CN112649821A - Self-differential positioning method and device, mobile equipment and storage medium - Google Patents
Self-differential positioning method and device, mobile equipment and storage medium Download PDFInfo
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Abstract
The invention provides a self-differential positioning method, a self-differential positioning device, mobile equipment and a storage medium, wherein the self-differential positioning method comprises the following steps: obtaining a pseudo-range measurement value of the mobile equipment relative to a satellite at the current moment and a first differential correction value corresponding to the mobile equipment at the historical moment; the coordinates of the historical position corresponding to the mobile equipment at the historical moment are corrected through the first differential correction value; the historical position is a virtual reference position of the current position of the mobile equipment; the current location coordinates of the mobile device are determined based on the pseudorange measurements and the first differential correction value. The self-differential positioning method provided by the invention does not need to set a reference station and a mobile communication network, thereby reducing the complexity cost of the system, being applied to other requirements on short-term relative positioning accuracy in areas without RTK support conditions or being used as a supplement in an RTK technology, being used for solving the problem of RTK signal transmission interruption and realizing accurate positioning.
Description
Technical Field
The invention relates to the technical field of mobile equipment, in particular to a self-differential positioning method and device, mobile equipment and a storage medium.
Background
With the progress of agricultural science and technology, in order to meet the quality of plant protection, plant protection equipment is required to have higher relative positioning accuracy, and therefore, the plant protection unmanned aerial vehicle with the autonomous route planning function is widely applied to the plant protection industry.
At present, a plant protection unmanned aerial vehicle mainly depends on a Real-time kinematic (RTK) satellite positioning technology in terms of navigation positioning. However, the RTK-based satellite positioning technology requires the establishment of a reference base station and the establishment of a communication network between the reference base station and the rover station. On one hand, with the development of communication networks, communication bandwidth is wider, the coverage area of a single station is smaller and smaller, and the cost is higher and higher; on the other hand, the coverage of the mobile communication network in remote areas is increasingly poor, and even a part of areas are not covered by a stable mobile communication network, so that the use of the traditional RTK is limited to a certain extent and cannot be flexibly applied to various scenes.
Disclosure of Invention
In view of the above, the present invention provides a self-differential positioning method, an apparatus, a mobile device, and a storage medium, so as to achieve the purpose of accurate positioning without establishing a reference base station and a communication network between the reference base station and the mobile device, reduce the cost of the existing navigation positioning, and expand the positioning scenario.
Embodiments of the invention may be implemented as follows:
in a first aspect, the present invention provides a self-differential positioning method, applied to a mobile device, the method including: obtaining a pseudo-range measurement value of the mobile device relative to a satellite at the current moment and a corresponding first differential correction value at the historical moment; wherein the historical position coordinates of the mobile device at the historical time are corrected by the first differential correction value; the historical position coordinates are virtual reference positions of the current position of the mobile equipment; determining current location coordinates of the mobile device based on the pseudorange measurements and the first differential correction value.
In a second aspect, the present invention provides a self-differential positioning apparatus, comprising: the mobile device comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a pseudo-range measurement value of the mobile device relative to a satellite at the current moment and a first differential correction value corresponding to the mobile device at the historical moment; wherein the historical position coordinates of the mobile device at the historical time are corrected by the first differential correction value; the historical position coordinates are virtual reference positions of the current position of the mobile equipment; a determination module to determine current location coordinates of the mobile device based on the pseudorange measurements and the first differential correction value.
In a third aspect, the present invention provides a mobile device comprising a processor, a memory, and at least two satellite receivers, the satellite receivers being electrically connected to the processor; the memory stores a computer program executable by the processor to implement the self-differential positioning method as in the first aspect.
In a fourth aspect, the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the self-differential positioning method as in the first aspect.
