CN111694035A - Differential positioning method, device, terminal and storage medium - Google Patents
Differential positioning method, device, terminal and storage medium Download PDFInfo
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- CN111694035A CN111694035A CN202010571192.7A CN202010571192A CN111694035A CN 111694035 A CN111694035 A CN 111694035A CN 202010571192 A CN202010571192 A CN 202010571192A CN 111694035 A CN111694035 A CN 111694035A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Abstract
The application discloses a differential positioning method, which comprises the following steps: determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers; and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal. The application also discloses a differential positioning device, a terminal and a computer storage medium. According to the method and the device, the positioning operation is executed by different difference service providers to select the target difference service provider to execute the positioning of the terminal, so that the more accurate difference service providers are provided to finish the terminal positioning, and the precision of the terminal positioning result is improved.
Description
Technical Field
The present application relates to the field of base station technologies, and in particular, to a differential positioning method, apparatus, terminal, and storage medium.
Background
At present, with the popularization of mobile phones, the dependence degree of users on the mobile phones is high, and the demand for positioning services is continuously increased. With the continuous improvement of GNSS antenna of mobile phone, the improvement of chip processing capability, the formulation of Ntrip protocol, the coverage of mobile data network, the mobile phone has the capability of providing high precision positioning. At present, a user selects a certain differential data service provider according to a measurement range and requirements, such as a location service provided by a province or a thousand seeks, logs in and binds in equipment through an account number and a password provided by the provider, acquires differential data through a cellular network, and performs high-precision real-time differential positioning. The selection of a provider for positioning operation may cause deviation of positioning operation and poor positioning accuracy due to the distribution of base stations and networks deployed by the provider.
Disclosure of Invention
The embodiment of the application provides a differential positioning method, a device terminal and a storage medium, and aims to solve the technical problems that when one provider is selected for positioning operation in the prior art, the positioning operation is deviated and the positioning accuracy is poor due to the distribution of a base station and a network which are distributed by the provider.
To achieve the above object, an aspect of the present application provides a differential positioning method, including:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
In order to achieve the above object, another aspect of the present application further provides a differential positioning apparatus, including: an acquisition module and a selection module, wherein,
the acquisition module is used for determining satellite observation quantity and acquiring differential data broadcast by at least 2 differential service providers;
and the selection module is used for selecting a target differential facilitator from the at least 2 differential facilitators to execute the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.
In order to achieve the above object, another aspect of the present application further provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the following steps:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
To achieve the above object, another aspect of the present application further provides a computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
According to the method, the plurality of differential service providers are arranged for each terminal, when differential positioning is carried out, a target differential service provider can be selected to complete positioning operation of the terminal according to differential data quality parameters of different differential service providers and satellite observation values obtained by the terminal through observation satellites to obtain positioning data, positioning is not fixedly completed by one differential service provider, positioning operation is performed by different differential service providers to select the differential service provider to perform positioning of the terminal, better and more accurate differential service providers are provided to complete terminal positioning, and accuracy of a terminal positioning result is improved.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of a terminal implementing various embodiments of the present application;
FIG. 2 is a schematic operational flow chart of an embodiment of a differential positioning method according to the present application;
fig. 3 is a schematic diagram illustrating a correspondence relationship between a terminal and a difference service provider according to an embodiment of the present application;
fig. 4 is a schematic operational flow chart illustrating a positioning operation of a terminal performed by a target differentiated facilitator selected from the at least 2 differentiated facilitators according to a satellite observation and a data quality parameter of each piece of differentiated data according to an embodiment of the present application;
fig. 5 is a schematic view illustrating an operation flow of performing a differential positioning operation according to a satellite observation and each differential data to obtain a differential positioning result in an embodiment of the present application;
FIG. 6 is a flowchart illustrating operation of another embodiment of the differential positioning method of the present application;
FIG. 7 is a flowchart illustrating operation of another embodiment of the differential positioning method of the present application;
FIG. 8 is a flowchart illustrating operation of another embodiment of the differential positioning method of the present application;
FIG. 9 is a flowchart illustrating the operation of differential positioning according to an embodiment of the present application;
FIG. 10 is a schematic diagram illustrating an architecture of a differential positioning apparatus according to an embodiment of the present application;
FIG. 11 is a schematic diagram of a differential positioning apparatus according to another embodiment of the present application;
FIG. 12 is a schematic diagram of a differential positioning apparatus according to another embodiment of the present application;
fig. 13 is a schematic diagram illustrating an architecture of a differential positioning device according to another embodiment of the present application.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Embodiments of the present application are: determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers; and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
The terminal described herein may be implemented in various forms. For example, the terminal may include a mobile terminal such as a mobile phone, a tablet computer, a notebook computer, a palm top computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), a navigation device, a wearable device, a smart band, a pedometer, and the like.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment related to a method according to an embodiment of the present application
As shown in fig. 1, the mobile terminal may include: a processor 1001 such as a CPU, a memory 1003, a communication bus 1004, a user input unit 1002, a display unit 1005. The communication bus 1004 is used for realizing connection and communication between the processor 1001 and the memory 1003. The memory 1003 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1003 may alternatively be a storage device separate from the processor 1001.
