CN113075711A - Positioning method, device, equipment and computer storage medium - Google Patents
Positioning method, device, equipment and computer storage medium Download PDFInfo
- Publication number
- CN113075711A CN113075711A CN202011175189.XA CN202011175189A CN113075711A CN 113075711 A CN113075711 A CN 113075711A CN 202011175189 A CN202011175189 A CN 202011175189A CN 113075711 A CN113075711 A CN 113075711A
- Authority
- CN
- China
- Prior art keywords
- positioning
- information
- variation
- auxiliary information
- terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000004364 calculation method Methods 0.000 claims abstract description 13
- 230000015654 memory Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/009—Transmission of differential positioning data to mobile
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention provides a positioning method, a positioning device, positioning equipment and a computer storage medium. In the positioning method provided by the embodiment of the present invention, the information broadcasting device sends the acquired positioning assistance information and the variation information of the positioning assistance information to the positioning terminal, so that the positioning terminal can perform positioning calculation by using the positioning assistance information and the variation information of the positioning assistance information, which not only meets the requirements of the positioning terminal on time delay and positioning accuracy improvement, but also effectively saves precious air interface resources because the field occupied by the variation information sent by the information broadcasting device to the positioning device is smaller than that occupied by continuously sending the auxiliary positioning information.
Description
Technical Field
The present invention relates to the field of positioning, and in particular, to a positioning method, apparatus, device, and computer storage medium.
Background
From the mobile internet to the internet of things/the internet of vehicles, the position is essential information of a foundation, and higher value can be brought by positioning information with higher precision. Typical location services applications are e.g. navigation, high precision map presentation, etc.
A common satellite positioning method is to determine the specific position of the signal receiver by integrating data from multiple satellites. Because the satellite signal quality is high and low and the positioning accuracy is greatly related, in order to reduce the influence of factors such as sun black movement, severe weather, electromagnetic interference and the like and improve the quality of the satellite signal, the prior art transmits positioning auxiliary information to the terminal for the positioning calculation of the terminal, but because the fields occupied by the positioning auxiliary information are too many, the waste of air interface resources is caused.
Disclosure of Invention
Embodiments of the present invention provide a positioning method, apparatus, device, and computer storage medium, which can effectively save air interface resources.
In a first aspect, an embodiment of the present invention provides a positioning method, where the method is applied to an information broadcasting device, and the method includes: acquiring first positioning auxiliary information and variable quantity information of the first positioning auxiliary information;
and respectively sending the first positioning auxiliary information and the variable quantity information to the positioning terminal, so that the positioning terminal determines the positioning information of the positioning terminal according to the first positioning auxiliary information and the variable quantity information.
In some implementations of the first aspect, the obtaining the first positioning assistance information and the variation information of the first positioning assistance information includes:
acquiring second positioning auxiliary information corresponding to the first positioning auxiliary information;
and determining the variation information according to the first positioning auxiliary information and the second positioning auxiliary information.
In some implementations of the first aspect, second positioning assistance information corresponding to the first positioning assistance information is obtained; determining variation information according to the first positioning assistance information and the second positioning assistance information, including:
acquiring first positioning auxiliary information of a first reference station at a first time;
determining second positioning assistance information of the first reference station at a second time corresponding to the first positioning assistance information;
and determining the variation information according to the first positioning auxiliary information and the second positioning auxiliary information.
In some implementations of the first aspect, second positioning assistance information corresponding to the first positioning assistance information is obtained; determining variation information according to the first positioning assistance information and the second positioning assistance information, including:
acquiring first positioning auxiliary information of a first reference station at a first time and second positioning auxiliary information of a second reference station at the first time;
and determining the variation information according to the first positioning auxiliary information and the second positioning auxiliary information.
In some implementations of the first aspect, the sending the first positioning assistance information and the variation information to the positioning terminal respectively includes:
and respectively sending the first positioning auxiliary information and the variable quantity information to the positioning terminal in a broadcasting or unicast mode.
In a second aspect, an embodiment of the present invention provides a positioning method, where the method is applied to a positioning terminal, and the method includes: receiving first positioning auxiliary information and variable quantity information of the first positioning auxiliary information sent by information broadcasting equipment;
and determining the positioning information of the positioning terminal according to the first positioning auxiliary information and the variable quantity information.
