CN112526557A - Method and device for acquiring positioning reliability and computer readable medium - Google Patents

Method and device for acquiring positioning reliability and computer readable medium Download PDF

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Publication number
CN112526557A
CN112526557A CN202011366689.1A CN202011366689A CN112526557A CN 112526557 A CN112526557 A CN 112526557A CN 202011366689 A CN202011366689 A CN 202011366689A CN 112526557 A CN112526557 A CN 112526557A
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China
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satellite
information
positioning terminal
positioning
acquiring
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CN202011366689.1A
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Chinese (zh)
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张龙龙
杜洪伟
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Guangdong Starcart Technology Co ltd
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Guangdong Starcart Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G01S19/115—Airborne or satellite based pseudolites or repeaters
    • 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

Abstract

The invention relates to the technical field of evaluating positioning reliability of a certain area by utilizing satellite positioning related data, and mainly discloses a positioning reliability obtaining method, which comprises the following steps: the method comprises the following steps: acquiring satellite data of a positioning terminal, wherein the satellite data is originated from a satellite signal received by the positioning terminal; step two: generating continuous visible information and distribution information of the satellite according to the satellite data; step three: acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information, the distribution information and the satellite data of the satellite; step four: the position information of the positioning terminal is compared with the coordinate true value of the positioning terminal to obtain the positioning reliability information in different time periods, and an acquisition device and a computer readable medium for the positioning reliability are disclosed. The positioning reliability information of a certain area at different time can be conveniently predicted in advance.

Description

Method and device for acquiring positioning reliability and computer readable medium
Technical Field
The present disclosure relates to the field of estimating positioning reliability for a certain area using satellite positioning related data, and more particularly, to an acquisition method, an apparatus, and a computer readable medium thereof.
Background
In many fields, the reliability of location determination for a location is verified by the effect of location determination afterwards. For example, in a high-precision positioning terminal mounted on a vehicle based on satellite enhanced signals, there is a model optimization in an RTK solution process to study positioning precision and positioning reliability. The GPS positioning coverage rate and reliability analysis of the mobile terminal in Shanghai city is combined with the GPS signal coverage condition and the factors influencing urban navigation positioning by combining GPS satellite distribution and urban road environment analysis.
The traditional positioning reliability of the places needs to be actually at the place, and the positioning reliability of the place can be observed by comparing the positioning position with the position actually located at the time.
Disclosure of Invention
To solve at least one of the foregoing technical problems, the present disclosure provides, in a first aspect, a method for obtaining positioning reliability, including:
the method comprises the following steps: acquiring satellite data of a positioning terminal, wherein the satellite data is originated from a satellite signal received by the positioning terminal; step two: generating continuous visible information and distribution information of the satellite according to the satellite data; step three: acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information, the distribution information and the satellite data of the satellite; step four: and comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal to obtain positioning reliability information in different time periods.
Preferably, the generating of the continuous visible information and the distribution information of the satellite according to the satellite data comprises: acquiring the information of the star-sky plot by using an RTKPLOT module according to time information, pseudo-range observation information, carrier phase observation information and navigation messages in the satellite data; the star map information shows the continuous visible information and distribution information of the satellite.
Preferably, the step of obtaining the location information of the positioning terminal at different time intervals according to the continuous visible information and the distribution information of the satellite and the satellite data includes the steps of: according to the continuous visible information and the distribution information of the satellite, processing the satellite data into satellite data when the satellite is uniformly distributed and satellite data when the satellite is not uniformly distributed; processing the satellite data when the satellites are uniformly distributed to obtain the position information of the positioning terminal when the satellites are uniformly distributed; and processing the satellite data when the satellite is unevenly distributed to obtain the position information of the positioning terminal when the satellite is unevenly distributed.
Preferably, "comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal to obtain the positioning reliability information at different time periods" comprises the following steps: comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal when the satellite is uniformly distributed to obtain the error when the satellite is uniformly distributed; comparing the position information of the positioning terminal when the satellite is unevenly distributed with the true coordinate value of the positioning terminal to obtain the error when the satellite is unevenly distributed; acquiring coordinate precision when the satellite is uniformly distributed and when the satellite is non-uniformly distributed according to errors when the satellite is uniformly distributed and when the satellite is non-uniformly distributed; and acquiring positioning reliability information at different time intervals according to the coordinate precision when the satellite is uniformly distributed and the coordinate precision when the satellite is not uniformly distributed.
