CN112255651A - Positioning method, equipment, service terminal equipment and storage medium - Google Patents
Positioning method, equipment, service terminal equipment and storage medium Download PDFInfo
- Publication number
- CN112255651A CN112255651A CN202011018404.5A CN202011018404A CN112255651A CN 112255651 A CN112255651 A CN 112255651A CN 202011018404 A CN202011018404 A CN 202011018404A CN 112255651 A CN112255651 A CN 112255651A
- Authority
- CN
- China
- Prior art keywords
- service terminal
- service
- client
- central
- threshold
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application provides a positioning method, a device, a service terminal device and a storage medium, wherein the service range of the service terminal is subjected to grid division by acquiring the position information of the service terminal, and when a client is connected with the service terminal, a central grid point where the client is located is determined; judging whether the common grid points exist in the preset range of the central grid points; if so, the service terminal sends the service data of the common grid points to the client for positioning; if not, the service terminal sends the service data of the central grid point to the client for positioning. The technical problem that the influence of residual convection delay and residual ionosphere delay in the client positioning process is large can be effectively solved.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning method, a device, a service terminal device, and a storage medium.
Background
In the process of positioning by the client by using the reference station. The error items influencing the terminal positioning calculation comprise a plurality of error items such as satellite orbit errors, satellite clock errors, troposphere delay, ionosphere delay, receiver clock errors, multipath errors and measurement noise. After the client builds the carrier phase double-difference observation equation, the satellite clock difference and the receiver clock difference can be eliminated, and the satellite orbit error, the troposphere delay and the ionosphere delay can be weakened into residual satellite orbit error, residual troposphere delay and residual ionosphere delay which are related to the distance between the rover and the reference station. When the client performs the RTK positioning, the positioning error is mainly affected by the residual convection delay and the residual ionospheric delay, that is, the atmospheric activity at the geographic location where the client user is located and the distance between the client user and the reference station are mainly related to each other.
Disclosure of Invention
The invention solves the problem that the influence of residual convection delay and residual ionosphere delay is large in the client positioning process.
In order to solve the technical problem, the invention provides a positioning method which is applied to a client based on a service terminal and comprises the steps of obtaining position information of the service terminal, wherein the position information of the service terminal comprises longitude information and latitude information of the position of the service terminal; the service terminal divides the service range of the service terminal into grids based on the latitude information of the service terminal; when the client is connected with the service terminal, determining a central grid point where the client is located; judging whether the common grid points exist in the preset range of the central grid points; if so, the service terminal sends the service data of the common grid points to the client for positioning; if not, the service terminal sends the service data of the central grid point to the client for positioning.
Further, the step of the service terminal performing grid division on the service range of the service terminal based on the latitude information of the service terminal specifically includes:
judging whether the latitude information of the service terminal is greater than a first threshold value, and if the latitude information of the service terminal is greater than the first threshold value, carrying out grid division on the service range of the service terminal according to the rules of 5 'and 5';
if the latitude information of the service terminal is not larger than the first threshold, judging whether the latitude information of the service terminal is larger than a second threshold, and if the latitude information of the service terminal is larger than the second threshold, carrying out grid division on the service range of the service terminal according to rules of 5 'and 4';
and if the latitude information of the service terminal is not larger than the second threshold, carrying out grid division on the service range of the service terminal according to the rules of 4 'and 3'.
Further, when the service range of the service terminal divides the grid according to the rules of 5 'and 4', the step of judging whether the common grid points exist in the predetermined range of the central grid point comprises the following steps: judging whether the common grid points exist in the third threshold range of the central grid points;
when the service range of the service terminal divides the grid according to the rules of 5 'and 4', the step of judging whether the common grid points exist in the preset range of the central grid point comprises the following steps: judging whether the common grid points exist in the fourth threshold range of the central grid points;
when the service range of the service terminal is divided into grids according to the rules of 4 'and 3', the step of judging whether the common grid points exist in the preset range of the central grid point comprises the following steps: and judging whether the common grid points exist in the fifth threshold range of the central grid points.
Further, the first threshold is greater than the second threshold, and the third threshold is greater than the fourth threshold and greater than the fifth threshold.