In a third aspect, an embodiment of the present invention provides a positioning apparatus, including:
the acquisition module is used for acquiring the first positioning auxiliary information and the variable quantity information of the first positioning auxiliary information;
and the sending module is used for sending the first positioning auxiliary information and the variable quantity information to the positioning terminal respectively so that the positioning terminal can determine the positioning information of the positioning terminal according to the first positioning auxiliary information and the variable quantity information.
In a fourth aspect, an embodiment of the present invention provides a positioning apparatus, where the apparatus includes: the receiving module is used for receiving the first positioning auxiliary information and the variable quantity information of the first positioning auxiliary information sent by the information broadcasting equipment;
and the calculation module is used for determining the positioning information of the positioning terminal according to the first positioning auxiliary information and the variation information.
In a fifth aspect, the present invention provides a positioning apparatus, comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the positioning method described in the first aspect or any of the realizable manners of the first aspect or the positioning method described in the second aspect.
In a sixth aspect, the present invention provides a computer-readable storage medium, on which computer program instructions are stored, which, when executed by a processor, implement the positioning method of the first aspect or any of the realizable manners of the first aspect or the positioning method of the second aspect.
According to the positioning method provided by the embodiment of the invention, the acquired first positioning auxiliary information and the variable information of the first positioning auxiliary information are sent to the positioning terminal through the information broadcasting equipment, so that the positioning terminal can perform positioning calculation by using the positioning auxiliary information and the variable information of the positioning auxiliary information.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a positioning method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another positioning method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a positioning apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another positioning apparatus provided in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
From the mobile internet to the internet of things/the internet of vehicles, the position is essential information of a foundation, and higher value can be brought by positioning information with higher precision. Typical location services applications are e.g. navigation, high precision map presentation, etc. The location service can also be applied to various driving assistance and automatic driving scenes in the internet of vehicles, such as intersection collision early warning, travel service and the like.
A common satellite positioning method is to determine the specific position of the signal receiver by integrating data from multiple satellites. The four Global Satellite positioning systems are respectively the BeiDou Navigation Satellite System (BDS) in china, the Global Positioning System (GPS) in the united states, the Global Navigation Satellite System (GLONASS) in russia, and the galileo in the european union, and the working principles of the various Satellite positioning systems are approximately the same.
Taking GPS as an example, the GPS is composed of 24 working satellites, so that more than 4 satellites can be observed anywhere in the world at any time, the distance from a satellite with a known position to a positioning terminal of a user is measured, and the specific position of the receiver can be known by integrating data of a plurality of satellites.
Therefore, the satellite signal quality is high and low, the positioning accuracy is greatly related, the common inevitable factors influencing the satellite signal quality include sun black movement, severe weather, electromagnetic interference and the like, in order to improve the satellite signal quality, a differential positioning technology is often adopted, a ground reference station is arranged to measure the current satellite signal to obtain differential parameters, and then the ground reference station sends the differential parameters to a positioning terminal.
Therefore, in order to achieve high-precision positioning, the positioning device needs to receive positioning assistance information. For example, in the 3GPP TS37.355 V15.0.0 protocol, Positioning assistance Information is broadcasted by a System Information Block (position System Information Block, position sibs) for Positioning in Radio Resource Control (RRC) System Information (SI) messages, such as Real-Time Kinematic phase difference (RTK) technique of Global Navigation Satellite System (GNSS).
However, in the current protocol, the positioning assistance information for positioning is broadcasted to the positioning terminal by the network, the broadcast period is relatively fixed, and the convergence time for starting positioning is relatively long, for example, for some vehicles that need to be positioned in real time by automatic driving, the broadcast cannot meet the delay requirement of positioning, and because the fields occupied by each positioning assistance information are too many, continuous sending of the positioning assistance information causes a large amount of waste of air interface resources.
In order to solve the problems in the prior art, embodiments of the present invention provide a positioning method, apparatus, device, and computer storage medium. The positioning terminal is sent with the acquired positioning auxiliary information and the variable quantity information of the positioning auxiliary information through the information broadcasting equipment, so that the positioning terminal can perform positioning calculation by using the positioning auxiliary information and the variable quantity information of the positioning auxiliary information, and precious air interface resources can be effectively saved.