Preferably, the first step to the fourth step are repeated, and the position information of the positioning terminal in a plurality of different positions is obtained; comparing the positioning terminal with the true values of the coordinates of the positioning terminal when the positioning terminal is at a plurality of different positions to obtain the average error of the positioning terminal when the positioning terminal is at the plurality of different positions; and acquiring the positioning reliability information of the area where the positioning terminal is located according to the average error of a plurality of different positions.
Preferably, the time for receiving the satellite signal by the positioning terminal is not less than 12 hours; and acquiring the range information of the satellite signal received by the positioning terminal.
Preferably, the location information includes longitude and latitude and elevation information of the positioning terminal.
Preferably, whether the positioning reliability information belongs to a time condition is judged according to the obtained positioning reliability information at different time intervals;
and when the time information is in accordance with the time information, generating prompt information corresponding to the time.
The present disclosure provides, in a second aspect, an apparatus for obtaining positioning reliability, including: the satellite data acquisition module is used for acquiring satellite data of a positioning terminal, wherein the satellite data is originated from a satellite signal received by the positioning terminal; the generating module is used for generating continuous visible information and distribution information of the satellite according to the satellite data; the position information acquisition module is used for acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information, the distribution information and the satellite data of the satellite; and the comparison module is used for comparing the position information of the positioning terminal with the coordinate true value of the positioning terminal to obtain the positioning reliability information in different time periods.
The present disclosure proposes, in a third aspect, a computer readable medium, in which a computer program is stored, the computer program being loaded and executed by a processing module to implement the steps of the acquisition method.
Some technical effects of this disclosure are: the satellite data of the positioning terminal is processed to obtain the positioning reliability information of the area where the positioning terminal is located at different time intervals, and the processing process is convenient and fast and has high accuracy. The positioning reliability information of a certain area at different time can be conveniently predicted in advance.
Drawings
For a better understanding of the technical aspects of the present disclosure, reference may be made to the following drawings, which are included to provide an additional description of the prior art or embodiments. These drawings selectively illustrate articles or methods related to the prior art or some embodiments of the present disclosure. The basic information for these figures is as follows:
fig. 1 is a schematic diagram illustrating a method for acquiring positioning reliability according to an embodiment;
fig. 2 is a schematic diagram of a star field distribution of satellites received by a positioning terminal at a first time in an embodiment;
fig. 3 is a schematic diagram of a star field distribution of satellites received by the positioning terminal at the second time in an embodiment.
In the above drawings, the reference numbers and their corresponding technical features are as follows:
100-first satellite, 200-second satellite, 300-third satellite, 400-fourth satellite.
Detailed Description
The technical means or technical effects referred to by the present disclosure will be further described below, and it is apparent that the examples (or embodiments) provided are only some embodiments intended to be covered by the present disclosure, and not all embodiments. All other embodiments, which can be made by those skilled in the art without any inventive step, will be within the scope of the present disclosure as expressed or implied by the embodiments and text herein.
As shown in fig. 1, in a first aspect, the present disclosure provides a method for obtaining positioning reliability, including the following steps:
the method comprises the following steps: acquiring satellite data of a positioning terminal, wherein the satellite data is originated from a satellite signal received by the positioning terminal;
step two: generating continuous visible information and distribution information of the satellite according to the satellite data;
step three: acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information, the distribution information and the satellite data of the satellite;
step four: and comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal to obtain positioning reliability information in different time periods.
The following is a description of the main objects or relationships involved in the above steps. Where not further understood, reasonable reasoning can be achieved with reference to the relevant art, other relevant descriptions of the prior art, or the intent of the invention.