Optionally, the mobile terminal further comprises at least one sensor, such as a light sensor, a motion sensor, and other sensors. The accelerometer sensor is used as one of the motion sensors, can detect the magnitude of acceleration in each direction (generally three axes), can detect the magnitude and direction of gravity when the mobile phone is static, and can be used for applications of recognizing the gesture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking) and the like; as for other sensors such as a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which can be configured on the mobile phone, further description is omitted here. The terminal also comprises a GPS antenna used for observing the satellite to obtain observation data.
Alternatively, the display unit 1005 is used to display a message input by the user or a message provided to the user. The Display unit 1005 may include a Display panel, and the Display panel may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.
Alternatively, the user input unit 1002 may be used to receive input numeric or character messages and generate key signal inputs related to user settings and function control of the mobile terminal. In particular, the user input unit 1002 may include a touch panel and other input devices. The touch panel, also called a touch screen, may collect touch operations of a user (for example, operations of the user on or near the touch panel using any suitable object or accessory such as a finger, a stylus, etc.) and drive the corresponding connection device according to a preset program. The user input unit 1002 may include other input devices in addition to a touch panel. In particular, the other input devices may include, but are not limited to, one or more of a physical keyboard, a function key (such as a volume control key, a switch key, etc.), a trackball, a mouse, a joystick, and the like, which are not limited herein.
Alternatively, the processor 1001 is a control center of the mobile terminal, connects various parts of the entire mobile terminal using various interfaces and lines, and performs various functions of the mobile terminal and processes data by running or executing software programs and/or modules stored in the memory 1003 and calling data stored in the memory 1003, thereby performing overall monitoring of the mobile terminal. Processor 1001 may include one or more processing units; optionally, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly handles operating systems, user interfaces, application programs, and the like, and the modem processor mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 1001.
Alternatively, the memory 1003 may be used to store software programs as well as various data. The memory 1003 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, and the like), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 1003 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
Those skilled in the art will appreciate that the mobile terminal architecture shown in fig. 1 is not intended to be limiting of the terminal, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
In the mobile terminal shown in fig. 1, the processor 1001 is configured to execute a differential positioning application program in the memory 1003, and implement the following steps:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
Some terms used in the embodiments of the present application explain:
referring to fig. 2, fig. 2 is a schematic operation flow chart of the differential positioning method of the present application; the differential positioning method comprises the following steps:
step S10, determining satellite observation quantity, and obtaining differential data broadcast by at least 2 differential service providers;
the terminal device continuously observes satellites to obtain satellite observation quantities, and the terminal device, for example, a mobile phone or a pad, observes the satellites through a GPS (Global Positioning System) antenna installed to obtain observation values of the observed satellites, where each antenna can observe a plurality of satellites, for example, 4 satellites, or 3 satellites. And one terminal now sets up a plurality of difference service providers, can receive the difference data that a plurality of difference service providers broadcast, the process to set up a plurality of difference service providers includes: n differential data service provider accounts bound by the terminal equipment are uploaded to the account of each provider through a cellular network to an Ntrip case (differential data center) for verification, wherein n is a positive integer greater than or equal to 2.
Referring to fig. 3, it is assumed that one terminal device a, i.e., one rover (in reality, there may be multiple terminal devices, i.e., multiple rovers), registers accounts of n differentiated service providers, and that n accounts are already registered and bound in the terminal device.