First, a positioning method provided in an embodiment of the present invention is described below, where the method may be used for an information broadcasting device, and with reference to a flowchart of the positioning method shown in fig. 1, the method may include the following steps:
and S110, acquiring the first positioning auxiliary information and the variation information of the first positioning auxiliary information.
In S110 according to an embodiment of the present invention, the first positioning assistance information may include positioning difference information obtained by calculating signals according to an actual position known by the ground reference station and the received satellite signals.
The information broadcasting equipment can be internally configured and calculated to obtain first positioning auxiliary information including the first positioning difference information, and also can transmit the first positioning auxiliary information including the first positioning difference information to the information broadcasting equipment by one or more other positioning service platforms. Illustratively, a roadside device (RSU) may obtain positioning assistance information and transmit the positioning assistance information to an information dissemination device.
After the information broadcasting equipment acquires the first positioning auxiliary information, the information broadcasting equipment acquires the variable quantity information of the first positioning auxiliary information. In some embodiments, the information dissemination device may obtain second positioning assistance information corresponding to the first positioning assistance information; and determining the variation information according to the first positioning auxiliary information and the second positioning auxiliary information.
In some embodiments, the variation information of the one or more positioning assistance information may be transmitted simultaneously as the variation information of the first positioning assistance information.
For clarity of describing the embodiment of the present invention, the following description will take broadcasting a single-station RTK message as an example. The size of the aiding information for single station RTK services is related to the number of signals/frequency bands and the number of satellites. Taking 2 GNSS signals, 12 satellites as an example, and the maximum value of SIB size is 277 bytes as an example, the assistance information of the single station RTK service is shown in table 1.
TABLE 1
The GNSS-RTK-Observations field is exemplified, wherein the GNSS-RTK-Observations field specified by the 3GPP TS37.355 V15.0.0 protocol requires 2650 bits for directly broadcasting positioning assistance information in a scenario of 12 satellites and 2 GNSS signals. This field is constructed as follows:
the GNSS-RTK-updates field requires 2650 bits for the calculation according to Table 1 in a scenario of 2 GNSS signals, 12 satellites.
Illustratively, the computation of the variance information is performed in the GNSS-RTK-Observations field as shown above, taking INTEGER-ms-r15 INTEREGER (0..254) in the GNSS-RTK-satellite dataelement-r15 as an example.
In some embodiments, calculating the obtained variation information may first obtain first positioning assistance information of the first reference station at a first time; determining second positioning assistance information of the first reference station at a second time corresponding to the first positioning assistance information; and determining the variation information according to the first positioning auxiliary information and the second positioning auxiliary information. In one example, the first reference station may include a ground reference station, and the first positioning assistance information of the first reference station may be obtained according to an actual observation value on each ground reference station around the first reference station, so as to improve the precision positioning of the positioning terminal.
As a specific example, the variation information may be obtained according to formula (1).
delta-integer-ms-r15＝integer-ms-r15(t1)-integer-ms-r15(t0)(1)
Wherein, delta-integer-ms-r15 represents the variation information of the integer-ms-r15 positioning auxiliary information;
integer-ms-r15(t1) represents the integer-ms-r15 positioning assistance information at time t 1;
the integer-ms-r15(t0) represents the integer-ms-r15 positioning assistance information at time t 0.
In some embodiments, first positioning assistance information of the first reference station at a first time and second positioning assistance information of the second reference station at the first time may also be obtained first; then, the variation information is determined according to the first positioning assistance information and the second positioning assistance information.
As a specific example, the variation information may be obtained according to formula (2).
delta-integer-ms-r15(Ref(2))＝integer-ms-r15(Ref(2))-integer-ms-r15(Ref(1))
(2)
Wherein delta-integer-ms-r15(Ref (2)) represents variation information of positioning assistance information integer-ms-r15 of the second reference station;
integer-ms-r15(Ref (2)) represents positioning assistance information integer-ms-r15 for the second reference station;
integer-ms-r15(Ref (1)) represents the first reference station's positioning assistance information integer-ms-r 15.