It should be emphasized that the method for acquiring the positioning reliability described herein can be generally applied to such scenarios as some links: when the positioning reliability of a certain county city, a certain urban area or any region within a 24-hour time period or a certain time needs to be known in advance, the positioning reliability of the region within the time period or the time is estimated by using the method provided by the invention. Therefore, when a user arrives in the area, the positioning reliability of the corresponding moment can be obtained conveniently. The user may be a person or an electronic device that needs to be located, etc. The positioning reliability at a specific moment in the corresponding area can be estimated. The specific method for acquiring the positioning reliability of a certain area comprises the steps of placing a positioning terminal with a positioning function at a certain position of the area with known coordinate information, continuously receiving satellite signals of each satellite in the air, and continuously receiving for at least 12 hours to obtain satellite data. The position is required to be located in an open area or a surrounding non-blocking area, so that the positioning terminal can well receive satellite signals, and the acquired positioning reliability is more accurate. The positioning terminal is provided with a positioning antenna which can receive satellite signals, and can also collect the satellite signals received by the positioning antenna and process the satellite signals (mainly comprising the processes of radio frequency front end processing, baseband digital signal processing, positioning resolving and the like) so as to obtain satellite data and navigation messages, and the satellite data obtained by continuously observing for a plurality of hours is processed to obtain the position information of the positioning terminal. Some of the steps of processing the satellite signal and the satellite data can be completed on the positioning terminal, some of the steps can be completed on the background server, or the steps can be completed completely depending on the positioning terminal, or the steps can be completed completely depending on the background server. More commonly, the positioning terminal processes the satellite signal to obtain satellite data, and then sends the satellite data to the background server through the network, and the background server completes the subsequent processing steps. The positioning terminal continuously observes satellite signals received by the satellite to obtain satellite data, and integrity of the satellite data is guaranteed. And then comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal to obtain positioning reliability information in different time periods. The true coordinate value of the positioning terminal is the known coordinate information of the positioning terminal placement position.
Regarding positioning the terminal. The positioning terminal is mainly used for receiving satellite signals so as to calculate own position information. The positioning terminal can be of various types, such as electronic equipment with a positioning function, for example, a smart phone with a positioning function, a handheld positioning instrument, a code table with a positioning function, vehicle-mounted positioning navigation, a child positioning watch and the like. The positioning terminal can receive signals of a Beidou satellite for positioning, can also be a GPS satellite or other satellites, and also comprises some novel satellites transmitted in the future.
Regarding the positioning reliability, when the locator requests positioning in the area, the reliability is evaluated, and can be measured by the error between the obtained self positioning coordinate and the actual position real coordinate, and the larger the error is, the worse the reliability is, the smaller the reliability value is. Conversely, the smaller the error, the better the reliability, and the greater the reliability value. The reliability is evaluated, and the reliability is better when the satellite signals are continuously received for a longer time. Conversely, the shorter the time the satellite signal is received, the less reliable it is. In this embodiment, the positioning reliability of the area where the positioning terminal is located is measured by using the error between the position information obtained by the positioning terminal and the true value of the coordinate of the positioning terminal. The true coordinate value is the real coordinate information of the position of the positioning terminal, and the real coordinate information of the position of the positioning terminal is a known coordinate value and is measured in advance by a standard mapping standard or acquired from a national standard. The real coordinate information of the position of the positioning terminal comprises longitude and latitude and elevation information. The acquisition method proposed by the present disclosure will be explained below more taking a positioning terminal as an example, and in fact, the acquisition method may also be applied to acquire positioning reliability information of other evaluation types.
Regarding satellite data. The satellite data typically includes ephemeris data, pseudorange observations, and carrier-phase information, among others. By using the satellite data, the position coordinates of the positioning terminal (the specific representation form can be generally embodied as longitude and latitude according to which coordinate system is adopted), the motion track of the visible satellite and other data can be obtained.