Each differentiated services provider, within which area m Base stations (reference stations) are laid out, the geographical location of each reference Station having been accurately determined by the differentiated services provider. Each reference station continuously observes the satellites, calculates the reference station position and the differential corrections, and transmits the differential corrections to the servers (servers) connected to each reference station. Ntrip case (differential data center)) will be responsible for forwarding 1, or resolving the differential data of multiple reference stations, and then sending to terminal equipment a for use.
And step S20, selecting a target differential facilitator from the at least 2 differential facilitators to perform the positioning operation of the terminal according to the satellite observation and the data quality parameter of each differential data.
Selecting a target differential facilitator according to the satellite observation quantity and differential data of different differential facilitators, wherein the data quality of the differential data provided by different facilitators is different, the priority orders of different quality selections are different, the data quality is poor, the selection probability is small, and the differential facilitator of the differential data with high data quality is preferentially selected as the target differential facilitator; or differential positioning is carried out through the satellite observation quantity and the differential data, a target differential facilitator is selected according to the quality of a differential positioning result, the differential server with a good positioning result is used as the target facilitator, and the positioning operation of the terminal is executed through the target facilitator to obtain the positioning of the terminal.
In an embodiment, referring to fig. 4, the step of selecting a target differentiated facilitator from the at least 2 differentiated facilitators to perform a positioning operation of the terminal according to the satellite observations and the data quality parameters of the respective differentiated data includes:
step S21, performing differential positioning operation according to the satellite observation quantity and each differential data to obtain a differential positioning result;
step S22, obtaining data quality parameters of the corresponding difference facilitator according to the difference positioning result, where the data quality parameters include: positioning accuracy, differential delay and/or distance between the terminal and the reference station;
and step S23, selecting a target differential facilitator from the at least 2 differential facilitators according to the data quality parameter to execute the positioning operation of the terminal.
The terminal equipment performs real-time differential positioning on differential data broadcasted by at least 2 differential service providers and observed quantities reported by the equipment chip to obtain differential positioning on the differential data broadcasted by different differential service providers and satellite observed quantities to obtain at least 2 differential positioning results, and obtains different positioning results according to the differential data given by different differential service providers, for example, when 2 differential service providers exist, 2 differential positioning results are obtained by executing differential positioning operation, and the different differential positioning results can provide the accuracy of the differential data of different differential service providers, so that the terminal can select the differential service providers to complete the final positioning operation.
After the positioning results of different difference service providers are obtained, the difference service provider is selected from at least 2 difference service providers to execute the positioning operation of the terminal according to the positioning results. And selecting a better differential service provider to complete the positioning operation of the terminal at the position according to the differential positioning result so as to obtain an accurate positioning result.
Different differential positioning results can be compared to obtain a better positioning result, which means that the data quality parameters of the differential data are better, so that the differential service provider corresponding to the better positioning result is the differential service provider which finally executes the positioning operation of the terminal, and the best differential service provider is selected to complete the positioning operation within the moving range of the terminal.
The terminal equipment comprehensively judges the quality of the differential data, the positioning precision, the differential delay condition and the distance between the terminal equipment and the base station, carries out weighting grading on the base station data of each differential service provider, and selects the best differential service provider to complete the positioning operation of the terminal. The terminal equipment receives the differential data broadcast by the n differential service providers through the cellular network. The terminal equipment analyzes the differential data broadcast by the n differential service providers and judges the respective data quality.
Selecting the best difference facilitator to complete the positioning operation of the terminal, wherein the difference facilitator closest to the base station is selected to complete the positioning operation, or the difference facilitator closest to the base station with the lowest difference delay is selected to complete the positioning operation; or selecting the difference service provider with higher positioning precision and best difference delay and closest distance to the base station to complete the positioning operation.