In some embodiments, the original INTEGER-ms-r15 inter (0..254) field may include first positioning auxiliary information, and according to the variation information obtained by the variation information calculation method described in the embodiments of the present invention, when the variation information of the first positioning auxiliary information is sent, the original INTEGER-ms-r15 inter (0..254) field may be set to the corresponding variation information field delta-INTEGER-ms-r15 inter (-63..63), because the size of the field of the variation information delta-INTEGER-ms-r15 may be only 7 bits, thereby reducing the field occupation and saving air interface resources.
In some embodiments, considering between the precision of the field and the overhead of the air interface, in order to further save air interface resources, the field size of the variation information of the original INTEGER-ms-r15 inter (-63..63) field may be set to be delta-INTEGER-ms-r15 inter (-31..31), that is, the length of the variation information field may be reduced from the original 7 bits to 6 bits, which may further save air interface resources.
In some embodiments, any field in the GNSS-RTK-updates may use the variation information calculation method described in the embodiments of the present invention.
It is to be understood that the above-mentioned setting of the length of the variation information field is only an example, and is not intended to specifically limit the present invention.
As a specific example, by taking the GNSS-RTK-updates field as an example in the embodiment of the present invention, if similar delta-INTEGER-ms-r15 interval (-63..63) is set for all inter type fields in the GNSS-RTK-updates, the length of the GNSS-RTK-updates change information field is 1402 bits { [ (44 × 2) +5] +20} × 12+6+40 {, in a scenario of 2 GNSS signals and 12 satellites, and compared with directly broadcasting 2650 bits of positioning assistance information, the calculation method of change information used in the embodiment of the present invention can save 47% of overhead over the air interface.
In some embodiments, optionally, for other fields in the assistance information of the single-station RTK service, for example, GNSS-RTK-reference station information (GNSS-RTK-ReferenceStationInfo), GLO-RTK-bias information (GLO-RTK-BiasInformation), and GNSS-RTK-joint observation information (GNSS-RTK-common observer info), the variation information calculation method described in the foregoing embodiments may also be used, and details are not described here.
In some embodiments, the precision of the variable quantity information of the positioning assistance information may be set in combination with the actual consumption of the air interface resource, so that the positioning information calculated by the positioning terminal is more accurate.
And S120, respectively sending the first positioning auxiliary information and the variable quantity information to the positioning terminal, so that the positioning terminal can determine the positioning information of the positioning terminal according to the first positioning auxiliary information and the variable quantity information.
In some embodiments, the information broadcasting device respectively sends the first positioning assistance information and the variation information to the positioning terminal, and may include: and respectively sending the first positioning auxiliary information and the variable quantity information to the positioning terminal in a broadcasting or unicast mode. In one example, the first positioning assistance information may be sent in a broadcast manner, and for a positioning terminal with a high real-time positioning requirement, the variation information may be sent in a unicast manner.
In some embodiments, the positioning terminal may receive the first auxiliary information and the variation information of the first positioning auxiliary information sent by the information broadcasting device; and determining the positioning information of the positioning terminal according to the first positioning auxiliary information and the variable quantity information.
In the positioning method described in the embodiment of the present invention, the information broadcasting device sends the acquired first positioning auxiliary information and the variation information of the first positioning auxiliary information to the positioning terminal, so that the positioning terminal can perform accurate positioning calculation by using the first positioning auxiliary information and the variation information of the first positioning auxiliary information. Amount of change
The following describes a positioning method according to an embodiment of the present invention, taking a base station as an information broadcasting device, and taking an example that the base station obtains positioning assistance information including positioning difference information, as shown in fig. 2, where the method includes the following steps:
s210, the base station acquires the first positioning auxiliary information.
In some embodiments, the first positioning assistance information may be configured in the base station, or may be transmitted to the base station through a positioning platform server, or may be acquired through the RSU, and transmitted to the base station.
S220, the base station broadcasts the first positioning auxiliary information to the positioning terminal.
S230, the base station obtains variation information of the first positioning assistance information.
In some embodiments, the base station may be configured to obtain second positioning assistance information corresponding to the first positioning assistance information, and the base station may calculate variation information of the first positioning assistance information. Or the positioning server may obtain second positioning assistance information corresponding to the first positioning assistance information, and send the calculated variation information to the base station for broadcast by the base station.
S240, the base station unicasts the variation information of the first positioning assistance information to the positioning terminal.
After the positioning terminal receives the first positioning assistance information unicast by the base station and the variation information of the first positioning assistance information unicast by the base station, the positioning terminal performs S250.