The invention provides a self-differential positioning method, a self-differential positioning device, mobile equipment and a storage medium, wherein the self-differential positioning method comprises the following steps: the method comprises the following steps: obtaining a pseudo-range measurement value of the mobile equipment relative to a satellite at the current moment and a first differential correction value corresponding to the mobile equipment at the historical moment; the coordinates of the historical position corresponding to the mobile equipment at the historical moment are corrected through the first differential correction value; the historical position is a virtual reference position of the current position of the mobile equipment; the current location coordinates of the mobile device are determined based on the pseudorange measurements and the first differential correction value. The difference from the prior art is that the prior art needs to establish a reference base station and also needs to establish a communication network between the reference base station and the mobile device, which is high in cost and limited in application scenarios, and the self-differential positioning method provided by the invention does not need to establish a reference station, and uses the corrected position as a virtual reference station, so that the support of the mobile communication network is not needed. Therefore, the complexity cost of the system is reduced, and the method can be applied to other requirements on short-term relative positioning accuracy in areas without RTK support conditions or used as a supplement under an RTK technology to solve the problem of RTK signal transmission interruption, realize higher positioning accuracy in a certain range within a certain time, and control long-term accumulated errors in a smaller range. Can be widely applied to the plant protection industry. Meanwhile, the construction of the reference station and the support of a mobile communication network are avoided.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a self-differential positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a self-differential operation principle provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a typical operation track of a plant protection process of a mobile plant protection device according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another self-differential positioning method according to an embodiment of the present invention;
fig. 5 is a second schematic flowchart of another self-differential positioning method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a track drift;
fig. 7 is a third schematic flowchart of another self-differential positioning method according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a mobile device according to an embodiment of the present invention;
FIG. 9 is a functional block diagram of a self-differential positioning apparatus according to an embodiment of the present invention;
fig. 10 is a block diagram of a mobile device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Currently, mobile devices rely primarily on RTK-based satellite positioning technology for navigation positioning. However, the RTK-based satellite positioning technology requires the establishment of a reference base station and the establishment of a communication network between the reference base station and the rover station. However, the RTK satellite positioning technology has the following defects: on one hand, with the development of communication networks, the communication bandwidth is wider and narrower, the coverage area of a single station is smaller and smaller, and the cost for establishing a reference base station is higher and higher; on the other hand, as the automation of rural areas (farms) is improved, the population is less and less, and the coverage of the mobile communication network in the rural areas (farms) is worse and worse from the trend, so that a part of areas are far away and cannot cover a stable mobile communication network.
In order to solve the above technical problem, the inventor provides a self-differential positioning method, which takes the position of the mobile station at time T (n) and the observed pseudo-range value as references to obtain a differential correction value, and transfers the differential correction value to the subsequent time T (n + M) for error correction, where M is 1, 2. The difference from the prior art is that the self-differential positioning method provided by the embodiment of the invention does not need to establish a reference station, but uses the position which is already corrected as a virtual reference station, so that the support of a mobile communication network is not needed. Therefore, the complexity cost of the system is reduced, and the method can also be applied to other requirements on short-term relative positioning accuracy in areas without RTK support conditions or used as a supplement in RTK technology to solve the problem of RTK signal transmission interruption.
Referring to fig. 1, first, fig. 1 is a schematic flowchart of a self-differential positioning method provided in an embodiment of the present invention, where the method includes:
and S115, obtaining a pseudo-range measured value of the mobile device relative to the satellite at the current moment and a corresponding first differential correction value at the historical moment.
In some possible embodiments, the coordinates of the historical position corresponding to the mobile device at the historical time are corrected by the first differential correction value, and it can be understood that the coordinates of the historical position are within an error range, and the coordinates of the historical position are relatively accurate coordinates, so that the historical position can be used as a virtual reference position of the current position of the mobile device.
In some possible embodiments, the above mentioned pseudorange measurement refers to a measured distance from the satellite receiver to the satellite, which contains errors such as clock error and atmospheric refraction delay, and in one implementation, the pseudorange measurement may be calculated as follows:
wherein ρ represents a pseudorange measurement between the satellite and the mobile device, and r represents a true distance between the mobile device and the satellite, the true distance being a geometric distance between coordinates according to the mobile device and coordinates of the satellite; c represents the propagation velocity of the electromagnetic wave in space,
which is indicative of the receiver clock error,
representing the satellite clock error, I the ionosphere error, T the troposphere error, ερRepresenting other measures of noise error.