Optionally, the step of selecting a target differentiated facilitator from the at least 2 differentiated facilitators to perform a positioning operation of the terminal according to the data quality parameter includes:
when differential service providers with the same data quality parameters exist, selecting the same differential service provider as a target differential service provider to execute the positioning operation of the terminal; and when the data quality parameters of the difference servers are different, selecting a target difference facilitator according to the priority of the data quality parameters to execute the positioning operation of the terminal, wherein the data quality parameters are obtained by calculating the positioning precision, the difference delay and/or the distance between the terminal and the reference station. The terminal equipment comprehensively judges the quality of the differential data, the positioning precision, the differential delay condition and the distance between the terminal equipment and the base station, carries out weighting grading on the base station data of each differential service provider to obtain a selection parameter, and selects the selection parameter with the top sorting according to the priority sorting of the selection parameter, namely selects the selection parameter. Finally, selecting the difference service provider with the most front sequencing as the current optimal difference service provider for high-precision positioning; if the scores of all suppliers are equivalent, the suppliers are comprehensively used for high-precision positioning.
In the embodiment, a plurality of differential service providers are arranged for each terminal, and when differential positioning is performed, a target differential service provider can be selected to complete positioning operation of the terminal according to differential data quality parameters of different differential service providers and satellite observation values obtained by the terminal through observing satellites to obtain positioning data.
In an embodiment of the present application, referring to fig. 5, the step of performing a differential positioning operation according to the satellite observation and each differential data to obtain a differential positioning result includes:
step S31, performing analysis operation of the obtained difference data to obtain an analysis result;
and step S32, when the analytic result meets the preset condition, executing differential positioning operation on the differential data of the differential service provider meeting the preset condition and the satellite observation quantity to obtain a differential positioning result.
And selecting the differential data with the quality meeting the condition to execute differential positioning operation of different differential service providers. The process of selecting the quality includes: the analysis operation of the obtained differential data is executed to obtain an analysis result, and different analysis results are used for judging whether different differential data meet preset conditions, for example, whether the differential delay of the analysis result is within a set delay range, for example, within 6ns or within 10 ns. And performing differential positioning operation on the differential data of the differential service provider meeting the preset condition and the obtained observed quantity to obtain a differential positioning result. The quality of differential data of different differential service providers is obtained through the analysis result, the differential positioning operation is executed on the differential data of the differential service providers with good quality, namely the differential data of the differential service providers meeting the preset condition, the differential data of the differential service providers with poor quality are eliminated, the differential calculation is not executed, the calculation resources of the terminal can be saved, the positioning energy consumption of the terminal is reduced, and the power consumption is reduced.
In the embodiment, the differential data of different differential service providers are compared, the selected differential data are subjected to differential operation, and then the selected differential service provider is used as the differential service provider for terminal positioning, so that a more accurate terminal positioning result can be provided, and accurate positioning service is provided.
In an embodiment, referring to fig. 6, the method further includes:
and step S40, when the range of the terminal exceeds a preset range, executing an action of selecting the target difference facilitator to complete the positioning operation of the terminal, wherein the exceeding of the preset range comprises that the distance between the position of the terminal after moving and the position before moving is larger than a preset distance.
The range of the terminal is the current positioning range of the terminal, for example, the position of the terminal is positioned through a GPS, or the positioning is carried out through a network, for example, in a certain cell, a certain unit or in a certain office; and out of a preset range, e.g., out of a preset distance, greater than 10 meters, greater than 20 meters, etc., or out of a range of 10-15 meters; the preset range is determined according to the requirement or the reported surrounding environment, or according to the surrounding environment and the setting of the base station, and the data is obtained through experiments.
After the terminal moves beyond the preset range of the previous position after selecting the difference facilitator, reselecting the difference facilitator, and executing the step of selecting the difference facilitator from the step S10 to the step S30; if the movement does not exceed the preset range of the previous position, the difference facilitator does not need to be reselected.
The terminal moves in the preset range without reselecting a differential service provider, so that the repeated calculation of differential data for positioning operation is avoided, system resources are wasted, the calculation speed of the terminal is reduced, the running speed of the terminal is increased, and the running of the terminal is ensured.
In an embodiment, referring to fig. 7, the method further includes:
step S50, when the terminal position is in two different difference service provider areas, using default difference service provider to execute the positioning operation of terminal, but not executing the action of selecting target difference service provider; the two different differential service provider areas are areas covered by two differential service provider signals respectively.
When the terminal moves in the area where the two differential service providers belong, the differential service providers are selected to ensure that the differential service providers are not frequently switched and differential positioning operations of different differential service providers are performed.