And S250, the positioning terminal determines the positioning information of the positioning terminal according to the first positioning auxiliary information and the variation information of the first positioning auxiliary information.
By the positioning method described in the embodiment of the invention, the terminal can obtain the positioning auxiliary information in time and calculate the positioning position.
With reference to the flowchart of the positioning method shown in fig. 2, in S220 in the embodiment of the present invention, when the base station broadcasts the first positioning assistance information to the positioning terminal, the base station may select to send the first positioning assistance information to the positioning terminal in a unicast manner.
In S240 of this embodiment of the present invention, when the base station broadcasts the variation information of the first positioning assistance information to the positioning terminal, the base station may also select to send the variation information of the first positioning assistance information to the positioning terminal in a broadcast manner.
By the positioning method described in the embodiment of the invention, the positioning terminal can obtain the positioning auxiliary information more quickly and accurately, the time delay requirement of real-time positioning can be met for the positioning terminal needing real-time positioning, better positioning accuracy can be obtained, especially, the positioning convergence speed can be effectively accelerated when the real-time positioning starts, and meanwhile, because the field of the variable quantity information of the first positioning auxiliary information occupies a position far smaller than the second positioning auxiliary information corresponding to the first positioning auxiliary information, precious air interface resources are also saved.
In response to the positioning method described in the embodiment of the present invention, fig. 3 is a schematic structural diagram of a positioning apparatus provided in the embodiment of the present invention, and as shown in fig. 3, the positioning apparatus 300 may include: an acquisition module 310 and a sending module 320.
The obtaining module 310 is configured to obtain the first positioning assistance information and variation information of the first positioning assistance information.
A sending module 320, configured to send the first positioning assistance information and the variation information to the positioning terminal, respectively, so that the positioning terminal determines the positioning information of the positioning terminal according to the first positioning assistance information and the variation information.
In some embodiments, the obtaining module 310 is further configured to obtain second positioning assistance information corresponding to the first positioning assistance information; and determining the variation information according to the first positioning auxiliary information and the second positioning auxiliary information.
In some embodiments, the obtaining module 310 may be further configured to obtain first positioning assistance information for the first reference station at a first time; determining second positioning assistance information of the first reference station at a second time corresponding to the first positioning assistance information; and determining the variation information according to the first positioning auxiliary information and the second positioning auxiliary information.
In some embodiments, the obtaining module 310 may be further configured to obtain first positioning assistance information of the first reference station at the first time and second positioning assistance information of the second reference station at the first time; and determining the variation information according to the first positioning auxiliary information and the second positioning auxiliary information.
In some embodiments, the sending module 320 is further configured to send the first positioning assistance information and the variation information to the positioning terminal by broadcasting or unicasting, respectively.
It is understood that the positioning apparatus 300 according to the embodiment of the present invention may correspond to an execution main body of the positioning method applied to the information broadcasting device according to the embodiment of the present invention, and specific details of the operation and/or the function of each module/unit of the positioning apparatus 300 may refer to corresponding parts in the positioning method applied to the information broadcasting device described in the above embodiment of the present invention, and are not described herein again for brevity.
Corresponding to the positioning method described in the embodiment of the present invention, fig. 4 is a schematic structural diagram of another positioning apparatus provided in the embodiment of the present invention, and as shown in fig. 4, the positioning apparatus 400 may include: a receiving module 410 and a positioning module 420.
A receiving module 410, configured to receive first positioning auxiliary information and variation information of the first positioning auxiliary information sent by an information broadcasting apparatus;
the positioning module 420 is configured to determine positioning information of the positioning terminal according to the first positioning auxiliary information and the variation information.
It is understood that the positioning apparatus 400 in the embodiment of the present invention may correspond to an execution main body of the positioning method applied to the positioning terminal in the embodiment of the present invention, and specific details of the operation and/or the function of each module/unit of the positioning apparatus 400 may refer to corresponding parts in the positioning method applied to the positioning terminal described in the above embodiment of the present invention, and are not described herein again for brevity.
The positioning device of the embodiment of the invention sends the acquired first positioning auxiliary information and the variable information of the first positioning auxiliary information to the positioning terminal through the information broadcasting equipment, so that the positioning terminal can perform positioning calculation by using the first positioning auxiliary information and the variable information of the first positioning auxiliary information.