Information about the continuity of the satellite and the distribution. The positioning terminal has a coverage area, which is a range in which the positioning terminal can receive satellite signals. The positioning terminal is limited by the antenna and other factors, the range of the receiving satellite is limited, and the receiving range is approximately in a sector-shaped perspective view. The coverage area of the positioning terminal, which may also be referred to as the viewing area of the positioning terminal, may also be referred to as the viewing area or field of view, is a solid cone. When the position of the satellite is in the coverage area, the positioning terminal can normally receive the satellite signal corresponding to the satellite. However, when there is obstruction by an obstruction or other factors, the positioning terminal still cannot receive continuous satellite signals. When the position of the satellite is out of the coverage area, the positioning terminal cannot normally receive the satellite signal corresponding to the satellite all the time. The continuous visible information and the distribution information of the satellites are the receiving time continuous information, the visible time and the invisible time of each satellite, the position distribution information of the receivable satellites and the like received by the positioning terminal in the coverage area. Because the satellite needs 12 hours to rotate for one circle, the positioning terminal continuously observes for at least more than 12 hours to obtain the satellite data, the integrity of the satellite data is ensured, and the continuous visible information and the distribution information of the satellite are generated according to the satellite data. In this case, the obtained continuous visible information and distribution information of the satellite are more accurate. The acquired reliability information is more accurate. The continuous observation time is the time of continuous reception of the search satellite signal. The longer the continuous observation time is, the more accurate the acquired positioning reliability information is.
The method comprises the following steps: acquiring satellite data of a positioning terminal, wherein the satellite data is originated from a satellite signal received by the positioning terminal;
in one embodiment, satellite data for a positioning terminal is obtained. The server obtains the satellite data of the positioning terminal through a wireless network or a bus connected between the server and the positioning terminal. The satellite data is derived from satellite signals received by the positioning terminal. The positioning terminal searches for satellites and transmits received satellite signals to a server. The server can acquire satellite data of the positioning terminal in real time, and can also store the satellite data in the positioning terminal. And the server acquires satellite data of the positioning terminal through a wireless network or a connecting line.
Step two: generating continuous visible information and distribution information of the satellite according to the satellite data;
the second step comprises the following steps: acquiring the information of the star-sky plot by using an RTKPLOT module according to time information, pseudo-range observation information, carrier phase observation information and navigation messages in the satellite data;
the star map information shows the continuous visible information and distribution information of the satellite.
The rtklib software incorporates a rtkplot module for analyzing the level of localization solution using image or graph means. In one embodiment, a rtkplot module is used for generating a skyplot map, namely a star sky map, according to the acquired satellite data. As shown in fig. 2, a star map corresponding to a coverage area of a positioning terminal at a certain time is a star distribution diagram of satellites received by the positioning terminal at a first time. As shown in fig. 3, a starry sky plot corresponding to a coverage area of a positioning terminal at another time is a starry sky distribution diagram of a satellite received by the positioning terminal at the second time. In both fig. 1 and fig. 2, there are a plurality of first satellites 100, a plurality of second satellites 200, a plurality of third satellites 300, and a plurality of fourth satellites 400, wherein in one embodiment, the first satellites are beidou satellites, the second satellites are GPS satellites, the third satellites are GLONASS satellites, and the fourth satellites are Galileo satellites. The numbers around each satellite map are the numbers of the satellites. The number of satellites received at different times and the distribution information of each numbered satellite can be seen in fig. 1 and 2. Similarly, the number of satellites corresponding to each successive time and distribution information of each numbered satellite can be obtained.
Step three: acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information, the distribution information and the satellite data of the satellite;
the third step comprises: according to the continuous visible information and the distribution information of the satellite, processing the satellite data into satellite data when the satellite is uniformly distributed and satellite data when the satellite is not uniformly distributed;
processing the satellite data when the satellites are uniformly distributed to obtain the position information of the positioning terminal when the satellites are uniformly distributed;
and processing the satellite data when the satellite is unevenly distributed to obtain the position information of the positioning terminal when the satellite is unevenly distributed.
The method comprises the steps that satellites in the coverage area of the positioning terminal at different moments are different in continuous visibility and distribution, and observation time is divided into a time period when the satellites are uniformly distributed and a time period when the satellites are not uniformly distributed according to the continuous visible information and the distribution information of the satellites. The period in which the distribution of the satellites is uniform and the period in which the distribution of the satellites is non-uniform may be a plurality of periods. Processing the satellite data to be satellite data when the satellite is uniformly distributed and satellite data when the satellite is not uniformly distributed; the satellite data is divided into satellite data when the satellite is uniformly distributed and satellite data when the satellite is non-uniformly distributed according to a time period when the satellite is uniformly distributed and a time period when the satellite is non-uniformly distributed.