When moving in the two areas, selecting a default difference facilitator to provide difference data for positioning operation of the terminal, for example, selecting the optimal difference facilitator calculated firstly as the default difference facilitator; or selecting a second differentiated facilitator as the default differentiated facilitator. When the terminal moves in different areas, a plurality of difference service providers which the different areas to which the terminal moves belong can exist, and the optimal difference service provider can be selected as the difference service provider of the corresponding area through the selection operation to complete the positioning operation.
When the terminal moves in the two areas, the selection operation of the difference facilitator is not carried out, the use of the computing resource of the terminal is reduced, the terminal can execute the computation of other applications or functions by using the saved resource, or the occupancy rate of a CPU can be reduced to improve the speed of the terminal.
In an embodiment, referring to fig. 8, the method further includes:
step S60, obtaining a positioning result according to the positioning operation of the target difference facilitator execution terminal;
step S70, obtaining the positioning result of the network;
and step S80, when the positioning result obtained by executing the positioning operation of the terminal by the target difference facilitator is different from the positioning result of the network, updating the positioning result of the network by using the positioning result obtained by executing the positioning operation of the terminal.
The difference between this embodiment and the other embodiments is that, in this embodiment, after the terminal is located by selecting the target differentiated services provider, a correction is made to the current network location, and according to the result of the high-precision location of the terminal, when the terminal is different from the network location, the location result of the network is updated, so that when the location is subsequently obtained through the network, the location result is more accurate, the accuracy of the network location is improved, and a mark can be made to the updated network location result, where the mark is the result of the location correction through the target differentiated services provider.
The technical scheme of the embodiment is realized in such a way that the terminal is positioned to obtain the positioning result according to the target difference facilitator, the positioning result is obtained from the network, the positioning result of the network is compared with the difference positioning result which is completed according to the difference data sent by the target difference facilitator, if the positioning result is not consistent with the difference positioning result, the positioning result of the network is updated according to the selected difference data positioning result of the target difference facilitator, and the real-time consistency with the latest accurate positioning result is realized. After the network positioning accuracy is improved, it may be determined whether to continue to select the target differentiated service provider subsequently according to the identifier of the network positioning, for example, the network positioning is updated, the update time is less than 1 day or less than 2 days from the current time, and the positioning operation of the terminal is executed only according to the network positioning result. And when the updating time is more than 1 day or more than 2 days, the target difference facilitator is selected to complete the positioning operation of the terminal.
In the embodiment, when the positioning result of the terminal is updated, the network positioning is synchronously updated, so that the accuracy of the network positioning is improved.
To better describe the implementation process of the present application, referring to fig. 9, the process of selecting a differentiated facilitator to complete terminal positioning includes:
the terminal device A continuously observes the satellite and obtains the original observed quantity from the chip (such as an android Modem terminal).
Terminal device a obtains a rough location of the network location. The android terminal can call the network location service NetworkLocationProvider to obtain the network location service.
The terminal device a simultaneously obtains the single-point positioning result calculated by the chip, and the information reported by the NMEA (unified RTCM standard protocol of GPS navigation device) protocol standard includes the current position of the mobile phone (presented by latitude and longitude), the current number of visible satellites, the satellite number, the DOP value and other information. The android terminal can call the GNSS positioning service GNSSLocationProvider to obtain the satellite positioning result.
The n differential data service provider accounts bound by the terminal device A are uploaded to Ntripemaster of each provider through a cellular network for verification.
The terminal device a simultaneously uploads the rough location information of the device to the n ntripmaster. The approximate location information may be a single-point positioning result obtained by the chip (the android terminal calls GNSSLocationProvider to obtain); if the terminal is indoors, the network positioning result can be uploaded and is derived from a base station positioning result or a wifi positioning result (the android terminal can call the network positioning service network positioning provider to obtain the network positioning result).
The terminal device A receives the differential data broadcast by the n differential service providers through the cellular network.
The terminal device A analyzes the differential data broadcast by the n differential service providers and judges the respective data quality.
The terminal device A carries out real-time differential positioning on the differential data broadcasted by the n differential service providers and the observed quantity reported by the device chip, calculates positioning precision and differential delay, and estimates the distance between the terminal device (the mobile station) and each reference station.