Further, the step of sending the service data of the common grid point to the client for positioning by the service terminal specifically includes: the service terminal sends the RTK service data of the common grid points to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal for positioning by utilizing the carrier phase observation value based on the RTK service data of the common grid points.
Further, the step of sending the service data of the central grid point to the client for positioning by the service terminal specifically includes: the service terminal sends the RTK service data of the central lattice point to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal to position based on the RTK service data of the central lattice point by using the carrier phase observation value.
There is also provided a service terminal device comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring service terminal position information, and the service terminal position information comprises longitude information and latitude information of the position of a service terminal;
the position processing module is used for the service terminal to perform grid division on the service range of the service terminal based on the latitude information of the service terminal; when the client is connected with the service terminal, determining a central grid point where the client is located;
the information processing module is used for judging whether the common grid points exist in the preset range of the central grid point;
the sending module is used for sending the service data of the commonly used grid points to the client for positioning if the commonly used grid points exist in the preset range of the central grid point; and if no common grid point exists in the preset range of the central grid point, the service terminal sends the service data of the central grid point to the client for positioning.
There is also provided a positioning apparatus comprising: a processor and a memory coupled to each other;
the memory is for storing program instructions for implementing the positioning method as described above and the processor is for executing the program instructions stored by the memory.
There is also provided a computer readable storage medium storing a program file capable of being executed to implement the above positioning method.
The method comprises the steps of carrying out grid division on the service range of a service terminal by acquiring the position information of the service terminal, and determining a central grid point where a client is located when the client is connected with the service terminal; judging whether the common grid points exist in the preset range of the central grid points; if so, the service terminal sends the service data of the common grid points to the client for positioning; if not, the service terminal sends the service data of the central grid point to the client for positioning. The technical problem that the influence of residual convection delay and residual ionosphere delay in the client positioning process is large can be effectively solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a first embodiment of a positioning method of the present invention;
FIG. 2 is a schematic flow chart of a second embodiment of the positioning method of the present invention;
FIG. 3 is a block diagram of a service terminal device of the present invention;
FIG. 4 is a block diagram of an embodiment of the positioning apparatus of the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Likewise, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive step are within the scope of the present invention.
The terms "first", "second" and "third" in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. All directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly. The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or may alternatively include other steps or elements inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
For infrared thermal imaging equipment, infrared radiation energy acquired by the infrared thermal imaging equipment can be processed to obtain an infrared image, whether the infrared image is clear or not is not only determined by external environment factors, but also is related to a series of parameter settings of a detector, wherein integration time is a parameter which has a large influence on image effect.
Please refer to fig. 1, which is a flowchart illustrating a positioning method according to a first embodiment of the present invention.
Step S01, obtains the service terminal location information.
In this embodiment, before locating the client, the location information of the service terminal needs to be acquired first. The position information of the service terminal can be acquired through a sensor arranged at the service terminal, and the sensor is connected with a GPS (global positioning system) or a Beidou system of China. And acquiring the position coordinate information of the service terminal. Since the location of the service terminal is not substantially changed. The step of mesh partitioning is performed upon acquiring the location coordinate information of the service terminal. The service terminal position information in this embodiment includes longitude information and latitude information of the location where the service terminal is located.
Step S02, the service terminal performs grid division on the service range of the service terminal based on the latitude information of the service terminal.
The location information of the service terminal includes latitude information and longitude information. The service terminals are divided according to the latitude information, and can be divided into a high latitude service terminal, a medium latitude service terminal and a low latitude service terminal. The grid division is carried out aiming at the service terminals in different latitude areas, and the grid division of the service range of the high latitude service terminals is larger in the high latitude areas because the influence of residual convection delay and residual ionospheric delay is smaller, and the grid division is generally carried out according to the rules of 5 'and 5'. The grid division of the service range of the low latitude service terminal is smaller. The grid division of the service range of the medium-latitude service terminal is centralized and generally divided according to the rules of 4 'and 3'.
And step S03, when the client is connected with the service terminal, determining the central grid point where the client is located.
In this embodiment, when the client is connected to the service terminal and needs to be located, the grid point where the client is located is determined by the service terminal, and is recorded as a central grid point.
And step S04, judging whether the common grid points exist in the preset range of the central grid point.