In some possible embodiments, the first differential correction value may be a difference between a pseudorange measurement between the mobile device and a satellite i involved in positioning at time t (n) (e.g., time t (0)), and a distance between the mobile device and the satellite i, and the first differential correction value may be solved as follows:
wherein, i is the ith satellite participating in positioning;
representing the differential correction value, r, of the satellite i at time t (n)tnRepresenting the true distance of satellite i from the mobile device at time t (n).
It will be appreciated that, since the clock error, ephemeris error, observation error, ionosphere, and troposphere refraction are all long period errors, the amount of carrier-phase differential correction between the satellite i and the receiver at time t (n) can be considered approximately equal to the amount of carrier-phase differential correction at time t (n + m). That is, in obtaining the position coordinates at the current time, the differential correction value corresponding to the history time at the current time may be used.
And S116, determining the current position coordinates of the mobile equipment according to the pseudo-range measurement value and the first differential correction value.
In some possible embodiments, after obtaining the pseudorange measurement and the first differential correction value for the mobile device at the current time, the relationship may be based on
A relatively true distance of the mobile device with respect to the satellites at the current time can be obtained and then relatively true coordinates can be calculated according to some positioning algorithm.
According to the self-differential positioning method provided by the embodiment of the invention, a pseudo-range measurement value of the mobile equipment relative to a satellite at the current moment and a first differential correction value corresponding to the mobile equipment at the historical moment are obtained; then, the current position coordinate of the mobile equipment is determined according to the pseudo-range measurement value and the first differential correction value, and the coordinate of the historical position corresponding to the mobile equipment at the historical moment is corrected by the first differential correction value; the historical position is a virtual reference position of the current position of the mobile equipment, so that the positioning accuracy of the mobile equipment at the subsequent moment is improved within a certain time. The difference from the prior art is that the self-differential positioning method provided by the embodiment of the invention does not need to establish a reference station, but uses the position which is already corrected as a virtual reference station, so that the support of a mobile communication network is not needed. Therefore, the complexity cost of the system is reduced, and the method can be applied to other requirements on short-term relative positioning accuracy in areas without RTK support conditions or used as a supplement under an RTK technology to solve the problem of RTK signal transmission interruption, realize higher positioning accuracy in a certain range within a certain time, and control long-term accumulated errors in a smaller range. Can be widely applied to the plant protection industry. Meanwhile, the construction of the reference station and the support of a mobile communication network are avoided.
To facilitate understanding of the self-differential positioning process, a scene schematic diagram is provided below, please refer to fig. 2, and fig. 2 is a schematic diagram of a self-differential working principle provided by an embodiment of the present invention.
As shown in fig. 2, the range measurements between the mobile device and the satellites at time t (n) may be understood as pseudorange measurements, this is achieved in that the mobile device determines, from satellite information received by the satellite receiver, a value for which the predicted real distance is to be understood as the geometric distance between the current coordinates of the mobile device and the coordinates of the satellite, it being seen that there is a measurement error between the distance measurement and the predicted real distance, the measurement error can be used as a differential correction value, and at time t (n +1), the differential correction value obtained at time t (n), and then the error-corrected distance measurement value can be obtained based on the difference correction value and the distance measurement value obtained at the time t (n +1), the real position of the user-to-mobile device at the time t (n +1) can be measured according to any positioning method and the distance after error correction.
Optionally, in a scenario, the historical time may be an initial time when the mobile device starts to move; in another implementation, the historical time may be any time between the initial time and the current time.