And the terminal equipment A comprehensively judges the quality of the differential data, the positioning precision, the differential delay condition and the distance between the terminal equipment A and the base station, and carries out weighting scoring and sequencing on the base station data of each differential service provider.
Finally, selecting the currently optimal difference service provider for high-precision positioning; if the scores of all suppliers are equivalent, the suppliers are comprehensively used for high-precision positioning.
If the activity range of the terminal equipment in a certain time period is in a certain area, the analysis is not carried out again, and the optimal differentiated service provider is selected; if the activity range of the terminal equipment exceeds a certain area, the analysis is carried out again and a difference service provider is selected. If the conditions allow, the calculation can be uploaded to a cloud server through a 5G network for carrying out, so that the calculation resources of the terminal are saved.
The present application also proposes a differential positioning device, with reference to fig. 10, comprising: an acquisition module 10 and a selection module 20,
the obtaining module 10 is configured to determine a satellite observation amount, and obtain differential data broadcast by at least 2 differential service providers;
the selecting module 20 is configured to select a target differentiated facilitator from the at least 2 differentiated facilitators to perform a positioning operation of the terminal according to the satellite observation and the data quality parameter of each piece of differentiated data.
Further, with reference to fig. 11, the apparatus further comprises a positioning module 30,
the positioning module 30 is configured to perform a differential positioning operation according to the satellite observation quantity and each differential data to obtain a differential positioning result;
the selecting module 20 is configured to obtain a data quality parameter of a corresponding difference facilitator according to a difference positioning result, where the data quality parameter includes: positioning accuracy, differential delay and/or distance between the terminal and the reference station; and selecting a target differential facilitator from the at least 2 differential facilitators to execute the positioning operation of the terminal according to the data quality parameter.
Further, the selecting module 20 is further configured to select the same differentiated facilitator as a target differentiated facilitator to perform a terminal positioning operation when the differentiated facilitator with the same data quality parameter exists; and when the data quality parameters of the difference servers are different, selecting a target difference facilitator according to the priority of the data quality parameters to execute the positioning operation of the terminal, wherein the data quality parameters are obtained by calculating the positioning precision, the difference delay and/or the distance between the terminal and the reference station.
Further, referring to fig. 12, the apparatus further includes a parsing module 40,
the analysis module 40 is configured to perform an analysis operation on the obtained difference data to obtain an analysis result;
the positioning module 30 is further configured to, when the analysis result meets a preset condition, perform a differential positioning operation on the differential data of the differential service provider meeting the preset condition and the satellite observation quantity to obtain a differential positioning result.
Further, the positioning module 30 is further configured to execute an action of selecting the target difference facilitator to complete the positioning operation of the terminal when the range where the terminal is located exceeds a preset range, where the exceeding of the preset range includes that a distance between a position after the terminal moves and a position before the terminal moves is greater than a preset distance.
Further, the positioning module 20 is further configured to, when the location of the terminal moves in two different differentiated services areas, perform the positioning operation of the terminal by using a default differentiated service provider without performing an action of selecting a differentiated service provider; the two different differential service provider areas are areas covered by two differential service provider signals respectively.
Further, referring to fig. 13, the apparatus further includes an updating module 50, and the positioning module 30 is further configured to obtain a positioning result according to a positioning operation performed by the target differentiated services provider on the terminal;
the obtaining module 10 is further configured to obtain a positioning result of the network;
the updating module 50 is configured to update the positioning result of the network by using the positioning result obtained by performing the positioning operation of the terminal when the positioning result obtained by performing the positioning operation of the terminal according to the target difference facilitator is different from the positioning result of the network.
The present application also proposes a terminal, where the terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the following steps:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
The terminal can be a mobile phone or a pad and the like, a GPS antenna is arranged in the terminal, the GPS antenna can be used for observing a plurality of satellites to obtain observation data, the GPS antenna is connected with a processor of the terminal, the processor uses the observation data observed through the GPS antenna and receives differential data provided by a plurality of differential service providers through a network, a target differential service provider is selected according to data quality parameters of satellite observation quantity and the differential data to execute the positioning operation of the terminal, the plurality of differential service providers are provided, the target differential service provider is selected according to the positioning accuracy of different differential service providers to execute the positioning operation of the terminal, and the positioning accuracy is improved.