Fig. 5 is a schematic diagram of a hardware structure of a positioning apparatus according to an embodiment of the present invention.
As shown in fig. 5, the pointing device 500 in this embodiment includes an input device 501, an input interface 502, a central processing unit 503, a memory 504, an output interface 505, and an output device 506. The input interface 502, the central processing unit 503, the memory 504, and the output interface 505 are connected to each other through a bus 510, and the input device 501 and the output device 506 are connected to the bus 510 through the input interface 502 and the output interface 505, respectively, and further connected to other components of the positioning device 500.
Specifically, the input device 501 receives input information from the outside and transmits the input information to the central processor 503 through the input interface 502; the central processor 503 processes input information based on computer-executable instructions stored in the memory 504 to generate output information, temporarily or permanently stores the output information in the memory 504, and then transmits the output information to the output device 506 through the output interface 505; the output device 506 outputs the output information to the outside of the pointing device 500 for use by the user.
That is, the positioning apparatus shown in fig. 5 may also be implemented to include: a memory storing computer-executable instructions; and a processor which, when executing computer executable instructions, may implement the positioning method described in connection with embodiments of the present invention.
In one embodiment, the pointing device 500 shown in FIG. 5 includes: a memory 504 for storing programs; the processor 503 is configured to execute the program stored in the memory to perform the positioning method described in the embodiment of the present invention.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium has computer program instructions stored thereon; which when executed by a processor implement the positioning method described in embodiments of the invention.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor Memory devices, Read-Only memories (ROMs), flash memories, Erasable ROMs (EROMs), floppy disks, Compact disk Read-Only memories (CD-ROMs), optical disks, hard disks, optical fiber media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A positioning method applied to an information dissemination device, the method comprising:
acquiring first positioning auxiliary information and variable quantity information of the first positioning auxiliary information;
and respectively sending the first positioning auxiliary information and the variation information to a positioning terminal so that the positioning terminal can determine the positioning information of the positioning terminal according to the first positioning auxiliary information and the variation information.
2. The method according to claim 1, wherein the obtaining the first positioning assistance information and the variation information of the first positioning assistance information comprises:
acquiring second positioning auxiliary information corresponding to the first positioning auxiliary information;
determining the variation information according to the first positioning assistance information and the second positioning assistance information.
3. The method of claim 2, wherein obtaining a second positioning assistance information variation corresponding to the first positioning assistance information comprises:
obtaining the first positioning assistance information of a first reference station at a first time;
determining the second positioning assistance information of the first reference station at a second time corresponding to the first positioning assistance information.
4. The method of claim 2, wherein obtaining a second positioning assistance information variation corresponding to the first positioning assistance information comprises:
obtaining the first positioning assistance information of a first reference station at a first time and the second positioning assistance information of a second reference station at the first time.
5. The method according to any one of claims 1 to 4, wherein the separately sending the first positioning assistance information and the variation information to a positioning terminal comprises:
and respectively sending the first positioning auxiliary information and the variation information to the positioning terminal in a broadcasting or unicast mode.
6. A positioning method is applied to a positioning terminal, and comprises the following steps:
receiving first positioning auxiliary information and variable quantity information of the first positioning auxiliary information sent by information broadcasting equipment;
and determining the positioning information of the positioning terminal according to the first positioning auxiliary information and the variation information.
7. A positioning device, the device comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring first positioning auxiliary information and variable quantity information of the first positioning auxiliary information;
and the sending module is used for sending the first positioning auxiliary information and the variation information to a positioning terminal respectively so that the positioning terminal can determine the positioning information of the positioning terminal according to the first positioning auxiliary information and the variation information.
8. A positioning device, the device comprising:
the receiving module is used for receiving first positioning auxiliary information and variable quantity information of the first positioning auxiliary information sent by information broadcasting equipment;
and the calculation module is used for determining the positioning information of the positioning terminal according to the first positioning auxiliary information and the variation information.
9. A positioning apparatus, characterized in that the apparatus comprises: a processor, and a memory storing computer program instructions;
the processor reads and executes the computer program instructions to implement the positioning method according to any one of claims 1 to 6.