It can be understood that, the differential correction information calculated by the mobile device at the historical time is used for performing differential correction on the current time, so that the position of the current time is relatively accurate relative to the position of the historical time; the differential correction value calculated at the historical time can also be used for differential correction at a plurality of time points (or position points) after the historical time, and whether the virtual reference base station needs to be updated (the position points are used for recalculating the differential correction value) depends on the actual application requirement. In general, in some scenarios where the frequency of location update is low and the frequency of heading update is high, the location and heading determinations are independent of each other, and the virtual reference stations at the same time or the virtual reference stations at different times may be used. Since the factor causing the change in the satellite positioning accuracy is less changed within a certain space over a certain time, the difference correction amount calculated at the past time can be used for the position location at the present time.
For convenience of understanding, a scene schematic diagram is given below, referring to fig. 3, and fig. 3 is a schematic diagram of a typical operation track of a plant protection process of a mobile plant protection device according to an embodiment of the present invention.
As shown in fig. 3, a, b, c, d, e, f, g, k, i, j, k are waypoints at different positions, and ab, cd, ef, gh, ij, ki are each flight segment in the plant protection process of the plant protection mobile device. ab, cd, ef, gh, ij, ki are substantially parallel to each other and substantially equidistant to avoid the phenomenon of missing or repeating the plant protection process.
Taking a plant protection aircraft route as an example: if the point a is taken as a starting point, the initial time is T (0), the coordinates of the plant protection equipment at the point a can be obtained, the difference between the pseudo-range measurement value and the real distance between the satellite and the plant protection equipment is further calculated, the differential correction value at the time T (0) is obtained, and the differential correction value is transmitted to the subsequent time and is used for correcting a certain position (or course) or a series of positions (or courses) at the time.
For example, in the process from point a to point b, the plant protection device may always perform difference correction on any point position from point a to point b by using the difference correction value calculated by point a, or may also take a certain point subjected to difference correction between ab as a virtual reference position, and perform difference comparison on a certain point or a certain series of points subsequent to ab; because the time required by the motion between the ab and the cd is short, the influence on the precision factor causing satellite positioning is small, and the relative relation between the ab, the cd and the ef can be considered to be accurate; similarly, the position relations between cd and ef, between ef and hg, etc. are also more accurate; meanwhile, because each differential correction value is compensated based on the current position of the mobile station, the long-term accumulated error of the differential correction value is not accumulated all the time along with the time, and the differential correction value is always controlled in a lower range.
Alternatively, in some possible embodiments, in a linear system, the differential calibration value R1 calculated at time t (n) may be compensated as an observed value of the distance between the satellite and the mobile station at time t (n + m), so as to confirm the position of the mobile station at time t (n + m), and then the differential calibration value R2 of the pseudorange between the satellite and the mobile station is calculated at the calculated position at time t (n + m), at which time the pseudorange measurement values R1 obtained at time t (n) are equal to the pseudorange measurement values R2 obtained at time t (n + m), but since the satellite positioning is a non-linear system, the pseudorange between the satellite and the mobile station is also changing due to the change of the satellite position and other environmental factors, and therefore the observed value between the satellite and the mobile station needs to be updated. Therefore, the difference correction value needs to be solved continuously and circularly, so that the local area is ensured to have higher relative positioning accuracy. Based on this, a possible implementation is given below, please refer to fig. 4, where fig. 4 is a schematic flowchart of another self-differential positioning method provided in an embodiment of the present invention, and the method may further include:
and S117, determining the predicted distance between the mobile equipment and the satellite according to the current position coordinates and the coordinates of the satellite at the current moment.
It will be appreciated that the current location coordinates are relatively accurate, and therefore, the true distance between the mobile device and the satellite may be calculated based on the current location coordinates and the coordinates of the satellite at the current time, using the current location as a virtual reference location.
And S118, determining a second differential correction value based on the predicted distance and the pseudo-range measurement value.
It will be appreciated that the second differential correction value described above is used to determine the position coordinates of the mobile device at any at least one future time after the current time.
Optionally, the historical time in the embodiment of the present invention may be a time when the mobile device starts moving, or may be any time between the starting time and the current time, based on which, to facilitate understanding of the process of obtaining the first differential correction value, an implementation of obtaining the first differential correction value is given below, referring to fig. 5, where fig. 5 is a second schematic flowchart of another self-differential positioning method provided in the embodiment of the present invention, and the method may further include:
and S111, acquiring information of the satellite.