And judging whether the common grid points exist in a certain range of the central grid point where the client is positioned. The common grid point refers to a grid point that has acquired RTK service data of the common grid point by a service terminal. In this embodiment, in the service terminals for different latitudes, it is determined that the ranges of the central grid points where the client is located are different. The central grid point of the client of the service terminal in the high latitude area is larger, and is generally 18 kilometers. The central grid point of the client of the service terminal in the low latitude area is smaller, and is generally 10 kilometers. If there is a common grid point in the predetermined range of the central grid point, step S05 is executed, and the service terminal sends the service data of the common grid point to the client for positioning. If no common grid point exists in the predetermined range of the central grid point, step S06 is executed, and the service terminal sends the service data of the central grid point to the client for positioning.
In the embodiment, grid division is performed on the service range of the service terminal by acquiring the position information of the service terminal, and when the client is connected with the service terminal, a central grid point where the client is located is determined; judging whether the common grid points exist in the preset range of the central grid points; if so, the service terminal sends the service data of the common grid points to the client for positioning; if not, the service terminal sends the service data of the central grid point to the client for positioning. The technical problem that the influence of residual convection delay and residual ionosphere delay in the client positioning process is large can be effectively solved.
Please refer to fig. 2, which is a flowchart illustrating a positioning method according to a second embodiment of the present invention.
Step S11, obtains the service terminal location information.
In this embodiment, before locating the client, the location information of the service terminal needs to be acquired first. The position information of the service terminal can be acquired through a sensor arranged at the service terminal, and the sensor is connected with a GPS (global positioning system) or a Beidou system of China. And acquiring the position coordinate information of the service terminal. Since the location of the service terminal is not substantially changed. The step of mesh partitioning is performed upon acquiring the location coordinate information of the service terminal. The service terminal position information in this embodiment includes longitude information and latitude information of the location where the service terminal is located.
Step S12, it is determined whether the latitude information of the service terminal is greater than the first threshold.
If the latitude information of the service terminal is greater than the first threshold, in this embodiment, the first threshold is a high latitude data value, which is 60 degrees. And step 13, performing grid division on the service range of the service terminal according to the rules of 5 'and 5', and judging whether the common grid points exist in the third threshold range of the central grid point. In this embodiment, the third threshold is 18 km. If the common grid points exist in the third threshold range of the central grid point, step S14 is executed, the service terminal sends the RTK service data of the common grid points to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal for positioning by using the carrier phase observation value based on the RTK service data of the common grid points. If no common lattice point exists in the third threshold range of the central lattice point, step S15 is executed, the service terminal sends the RTK service data of the central lattice point to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal for positioning based on the RTK service data of the central lattice point by using the carrier phase observation value.
And if the latitude information of the service terminal is not greater than the first threshold value. Step S16 is executed to determine whether the latitude information of the service terminal is greater than the second threshold. The second threshold is 30 degrees in this embodiment. And if the latitude information of the service terminal is larger than the second threshold value. And step 17, performing grid division on the service range of the service terminal according to the rules of 5 'and 4', and judging whether the common grid points exist in the fourth threshold range of the central grid point. The fourth threshold is 15 km in this embodiment. If the common grid point exists in the fourth threshold range of the central grid point, step S18 is executed, the service terminal sends the RTK service data of the common grid point to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal for positioning by using the carrier phase observation value based on the RTK service data of the common grid point. If no common lattice point exists in the fourth threshold range of the central lattice point, step S19 is executed, the service terminal sends the RTK service data of the central lattice point to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal for positioning based on the RTK service data of the central lattice point by using the carrier phase observation value.
And if the latitude information of the service terminal is not greater than the second threshold value. And step 20, performing grid division on the service range of the service terminal according to the rules of 4 'and 3', and judging whether the common grid points exist in the fifth threshold range of the central grid point. The fifth threshold is 10 km in this embodiment. If the common grid points exist in the fifth threshold range of the central grid point, step 21 is executed, the service terminal sends the RTK service data of the common grid points to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal for positioning by using the carrier phase observation value based on the RTK service data of the common grid points. If no common lattice point exists in the fifth threshold range of the central lattice point, step S22 is executed, the service terminal sends the RTK service data of the central lattice point to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal for positioning based on the RTK service data of the central lattice point by using the carrier phase observation value.