Processing the satellite data when the satellites are uniformly distributed to obtain the position information of the positioning terminal when the satellites are uniformly distributed; and processing the satellite data when the satellite is unevenly distributed to obtain the position information of the positioning terminal when the satellite is unevenly distributed. And processing the satellite data, and respectively calculating coordinate information of the positioning terminal at the same position in different time periods, namely a satellite distribution uniform time period and a satellite distribution non-uniform time period. The calculation formula is as follows:
Pj＝ρj+c(δi-δj)+dj trop+dj iono+εP j
in the formula (I), the compound is shown in the specification,
Figure BDA0002802934610000081
geometric distance, delta, of the satellite to the reference stationiIs the receiver clock error, deltajIs the clock error of the satellite, dj tropFor tropospheric delay, dj ionoIs ionospheric delay, εP jTo observe the noise.
Step four: and comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal to obtain positioning reliability information in different time periods.
The fourth step comprises the following steps: comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal when the satellite is uniformly distributed to obtain the error when the satellite is uniformly distributed;
comparing the position information of the positioning terminal when the satellite is unevenly distributed with the true coordinate value of the positioning terminal to obtain the error when the satellite is unevenly distributed;
acquiring coordinate precision when the satellite is uniformly distributed and when the satellite is non-uniformly distributed according to errors when the satellite is uniformly distributed and when the satellite is non-uniformly distributed;
and acquiring positioning reliability information at different time intervals according to the coordinate precision when the satellite is uniformly distributed and the coordinate precision when the satellite is not uniformly distributed.
The different periods refer to a period in which the distribution of the satellites is uniform and a period in which the distribution of the satellites is not uniform.
Repeating the first step to the fourth step to obtain the position information of the positioning terminal at a plurality of different positions;
comparing the positioning terminal with the true values of the coordinates of the positioning terminal when the positioning terminal is at a plurality of different positions to obtain the average error of the positioning terminal when the positioning terminal is at the plurality of different positions; in the process of repeating the first step to the fourth step, the same positioning terminal is used at different positions, so that the accuracy of satellite data is ensured. The method avoids the possible error difference caused by different positioning terminals.
And acquiring the positioning reliability information of the area where the positioning terminal is located according to the average error of a plurality of different positions. The time for the positioning terminal to receive the satellite signals at each position is not less than 12 hours; the acquisition method further comprises the step of acquiring range information of satellite signals received by the positioning terminal. The position information comprises longitude and latitude and elevation information of the positioning terminal.
Judging whether the positioning reliability information belongs to a time condition or not according to the acquired positioning reliability information at different time intervals;
and when the time information is in accordance with the time information, generating prompt information corresponding to the time. And prompting the positioning reliability of the area where the user is located at the moment. The prompt message can be presented in the form of sound, image or text.
The present disclosure provides, in a second aspect, an apparatus for obtaining positioning reliability, including:
the satellite data acquisition module is used for acquiring satellite data of a positioning terminal, wherein the satellite data is originated from a satellite signal received by the positioning terminal;
the generating module is used for generating continuous visible information and distribution information of the satellite according to the satellite data;
the position information acquisition module is used for acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information, the distribution information and the satellite data of the satellite;
and the comparison module is used for comparing the position information of the positioning terminal with the coordinate true value of the positioning terminal to obtain the positioning reliability information in different time periods.
The present disclosure proposes, in a third aspect, a computer readable medium, in which a computer program is stored, the computer program being loaded and executed by a processing module to implement the steps of the acquisition method. It will be understood by those skilled in the art that all or part of the steps in the embodiments may be implemented by hardware instructions associated with a computer program, and the program may be stored in a computer readable medium, which may include various media capable of storing program code, such as a flash memory, a removable hard disk, a read-only memory, a random access memory, a magnetic or optical disk, and the like.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the skill of the disclosed technology, as will be understood or inferred by those skilled in the art from the figures and above.
Moreover, the descriptions of the embodiments are expanded upon with varying emphasis, as appropriate, with reference to the relevant prior art, other relevant descriptions herein, or the intent of the invention, where it is not further understood that such descriptions are presented herein.
It is emphasized that the above-described embodiments, which are typical and preferred embodiments of this disclosure, are merely used to explain and explain the technical solutions of the disclosure in detail for the reader's understanding, and do not limit the scope or application of the disclosure as claimed. Any modifications, equivalents, improvements and the like which come within the spirit and principle of the disclosure are intended to be covered by the scope of the disclosure.