The terminal of the embodiment sets a plurality of difference facilitators for each terminal, when performing difference positioning, a target difference facilitator can be selected to complete positioning operation of the terminal to obtain positioning data according to difference data quality parameters of different difference facilitators and satellite observation values obtained by the terminal through observing satellites, instead of fixedly completing positioning by using one difference facilitator, the different difference facilitators are used to execute positioning operation to select difference facilitators to execute positioning of the terminal, so that better and more accurate difference facilitators are provided to complete terminal positioning, and the precision of the terminal positioning result is improved.
The present application also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, realizes the steps of:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While alternative embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A differential positioning method, comprising:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
2. The differential positioning method as claimed in claim 1, wherein the step of selecting a target differential facilitator from the at least 2 differential facilitators to perform the positioning operation of the terminal according to the observation amount of the satellite and the data quality parameter of each differential data comprises:
performing differential positioning operation according to the satellite observation quantity and each differential data to obtain a differential positioning result;
obtaining data quality parameters of corresponding difference service providers according to the difference positioning result, wherein the data quality parameters comprise: positioning accuracy, differential delay and/or distance between the terminal and the reference station;
and selecting a target differential facilitator from the at least 2 differential facilitators to execute the positioning operation of the terminal according to the data quality parameter.
3. The differential positioning method as claimed in claim 2, wherein the step of selecting a target differential facilitator from the at least 2 differential facilitators according to the data quality parameter to perform the positioning operation of the terminal comprises:
when differential service providers with the same data quality parameters exist, selecting the same differential service provider as a target differential service provider to execute the positioning operation of the terminal;
and when the data quality parameters of the difference servers are different, selecting a target difference facilitator according to the priority of the data quality parameters to execute the positioning operation of the terminal, wherein the data quality parameters are obtained by calculating the positioning precision, the difference delay and/or the distance between the terminal and the reference station.
4. The differential positioning method as claimed in claim 2, wherein the step of performing the differential positioning operation based on the satellite observation and each differential data to obtain the differential positioning result comprises:
performing analysis operation on the obtained differential data to obtain an analysis result;
and when the analysis result meets the preset condition, performing differential positioning operation on the differential data of the differential service provider meeting the preset condition and the satellite observed quantity to obtain a differential positioning result.
5. The differential positioning method according to any one of claims 1 to 4, characterized in that the method further comprises:
and when the range of the terminal exceeds a preset range, executing an action of selecting a target difference facilitator to complete the positioning operation of the terminal, wherein the exceeding of the preset range comprises that the distance between the position of the terminal after moving and the position before moving is larger than a preset distance.
6. The differential positioning method according to any one of claims 1 to 4, characterized in that the method further comprises:
when the position of the terminal is in two different difference facilitator areas to move, the default difference facilitator is used for executing the positioning operation of the terminal, and the action of selecting the target difference facilitator is not executed; the two different differential service provider areas are areas covered by two differential service provider signals respectively.
7. The differential positioning method according to any one of claims 1 to 4, characterized in that the method further comprises:
obtaining a positioning result according to the positioning operation of the target difference facilitator execution terminal;
acquiring a positioning result of a network;
and when the positioning result obtained by executing the positioning operation of the terminal according to the target difference facilitator is different from the positioning result of the network, updating the positioning result of the network by using the positioning result obtained by executing the positioning operation of the terminal.
8. A differential positioning apparatus, the apparatus comprising: an acquisition module and a selection module, wherein,
the acquisition module is used for determining satellite observation quantity and acquiring differential data broadcast by at least 2 differential service providers;
and the selection module is used for selecting a target differential facilitator from the at least 2 differential facilitators to execute the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.
9. A terminal comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of:
determining satellite observation quantity, and acquiring differential data broadcast by at least 2 differential service providers;
and selecting a target difference facilitator from the at least 2 difference facilitators according to the satellite observation quantity and the data quality parameter of each difference data to execute the positioning operation of the terminal.
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| CN202010571192.7A CN111694035A (en) | 2020-06-19 | 2020-06-19 | Differential positioning method, device, terminal and storage medium |
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| CN202010571192.7A CN111694035A (en) | 2020-06-19 | 2020-06-19 | Differential positioning method, device, terminal and storage medium |
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