10. A computer storage medium having computer program instructions stored thereon, which when executed by a processor, implement the positioning method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011175189.XA CN113075711A (en) | 2020-10-28 | 2020-10-28 | Positioning method, device, equipment and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011175189.XA CN113075711A (en) | 2020-10-28 | 2020-10-28 | Positioning method, device, equipment and computer storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113075711A true CN113075711A (en) | 2021-07-06 |
Family
ID=76609119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011175189.XA Pending CN113075711A (en) | 2020-10-28 | 2020-10-28 | Positioning method, device, equipment and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113075711A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103344976A (en) * | 2013-07-05 | 2013-10-09 | 东莞市泰斗微电子科技有限公司 | Auxiliary satellite navigation and positioning method and corresponding positioning terminal |
| US20160139270A1 (en) * | 2013-06-13 | 2016-05-19 | Zte Corporation | A Network-Aided Method, Terminal and Network Side Device for Satellite Navigation and Positioning |
| CN110827570A (en) * | 2018-08-14 | 2020-02-21 | 中国移动通信有限公司研究院 | Parking space state monitoring method, equipment and system and computer storage medium |
| CN110986930A (en) * | 2019-11-29 | 2020-04-10 | 北京三快在线科技有限公司 | Equipment positioning method and device, electronic equipment and storage medium |
-
2020
- 2020-10-28 CN CN202011175189.XA patent/CN113075711A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160139270A1 (en) * | 2013-06-13 | 2016-05-19 | Zte Corporation | A Network-Aided Method, Terminal and Network Side Device for Satellite Navigation and Positioning |
| CN103344976A (en) * | 2013-07-05 | 2013-10-09 | 东莞市泰斗微电子科技有限公司 | Auxiliary satellite navigation and positioning method and corresponding positioning terminal |
| CN110827570A (en) * | 2018-08-14 | 2020-02-21 | 中国移动通信有限公司研究院 | Parking space state monitoring method, equipment and system and computer storage medium |
| CN110986930A (en) * | 2019-11-29 | 2020-04-10 | 北京三快在线科技有限公司 | Equipment positioning method and device, electronic equipment and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 徐绍铨: "《GPS测量原理及应用》", 31 January 2017 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107426695B (en) | Broadcast-based gridding differential data broadcasting method, server and storage medium | |
| US7296046B2 (en) | Mobile terminal provided with positioning system and method of positioning | |
| EP2224259A1 (en) | Method and system for a location-based broker service client broker | |
| EP2175291B1 (en) | Method and system for customized full ephemeris compatible with standard AGPS network devices | |
| CN111913200B (en) | Vehicle group differential positioning method, RSU equipment, fusion sensing equipment and system | |
| CN112449299B (en) | Method and equipment for broadcasting information | |
| US8634846B2 (en) | Method and system for determining a location of a mobile device based on a plurality of location samples | |
| US20110199255A1 (en) | Method and system for determining a position fix indoors | |
| CN107771408B (en) | Mobile terminal and positioning method thereof | |
| US20230041480A1 (en) | User terminal positioning method, device, and system | |
| CN111190202A (en) | Differential positioning method, device and system | |
| EP3617748A1 (en) | Positioning method, device and system | |
| US20120280858A1 (en) | Method and System for Enhancing a Location Server Reference Database Through Round-Trip Time (RTT) Measurements | |
| CN104765056A (en) | Vehicle-mounted sub-meter positioning system and method | |
| JP2019015636A (en) | Positioning device | |
| CN110673184A (en) | High-precision positioning system and method based on vehicle | |
| CN111398892A (en) | Vehicle positioning method and device and vehicle-mounted terminal | |
| EP4155776A1 (en) | Base station determination method, apparatus and device, and computer storage medium | |
| CN112462402B (en) | Mobile terminal positioning deviation correcting method and device | |
| US9014727B2 (en) | Method and system for updating obsolete records for reference positions in a reference position database | |
| CN103458368A (en) | System and method for inquiring multiple landmarks on basis of intelligent mobile terminal | |
| CN113075711A (en) | Positioning method, device, equipment and computer storage medium | |
| CN112512111A (en) | Time determination method and device, and signal sending method and device | |
| CN108287355B (en) | Method for receiving and controlling GNSS differential data of mobile terminal | |
| CN106488556B (en) | method and device for correcting offset of positioning signal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210706 |