It will be appreciated that the satellite information may include known information such as satellite pseudorandom code, ephemeris, satellite velocity, orbit, etc., as well as information observed by the satellite receiver such as carrier phase values.
And S112, determining the satellite position coordinates at the historical time according to the satellite information.
It will be appreciated that the coordinates of the satellite may be obtained from ephemeris, satellite speed of travel, orbit and carrier phase values observed by the satellite receiver.
And S113, determining historical predicted distance between the mobile device and the satellite and historical pseudo-range measurement values according to the satellite position coordinates and the historical position coordinates.
A first differential correction value is determined based on historical predicted ranges between the mobile device and the satellites and historical pseudorange measurements S114.
For example, the historical time is taken as the initial time t (0), and the coordinate of a certain satellite (i) at the time t (0) is assumed to be xi0,yi0,zi0The position coordinate of the receiving antenna of the mobile device (r) is xr0,yr0,zr0Then the predicted distance from the mobile device (r) to the satellite (i) at time t (0) is:
further, according to a pseudo-range observation equation between a satellite and a mobile station reception antenna:
a pseudorange measurement may be obtained for the mobile device (r) relative to the satellite (i) at an initial time t (0), such that a first differential correction value may be obtained based on the predicted range of the mobile device (r) to the satellite (i) and the pseudorange measurement.
It should be noted that, for any time between the initial time t (0) and the current time t (m), where 0< n < m, the first differential correction value is obtained in the same way as the differential correction value is obtained at the initial time, and when the historical time t (n) is any time between the initial time t (0) and the current time t (m), the position coordinate of the historical time t (n) is a relatively accurate coordinate that has been corrected, which may be corrected according to the differential correction value obtained at the initial time t (0), may be corrected according to the differential correction value at the time t (n-1), or may be corrected according to a differential value corresponding to any corrected position between t (0) and t (n).
It should be further noted that, when the historical time t (n) is any time between the initial time t (0) and the current time t (m), the time interval between the historical time t (n) and the current time t (m) is not easy to be too long, otherwise, a large accumulated error is easy to occur.
Alternatively, in a scenario in which the historical time is an initial time, the location coordinate of the mobile device at the initial time may be obtained by map matching, for example, the mobile device may obtain an initial location input by the user, and then obtain the initial coordinate by map matching.
Optionally, the self-differential positioning method has higher accuracy in a short term due to the fact that a relative position compensation mode is used instead of physical absolute position compensation, but an error increase phenomenon inevitably exists in a long term, particularly drift exists in an upward track, and a long-term accumulated error of the self-differential positioning method is determined by a mean value of GNSS positioning errors within a certain time; for example, referring to fig. 6, fig. 6 is a schematic diagram of a flight path drift, as shown in fig. 6, AB represents a leg in a planned route, and A, B represents two waypoints on the leg, where a can be understood as the starting point of the leg; a1 represents the starting point in the actual trajectory line during the movement of the mobile device, where a1 coincides with a without any deviation, and the actual trajectory line of the actual movement of the mobile device is shifted and gradually increased with respect to the planned trajectory line over time. Of course, since the satellite positioning error is limited, the offset does not continue to expand and to some extent stabilizes at a value.
Therefore, in order to solve the above problem, after obtaining the precise coordinates of the mobile device at the current position, the heading angle of the mobile device may be determined according to the satellite information received by the satellite receiver, and then the current position coordinates are updated again according to the displacement and the heading angle of the mobile device, a possible implementation is given below, referring to fig. 7, where fig. 7 is a schematic flowchart value three of another self-differential positioning method provided by an embodiment of the present invention, and the method further includes:
and S119, acquiring pseudo-range observed quantity, Doppler observed quantity, carrier phase observed quantity and satellite navigation message data measured by each satellite receiver.
It is understood that the mobile device in the embodiment of the present invention may be configured with at least two satellite receivers, and each satellite receiver may be electrically connected to the processor of the mobile device; each satellite receiver may receive information from the satellites, including measured pseudorange observations, doppler observations, and carrier phase observations, and transmit to the processor.