In the embodiment, grid division is performed on the service range of the service terminal by acquiring the position information of the service terminal, and when the client is connected with the service terminal, a central grid point where the client is located is determined; judging whether the common grid points exist in the preset range of the central grid points; if so, the service terminal sends the service data of the common grid points to the client for positioning; if not, the service terminal sends the service data of the central grid point to the client for positioning. The technical problem that the influence of residual convection delay and residual ionosphere delay in the client positioning process is large can be effectively solved.
Please refer to fig. 3, which is a block diagram of a service terminal device according to the present invention.
There is also provided a service terminal device comprising:
the system comprises an acquisition module 1, a processing module and a display module, wherein the acquisition module 1 is used for acquiring service terminal position information, and the service terminal position information comprises longitude information and latitude information of the position of a service terminal;
the position processing module 2 is used for the service terminal to perform grid division on the service range of the service terminal based on the latitude information of the service terminal; when the client is connected with the service terminal, determining a central grid point where the client is located;
the information processing module 3 is used for judging whether the common grid points exist in the preset range of the central grid point;
the sending module 4 is used for sending the service data of the commonly used grid points to the client for positioning by the service terminal if the commonly used grid points exist in the preset range of the central grid point; and if no common grid point exists in the preset range of the central grid point, the service terminal sends the service data of the central grid point to the client for positioning.
Referring to fig. 4, fig. 4 is a schematic diagram of a positioning apparatus according to an embodiment of the present invention. The positioning apparatus 80 comprises a processor 81 and a memory 82 coupled to each other, the processor 81 being configured to execute program instructions stored in the memory 82 to implement the steps of any of the above-mentioned method embodiments or the steps correspondingly performed by the positioning method in any of the above-mentioned method embodiments.
In particular, the processor 81 is configured to control itself and the memory 82 to implement the steps in any of the above-described embodiments of the positioning method. The processor 81 may also be referred to as a CPU (Central processing unit). The processor 81 may be an integrated circuit chip having signal processing capabilities. The Processor 81 may also be a general purpose Processor 81, a Digital Signal Processor 81 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, the processor 81 may be commonly implemented by a plurality of integrated circuit chips.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application.
The computer-readable storage medium 60 comprises a computer program 601 stored on the computer-readable storage medium 60, which computer program 601, when executed by the processor, performs the steps of any of the above-described method embodiments or the steps correspondingly performed by the positioning device in the above-described method embodiments.
In particular, the integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium 60. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a computer-readable storage medium 60 and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned computer-readable storage medium 60 includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A positioning method is applied to a client based on a service terminal, and is characterized by comprising the following steps:
acquiring the service terminal position information, wherein the service terminal position information comprises longitude information and latitude information of the position of the service terminal;
the service terminal divides the service range of the service terminal into grids based on the latitude information of the service terminal;
when the client is connected with the service terminal, determining a central grid point where the client is located;
judging whether the common grid points exist in the preset range of the central grid points;
if so, the service terminal sends the service data of the common grid point to the client for positioning;
if not, the service terminal sends the service data of the central grid point to the client for positioning.
2. The method according to claim 1, wherein the step of the service terminal performing mesh division on the service range of the service terminal based on the latitude information of the service terminal specifically comprises:
judging whether the latitude information of the service terminal is greater than a first threshold value, and if the latitude information of the service terminal is greater than the first threshold value, carrying out grid division on the service range of the service terminal according to rules of 5 'and 5';
if the latitude information of the service terminal is not larger than a first threshold, judging whether the latitude information of the service terminal is larger than a second threshold, and if the latitude information of the service terminal is larger than the second threshold, carrying out grid division on the service range of the service terminal according to the rules of 5 'and 4';
and if the latitude information of the service terminal is not larger than a second threshold, grid division is carried out on the service range of the service terminal according to rules of 4 'and 3'.
