inertial navigation mode is as follows: the inertial navigation sets a point A as a starting point, the vehicle travels to an actual point B after one second, the vehicle-mounted inertial navigation collects sensor information (including direction and traveling speed) of one second, and a point C is calculated according to the point A by calculating the direction and the traveling speed, wherein the point C is called as a current position calculated by vehicle-mounted inertial navigation.
In this embodiment, the differential positioning result is obtained by combining the differential information of the server and the single-point positioning information calculated by the server, so that the positioning accuracy can be improved.
Secondly, when there is no GPS signal, the inertial navigation is used to carry out positioning, and the positioning practicability can be improved.
The present invention further provides a mobile terminal, which includes the positioning device according to the second embodiment, and the specific structure, the working principle and the technical effects of the positioning device are substantially the same as those described in the second embodiment, and are not described herein again.
Preferably, the mobile terminal is a mobile phone terminal, and the mobile phone terminal adopts an Android system.
Example three:
the invention further provides a terminal based on the Android system, the terminal comprises the positioning device described in the second embodiment, and the specific structure, the working principle and the technical effect of the positioning device are basically consistent with those described in the second embodiment, and are not described again here.
Example four:
fig. 6 shows a block diagram of a positioning terminal according to a fourth embodiment of the present invention, where the positioning terminal includes: a memory (memory)61, a processor (processor)62, a communication Interface (communication Interface)63 and a bus 64, wherein the processor 62, the memory 61 and the communication Interface 63 complete mutual communication through the bus 64.
A memory 61 for storing various data;
specifically, the memory 61 is used for storing various data, such as data in communication, received data, and the like, and is not limited herein, and the memory further includes a plurality of computer programs.
A communication interface 63 for information transmission between communication devices of the positioning terminal;
the processor 62 is configured to call various computer programs in the memory 61 to execute a positioning method provided in the first embodiment, for example:
receiving a positioning indication;
acquiring original positioning observation data;
when ephemeris data exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data;
acquiring corresponding differential information from a server based on the single-point positioning information;
and fusing based on the single-point positioning information and the differential information to obtain a positioning result.
In this embodiment, the differential positioning result is obtained by fusing the differential information of the server and the single-point positioning information calculated by the server, so that the positioning accuracy can be improved.
The present invention further provides a memory, wherein the memory stores a plurality of computer programs, and the computer programs are called by the processor to execute a positioning method according to the first embodiment.
In the invention, the differential positioning result is obtained by combining the differential information of the server and the self-calculated single-point positioning information, and the positioning precision can be improved.
Secondly, when there is no GPS signal, the inertial navigation is used to carry out positioning, and the positioning practicability can be improved.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation.
Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (17)
1. A method of positioning, comprising:
receiving a positioning indication;
acquiring original positioning observation data;
when ephemeris data exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data;
acquiring corresponding differential information from a server based on the single-point positioning information;
and fusing based on the single-point positioning information and the differential information to obtain a positioning result.
2. The position location method of claim 1, wherein the raw positioning observation data comprises raw satellite data, and wherein after the obtaining of the raw positioning observation data and when ephemeris data does not exist in the raw positioning observation data, before computing single point positioning information based on the raw positioning observation data and requesting differential information from a server, further comprises:
and judging whether the original satellite data carries ephemeris data.
3. The position determination method of claim 2, wherein determining whether the raw satellite data carries ephemeris data further comprises:
and when the judgment result is negative, acquiring ephemeris data from the server and performing positioning calculation to obtain a positioning result.
4. The method according to claim 2, wherein when ephemeris data does not exist in the raw positioning observation data, calculating single-point positioning information based on the raw positioning observation data and requesting differential information from a server specifically comprises:
acquiring a native positioning GPS;
performing RTK calculation based on the native positioning GPS and the original satellite data to obtain single-point positioning information;
requesting differential information from the server based on the standalone positioning information.
5. The method according to claim 4, wherein fusing based on the point positioning information and the difference information to obtain a positioning result comprises:
correcting the single-point positioning information based on the differential information to obtain first positioning information;
and fusing based on the first positioning information, the single-point positioning information and the native positioning GPS to obtain a positioning result.
6. The positioning method according to claim 5, wherein the raw positioning observation data further includes sensing data, and the fusion based on the first positioning information, the single-point positioning information, and the native positioning GPS obtains the positioning result by:
fusing based on the first positioning information, the single-point positioning information and the native positioning GPS to obtain second positioning information;
and performing inertial navigation calculation based on the second positioning information and the sensing data to obtain a positioning result.
7. The method according to claim 6, wherein the fusion based on the first positioning information, the single-point positioning information and the native positioning GPS, and the obtaining of the second positioning information comprises:
analyzing whether the state of the first positioning information is one of floating point solution, fixed solution and code difference;
when the first positioning information is judged to be the second positioning information, outputting the first positioning information as the second positioning information;
and when the judgment result is no, selecting one with the smallest precision range from the first positioning information, the single-point positioning information and the native positioning GPS as the second positioning information.
8. The method according to claim 7, wherein performing inertial navigation calculation based on the second positioning information and the sensing data to obtain a positioning result comprises:
calculating the position of the current movement based on the sensing data;
and fusing based on the second positioning information and the current movement position to obtain a positioning result.
9. The method according to claim 8, wherein fusing based on the second positioning information and the position of the current motion to obtain a positioning result comprises:
judging whether the current environment has a GPS signal;
when the current movement position is judged to be not the current movement position, taking the current movement position as a positioning result;
and when the judgment result is yes, outputting a positioning result based on the second positioning information.
10. The positioning method according to claim 9, wherein outputting a positioning result based on the second positioning information comprises:
judging whether the precision range of the second positioning information is within a preset range or not;
if so, acquiring a difference value between the current second positioning information and the last second positioning information;
and when the difference is smaller than a threshold value, taking the second positioning information as a positioning result.
11. The positioning method according to claim 10, wherein the positioning method is based on the Android system.
12. An application system characterized by applying the steps of the positioning method according to any one of claims 1 to 11.
13. A positioning device, comprising:
a receiving unit, configured to receive a positioning indication;
the first acquisition unit is used for acquiring original positioning observation data;
the calculation unit is used for calculating single-point positioning information based on the original positioning observation data when ephemeris data exists in the original positioning observation data;
a second obtaining unit, configured to obtain differential information from a server based on the single-point positioning information;
and the fusion positioning unit is used for fusing based on the single-point positioning information and the differential information to obtain a positioning result.
14. A mobile terminal characterized in that it comprises a positioning device according to claim 12.
15. A terminal of Android system, characterized in that it comprises a positioning device according to claim 12.
16. A memory storing a computer program, the computer program being executable by a processor to perform the steps of:
receiving a positioning indication;
acquiring original positioning observation data;
when ephemeris data exist in the original positioning observation data, single-point positioning information is calculated based on the original positioning observation data;
acquiring corresponding differential information from a server based on the single-point positioning information;
and fusing based on the single-point positioning information and the differential information to obtain a positioning result.
17. A positioning terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the positioning method according to any one of claims 1 to 11 when executing the computer program.
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