And S120, determining a course angle of the mobile equipment based on all pseudo-range observed quantities, Doppler observed quantities, carrier phase observed quantities and satellite navigation message data.
In one possible implementation, the course angle of the mobile device may be determined after obtaining the pseudorange observations, doppler observations, carrier phase observations, and satellite navigation message data corresponding to each satellite receiver.
And S121, determining the displacement of the mobile equipment according to the current position coordinates and the historical coordinates of the historical time adjacent to the current time.
It is understood that the current position coordinates are corrected position coordinates.
And S122, updating the current position coordinate according to the displacement and the heading angle.
Optionally, in a scenario of positioning the mobile device by using a satellite, since the mobile device may obtain observation data received in real time relative to the satellite, such as pseudorange observation, doppler observation, carrier phase observation and satellite navigation message data, and position information of the mobile device may be obtained by analyzing the observation data, in a possible implementation manner, the implementation manner of the step S120 may be as follows:
the method comprises the following steps of firstly, carrying out linear combination on pseudo-range observed quantity, Doppler observed quantity, carrier phase observed quantity and satellite navigation message data corresponding to each satellite receiver measurement to obtain a carrier phase double-difference observation equation.
And secondly, determining a course angle based on a carrier phase double-difference observation equation.
To facilitate understanding of the update process, a schematic diagram is given below, please refer to fig. 8, and fig. 8 is a schematic diagram of a mobile device according to an embodiment of the present invention.
As shown in fig. 8, the satellite receiving antenna 1(ANT1), the satellite receiving antenna 1(ANT2) is a satellite receiving antenna in a mobile device, and is used for receiving satellite signals, two satellite receiving antennas which are separated by a certain distance (the greater the distance between the antennas is, the higher the accuracy of the course is), the ANT1 is connected with the satellite receiver 1, the ANT2 is connected with the satellite receiver 2, and the two satellite receivers need to share a common clock. The satellite receiver 1 and the satellite receiver 2 are both electrically connected with the processor, the satellite receiver 1 and the satellite receiver 2 respectively transmit measured pseudo-range observed quantity, Doppler observed quantity, carrier phase observed quantity and satellite navigation messages to the processor, and the processor constructs a carrier phase double-difference observation equation and resolves the two in real time to obtain the course of the mobile equipment; the processor performs multi-epoch self-difference calculation between planets according to the information received by any one of the satellite receivers, namely, the position and the observed value of the mobile station at the historical moment are taken as references to obtain a difference correction value for error correction at the current moment, accurate displacement data of the mobile station relative to the previous moment is obtained, and then the displacement data and the course data are fused to update the current position coordinate to complete positioning.
In order to achieve the above steps and achieve the corresponding technical effects, an implementation manner of a self-differential positioning apparatus is provided below, referring to fig. 9, where fig. 9 is a functional block diagram of a self-differential positioning apparatus according to an embodiment of the present invention, where the self-differential positioning apparatus 30 includes: an acquisition module 301 and a determination module 302.
An obtaining module 301, configured to obtain a pseudorange measurement value of the mobile device at a current time relative to a satellite and a first differential correction value corresponding to the mobile device at a historical time; the coordinates of the historical position corresponding to the mobile equipment at the historical moment are corrected through the first differential correction value; the historical location is a virtual reference location of the current location of the mobile device.
A determining module 302 for determining current location coordinates of the mobile device based on the pseudorange measurements and the first differential correction value.
It is understood that the obtaining module 301 and the determining module 302 may cooperatively perform steps S115 and S116 to achieve corresponding technical effects.
Optionally, the determining module 302 is further configured to: determining the predicted distance between the mobile equipment and the satellite at the current moment according to the current position coordinate and the coordinate of the satellite at the current moment; determining a second differential correction value based on a pseudorange measurement and a predicted range between the mobile device and the satellite at the current time; the second differential correction value is used to determine the location coordinates of the mobile device at any at least one future time after the current time.