3. The method according to claim 2, wherein when the service area of the service terminal is divided into grids according to the rules of 5 'and 4', the step of determining whether there are common grid points in the predetermined area of the central grid point comprises: judging whether the common grid points exist in the third threshold range of the central grid points;
when the service range of the service terminal divides the grid according to the rules of 5 'and 4', the step of judging whether the common grid points exist in the preset range of the central grid point comprises the following steps: judging whether the common grid points exist in the fourth threshold range of the central grid points;
when the service range of the service terminal is divided into grids according to rules of 4 'and 3', the step of judging whether the common grid points exist in the preset range of the central grid point comprises the following steps: and judging whether the common grid points exist in the fifth threshold range of the central grid points.
4. The location-based method of claim 3, wherein the first threshold is greater than the second threshold, and wherein the third threshold is greater than the fourth threshold and greater than the fifth threshold.
5. The method according to claim 1, wherein the step of the service terminal sending the service data of the common grid point to the client for positioning specifically comprises: the service terminal sends the RTK service data of the common lattice points to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal by utilizing the carrier phase observation value based on the RTK service data of the common lattice points to position.
6. The method according to claim 1, wherein the step of the service terminal sending the service data of the central grid point to the client for positioning specifically comprises: and the service terminal sends the RTK service data of the central lattice point to the client, and the client constructs a double-difference observation equation between the mobile service terminal and the service terminal by utilizing the carrier phase observation value based on the RTK service data of the central lattice point to position.
7. A service terminal device, comprising:
the acquisition module is used for acquiring the position information of the service terminal, and the position information of the service terminal comprises longitude information and latitude information of the position of the service terminal;
the position processing module is used for the service terminal to perform grid division on the service range of the service terminal based on the latitude information of the service terminal; when the client is connected with the service terminal, determining a central grid point where the client is located;
the information processing module is used for judging whether the common grid points exist in the preset range of the central grid point;
the sending module is used for sending the service data of the commonly used grid points to the client for positioning if the commonly used grid points exist in the preset range of the central grid point; and if no common grid point exists in the preset range of the central grid point, the service terminal sends the service data of the central grid point to the client for positioning.
8. A positioning apparatus, comprising: a processor and a memory coupled to each other;
the memory is configured to store program instructions for implementing the positioning method according to any one of claims 1 to 6, and the processor is configured to execute the program instructions stored by the memory.
9. A computer-readable storage medium, characterized in that a program file is stored, which can be executed to implement the positioning method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011018404.5A CN112255651A (en) | 2020-09-24 | 2020-09-24 | Positioning method, equipment, service terminal equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011018404.5A CN112255651A (en) | 2020-09-24 | 2020-09-24 | Positioning method, equipment, service terminal equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112255651A true CN112255651A (en) | 2021-01-22 |
Family
ID=74232082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011018404.5A Pending CN112255651A (en) | 2020-09-24 | 2020-09-24 | Positioning method, equipment, service terminal equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112255651A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112817012A (en) * | 2021-04-19 | 2021-05-18 | 航天宏图信息技术股份有限公司 | Positioning method and device, electronic equipment and readable storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6647340B1 (en) * | 2002-03-13 | 2003-11-11 | Garmin Ltd. | Space based augmentation systems and methods using ionospheric bounding data to determine geographical correction source |
| US20110316735A1 (en) * | 2007-05-31 | 2011-12-29 | Dai Liwen L | Distance Dependant Error Mitigation in Real-Time Kinematic (RTK) Positioning |
| CN107861131A (en) * | 2017-10-23 | 2018-03-30 | 羲和时空（武汉）网络科技有限公司 | The acquisition methods and system of a kind of wrong path footpath ionosphere delay |