Claims (10)

1. A method for acquiring positioning reliability is characterized by comprising the following steps:
the method comprises the following steps: acquiring satellite data of a positioning terminal, wherein the satellite data is originated from a satellite signal received by the positioning terminal;
step two: generating continuous visible information and distribution information of the satellite according to the satellite data;
step three: acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information, the distribution information and the satellite data of the satellite;
step four: and comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal to obtain positioning reliability information in different time periods.
2. The acquisition method according to claim 1,
generating continuous visible information and distribution information of the satellite according to the satellite data comprises the following steps:
acquiring the information of the star-sky plot by using an RTKPLOT module according to time information, pseudo-range observation information, carrier phase observation information and navigation messages in the satellite data;
the star map information shows the continuous visible information and distribution information of the satellite.
3. The acquisition method according to claim 1,
the step of acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information and the distribution information of the satellite and the satellite data comprises the following steps:
according to the continuous visible information and the distribution information of the satellite, processing the satellite data into satellite data when the satellite is uniformly distributed and satellite data when the satellite is not uniformly distributed;
processing the satellite data when the satellites are uniformly distributed to obtain the position information of the positioning terminal when the satellites are uniformly distributed;
and processing the satellite data when the satellite is unevenly distributed to obtain the position information of the positioning terminal when the satellite is unevenly distributed.
4. The acquisition method according to claim 3, characterized in that:
the step of comparing the position information of the positioning terminal with the coordinate true value of the positioning terminal to obtain the positioning reliability information in different time periods comprises the following steps:
comparing the position information of the positioning terminal with the true coordinate value of the positioning terminal when the satellite is uniformly distributed to obtain the error when the satellite is uniformly distributed;
comparing the position information of the positioning terminal when the satellite is unevenly distributed with the true coordinate value of the positioning terminal to obtain the error when the satellite is unevenly distributed;
acquiring coordinate precision when the satellite is uniformly distributed and when the satellite is non-uniformly distributed according to errors when the satellite is uniformly distributed and when the satellite is non-uniformly distributed;
and acquiring positioning reliability information at different time intervals according to the coordinate precision when the satellite is uniformly distributed and the coordinate precision when the satellite is not uniformly distributed.
5. The acquisition method according to claim 1,
repeating the first step to the fourth step to obtain the position information of the positioning terminal at a plurality of different positions;
comparing the positioning terminal with the true values of the coordinates of the positioning terminal when the positioning terminal is at a plurality of different positions to obtain the average error of the positioning terminal when the positioning terminal is at the plurality of different positions;
and acquiring the positioning reliability information of the area where the positioning terminal is located according to the average error of a plurality of different positions.
6. The acquisition method according to claim 1, characterized in that:
the time for receiving the satellite signal by the positioning terminal is not less than 12 hours;
and acquiring the range information of the satellite signal received by the positioning terminal.
7. The acquisition method according to claim 1, characterized in that:
the position information comprises longitude and latitude and elevation information of the positioning terminal.
8. The acquisition method according to claim 1, characterized in that:
judging whether the positioning reliability information belongs to a time condition or not according to the acquired positioning reliability information at different time intervals;
and when the time information is in accordance with the time information, generating prompt information corresponding to the time.
9. An apparatus for obtaining positioning reliability, comprising:
the satellite data acquisition module is used for acquiring satellite data of a positioning terminal, wherein the satellite data is originated from a satellite signal received by the positioning terminal;
the generating module is used for generating continuous visible information and distribution information of the satellite according to the satellite data;
the position information acquisition module is used for acquiring the position information of the positioning terminal at different time intervals according to the continuous visible information, the distribution information and the satellite data of the satellite;
and the comparison module is used for comparing the position information of the positioning terminal with the coordinate true value of the positioning terminal to obtain the positioning reliability information in different time periods.
10. A computer-readable medium characterized by:
the computer readable medium has stored therein a computer program which is loaded and executed by a processing module to implement the steps of the acquisition method of any one of claims 1 to 8.
CN202011366689.1A 2020-11-26 2020-11-26 Method and device for acquiring positioning reliability and computer readable medium Pending CN112526557A (en)

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