Optionally, the historical time is an initial time when the mobile device starts to move; alternatively, the historical time is any time between the initial time and the current time.
Optionally, the obtaining module 301 is further configured to obtain information of a satellite; the determining module 302 is further configured to determine, according to the information of the satellite, a satellite position coordinate at a historical time; determining a historical predicted distance between the mobile device and the satellite and a historical pseudorange measurement value according to the satellite position coordinate and the historical position coordinate; historical predicted ranges between the mobile device and the satellites and historical pseudorange measurements determine a first differential correction value.
Optionally, the determining module 302 is further configured to determine the initial position coordinates through map matching when the historical time is an initial time at which the mobile device starts to move and the historical position coordinates are initial position coordinates.
Optionally, the mobile device has at least two satellite receivers; the obtaining module 301 is further configured to obtain pseudorange observed quantities, doppler observed quantities, carrier phase observed quantities, and satellite navigation message data corresponding to each satellite receiver; the determining module 302 is further configured to determine a heading angle of the mobile device based on all of the pseudorange observations, the doppler observations, the carrier phase observations, and the satellite navigation message data; determining the displacement of the mobile equipment according to the current position coordinates and the historical coordinates of the historical time adjacent to the current time; and updating the current position coordinate according to the displacement and the course angle.
Optionally, the determining module 302 is specifically configured to: linearly combining pseudo-range observed quantity, Doppler observed quantity, carrier phase observed quantity and satellite navigation message data corresponding to each satellite receiver measurement to obtain a carrier phase double-difference observation equation; and determining a heading angle based on a carrier phase double-difference observation equation.
Fig. 10 shows a mobile device 50, where fig. 10 is a block diagram of the mobile device 50 according to the embodiment of the present invention. The mobile device 50 may be a drone, a cell phone, a tablet, etc. The mobile device 50 includes a communication interface 501, a processor 502 and a memory 503, and at least two satellite receivers 504 electrically connected to the processor 502. The satellite receiver 504 is configured to receive satellite information and transmit the received satellite information to the processor 502; the processor 502, the memory 503, and the communication interface 501 are electrically connected to each other, directly or indirectly, to enable transmission or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 503 may be used for storing software programs and modules, such as program instructions/modules corresponding to the self-differential positioning method provided by the embodiment of the present invention, and the processor 502 executes various functional applications and data processing by executing the software programs and modules stored in the memory 503. The communication interface 501 may be used for communicating signaling or data with other node devices. The mobile device 500 may have multiple communication interfaces 501 in the present invention.
The memory 503 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a programmable read-only memory (PROM), an erasable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), and the like.
The processor 502 may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc.
It is understood that the various modules of the self-differential positioning apparatus 30 may be stored in the form of software or Firmware (Firmware) in the memory 503 of the mobile device 50 and executed by the processor 502, and at the same time, data, codes of programs, etc. required for executing the modules may be stored in the memory 503.
It should be understood that the structure shown in fig. 10 is only a schematic structural diagram of the mobile device 50, and that the mobile device 50 may also include more or fewer components than those shown in fig. 1, or have a different configuration than that shown in fig. 10, and the components shown in fig. 10 may be implemented in hardware, software, or a combination thereof.
The present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by the processor 502, implements the self-differential positioning method according to any one of the foregoing embodiments. The storage medium may be, but is not limited to, various media that can store program codes, such as a usb disk, a removable hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A self-differential positioning method applied to a mobile device, the method comprising:
obtaining a pseudo-range measurement value of the mobile device relative to a satellite at the current moment and a corresponding first differential correction value at the historical moment; wherein the historical position coordinates of the mobile device at the historical time are corrected by the first differential correction value; the historical position coordinates are virtual reference positions of the current position of the mobile equipment;
determining current location coordinates of the mobile device based on the pseudorange measurements and the first differential correction value.