| CN110261879A (en) * | 2019-07-31 | 2019-09-20 | 西南交通大学 | The grid virtual reference station method of wide area ground enhancing location-based service |
| CN110461037A (en) * | 2019-10-09 | 2019-11-15 | 北京讯腾智慧科技股份有限公司 | A kind of dynamic grid network RTK localization method and system |
| CN110809317A (en) * | 2019-10-09 | 2020-02-18 | 北京讯腾智慧科技股份有限公司 | Multi-source dynamic grid network RTK positioning method, system, terminal and storage medium |
| CN111158031A (en) * | 2018-11-07 | 2020-05-15 | 千寻位置网络有限公司 | Ionospheric delay extraction method and device, user, server and positioning system |
| CN111225441A (en) * | 2019-12-10 | 2020-06-02 | 北京讯腾智慧科技股份有限公司 | Dynamic grid network RTK positioning method, system, terminal and storage medium suitable for confidential environment |
-
2020
- 2020-09-24 CN CN202011018404.5A patent/CN112255651A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6647340B1 (en) * | 2002-03-13 | 2003-11-11 | Garmin Ltd. | Space based augmentation systems and methods using ionospheric bounding data to determine geographical correction source |
| US20110316735A1 (en) * | 2007-05-31 | 2011-12-29 | Dai Liwen L | Distance Dependant Error Mitigation in Real-Time Kinematic (RTK) Positioning |
| CN107861131A (en) * | 2017-10-23 | 2018-03-30 | 羲和时空（武汉）网络科技有限公司 | The acquisition methods and system of a kind of wrong path footpath ionosphere delay |
| CN111158031A (en) * | 2018-11-07 | 2020-05-15 | 千寻位置网络有限公司 | Ionospheric delay extraction method and device, user, server and positioning system |
| CN110261879A (en) * | 2019-07-31 | 2019-09-20 | 西南交通大学 | The grid virtual reference station method of wide area ground enhancing location-based service |
| CN110461037A (en) * | 2019-10-09 | 2019-11-15 | 北京讯腾智慧科技股份有限公司 | A kind of dynamic grid network RTK localization method and system |
| CN110809317A (en) * | 2019-10-09 | 2020-02-18 | 北京讯腾智慧科技股份有限公司 | Multi-source dynamic grid network RTK positioning method, system, terminal and storage medium |
| CN111225441A (en) * | 2019-12-10 | 2020-06-02 | 北京讯腾智慧科技股份有限公司 | Dynamic grid network RTK positioning method, system, terminal and storage medium suitable for confidential environment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112817012A (en) * | 2021-04-19 | 2021-05-18 | 航天宏图信息技术股份有限公司 | Positioning method and device, electronic equipment and readable storage medium |
| CN112817012B (en) * | 2021-04-19 | 2021-07-27 | 航天宏图信息技术股份有限公司 | Positioning method and device, electronic equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8872700B2 (en) | GNSS surveying receiver with multiple RTK engines | |
| EP3408686B1 (en) | Hybrid rtk | |
| US8665154B2 (en) | Modeling and location inference based on ordered beacon sets | |
| EP3803461B1 (en) | Anti-spoofing system for gnss receivers | |
| CN107765275B (en) | Wide-area differential positioning method, device, terminal and computer readable storage medium | |
| US20130201055A1 (en) | Method and apparatus for determining physical characteristics of a receiving device in a navigation system | |
| WO2015065664A1 (en) | Interference map for gnss device | |
| JP2016206184A (en) | Using code minus carrier measurements to mitigate spatial decorrelation errors caused by ionosphere delays | |
| CN113124919B (en) | Abnormity monitoring method and device for reference station and related equipment | |
| US20190011570A1 (en) | Gnss device location verification | |
| CN115993623B (en) | Adaptive star selection method, device, equipment and readable storage medium | |
| CN114779297A (en) | Terminal positioning method and related device | |
| US20160124069A1 (en) | Systems and methods for estimating a two-dimensional position of a receiver | |
| CN112255651A (en) | Positioning method, equipment, service terminal equipment and storage medium | |
| CN112114337B (en) | System and method for calculating a protection level for speed and heading to earth | |
| CN110971288B (en) | Positioning method and device | |
| CN112255650B (en) | Positioning method, equipment, service terminal equipment and storage medium | |
| US20120112960A1 (en) | Access point, mobile terminal, global navigation satellite system using the access point, and method of providing position information using the access point | |
| CN112799106B (en) | Satellite observation information processing method, mobile terminal and storage medium | |
| CN105319566A (en) | Cooperative positioning method and apparatus | |
| US20180067214A1 (en) | Carrier-phase smoothing of code-phase measurements | |
| CN111610543B (en) | Low-power consumption processing method, device, positioning system and storage medium | |
| CN108710141A (en) | baseband chip sensitivity test method and device | |
| CN111830542B (en) | Data processing method, device, positioning equipment and storage medium | |
| US20150215891A1 (en) | Communication Terminal, Information Processing Terminal, Position Search System, Position Notification Method, Position Display Method, Position Search Method, and Program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210122 |