2. The self-differential positioning method according to claim 1, further comprising:
determining a predicted distance between the mobile device and the satellite according to the current position coordinates and the coordinates of the satellite at the current moment;
determining a second differential correction value based on the predicted range and the pseudorange measurement; the second differential correction value is used to determine the location coordinates of the mobile device at any at least one future time after the current time.
3. The self-differential positioning method according to claim 1, wherein the historical time is an initial time at which the mobile device starts moving; or, the historical time is any time between the initial time and the current time.
4. A method of self-differential positioning according to claim 1, wherein obtaining a pseudorange measurement of said mobile device relative to a satellite at a current time and a corresponding first differential correction value at a historical time further comprises:
acquiring information of the satellite;
determining the satellite position coordinates at the historical moment according to the information of the satellite;
determining historical predicted distances and historical pseudorange measurements between the mobile device and the satellites based on the satellite position coordinates and the historical position coordinates;
determining the first differential correction value based on the historical predicted range and the historical pseudorange measurements.
5. The self-differential positioning method according to claim 4, further comprising:
when the historical time is an initial time when the mobile device starts to move, the historical position coordinates are initial position coordinates, and before the historical position coordinates and the coordinates of the satellite at the historical time, the method further comprises the following steps:
the initial position coordinates are determined by map matching.
6. A self-differential positioning method according to claim 1, characterized in that the mobile device has at least two satellite receivers; further comprising:
obtaining pseudo-range observed quantity, Doppler observed quantity, carrier phase observed quantity and satellite navigation message data corresponding to each satellite receiver;
determining a course angle of the mobile device based on all of the pseudorange observations, the Doppler observations, the carrier phase observations, and the satellite navigation message data;
determining the displacement of the mobile equipment according to the current position coordinates and historical coordinates of historical moments adjacent to the current moment;
and updating the current position coordinate according to the displacement and the course angle.
7. The self-differential positioning method of claim 6, wherein determining a heading angle of the mobile device based on all of the pseudorange observations, the doppler observations, the carrier-phase observations, and the satellite navigation message data comprises:
linearly combining the pseudo-range observed quantity, the Doppler observed quantity, the carrier phase observed quantity and the satellite navigation message data corresponding to the satellite receiver measurement to obtain a carrier phase double-difference observation equation;
and determining the course angle based on the carrier phase double-difference observation equation.
8. A self-differentiating positioning device, comprising:
the mobile device comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a pseudo-range measurement value of the mobile device relative to a satellite at the current moment and a first differential correction value corresponding to the mobile device at the historical moment; wherein the historical position coordinates of the mobile device at the historical time are corrected by the first differential correction value; the historical position coordinates are virtual reference positions of the current position of the mobile equipment;
a determination module to determine current location coordinates of the mobile device based on the pseudorange measurements and the first differential correction value.
9. A mobile device comprising a processor, a memory, and at least two satellite receivers, the satellite receivers being electrically connected to the processor; the memory stores a computer program executable by a processor to implement the self-differential location method as claimed in any one of claims 1-7.
10. A storage medium having stored thereon a computer program which, when executed by a processor, implements a self-differential positioning method as claimed in any one of claims 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011626166.6A CN112649821A (en) | 2020-12-31 | 2020-12-31 | Self-differential positioning method and device, mobile equipment and storage medium |
| PCT/CN2021/131353 WO2022142834A1 (en) | 2020-12-31 | 2021-11-18 | Self-differential positioning method and apparatus, and mobile device and storage medium |
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| CN202011626166.6A CN112649821A (en) | 2020-12-31 | 2020-12-31 | Self-differential positioning method and device, mobile equipment and storage medium |
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| CN116520371A (en) * | 2023-04-28 | 2023-08-01 | 银河航天(成都)通信有限公司 | Method, device and storage medium for improving differential positioning precision of mobile terminal |
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| CN115826008B (en) * | 2023-02-22 | 2023-06-02 | 广州导远电子科技有限公司 | Method and device for detecting antenna displacement distance range, mobile station and storage medium |
| CN116413757B (en) * | 2023-04-13 | 2024-03-05 | 中国民航大学 | Ship heave measurement method based on time differential carrier phase technology |
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