CN113075714B - Auxiliary positioning method, device and equipment based on reference point position - Google Patents
Auxiliary positioning method, device and equipment based on reference point position Download PDFInfo
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- 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
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- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The embodiment of the invention provides an auxiliary positioning method, device and equipment based on a reference point position, wherein the method comprises the following steps: the method comprises the steps of obtaining observation data of a base station network, generating a first auxiliary positioning model according to the observation data, obtaining position information of a reference point, matching the position information of the reference point with the first auxiliary positioning model to obtain a second auxiliary positioning model, and sending the second auxiliary positioning model to the terminal equipment so that the terminal equipment can correct positioning errors according to the second auxiliary positioning model. According to the embodiment of the invention, the user does not need to upload own position information, the position privacy of the user is protected while the effectiveness of the auxiliary positioning model of the user position is ensured, the communication unit and the satellite signal receiving and transmitting unit do not need to be deployed at the same time by the reference point, the electromagnetic interference between the communication signal and the satellite signal is avoided, the accuracy of the obtained auxiliary positioning model is ensured, and the positioning accuracy of the terminal equipment is improved.
Description
Technical Field
The invention belongs to the technical field of high-precision positioning, and particularly relates to an auxiliary positioning method, device and equipment based on a reference point position.
Background
The satellite positioning technology is that a terminal calculates the coordinate position of the terminal by receiving a navigation signal broadcasted by a satellite, the precision of the positioning technology is influenced by factors such as an ionosphere, a troposphere, a clock error and the like, and an auxiliary positioning system is usually adopted to assist the terminal to perform quick and accurate positioning.
In the prior art, transmission difference correction information is calculated by integrating a difference calculating unit and a mobile communication transmitting unit in a base station device. The differential resolving unit receives and processes satellite signals of the visible satellites, resolves measured pseudo-range values from the processed satellite signals and positions the visible satellites. Then, the unit optimizes the measured pseudo-range value according to a carrier phase smoothing pseudo-range algorithm, optimizes the positioning data according to a weighted least square method, and generates differential correction information according to the optimized pseudo-range value and the positioning data. The mobile communication transmitting unit processes the difference correction information to generate a difference message, and transmits the difference message to the terminal.
However, there are problems of stray interference and blocking interference between the navigation positioning unit of the base station and the mobile communication transmitting unit, which affect the reception and processing of the positioning signal, thereby affecting the accuracy of the differential correction information and causing the reduction of the positioning accuracy of the terminal.
Disclosure of Invention
The embodiment of the invention provides an auxiliary positioning method, device and equipment based on a reference point position, a navigation positioning unit and a mobile communication transmitting unit are not required to be deployed at the same time, electromagnetic interference between a communication signal and a satellite navigation signal is avoided, the accuracy of auxiliary positioning information is ensured, and the positioning accuracy of a terminal is improved.
In a first aspect, an embodiment of the present invention provides an auxiliary positioning method based on a reference point position, where the method includes:
acquiring observation data of a reference station network;
generating a first auxiliary positioning model according to the observation data;
acquiring position information of a reference point;
matching the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;
and sending the second auxiliary positioning model to the terminal equipment so that the terminal equipment can correct the positioning error according to the second auxiliary positioning model.
In one possible implementation, generating a first assisted positioning model from the observation data includes: dividing a network coverage area of a reference station network into a plurality of grid areas according to the observation data, and calculating auxiliary positioning information of the plurality of network areas;
and generating a first auxiliary positioning model according to the auxiliary positioning information.
In one possible implementation, the first assisted positioning model comprises a plurality of mesh differential correction models; matching the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model, comprising:
and selecting at least one grid difference correction model adjacent to the reference point from the first auxiliary positioning model according to the position information to obtain a second auxiliary positioning model.
In one possible implementation, the method further includes: acquiring the number of a reference point;
and matching the serial number and the serial number of the pre-stored reference point with the position information comparison table to obtain the position information.
In one possible implementation manner, sending the second auxiliary positioning model to the terminal device includes: and transmitting the second auxiliary positioning model to the terminal equipment through the reference point communication unit.
In a second aspect, an embodiment of the present invention provides an auxiliary positioning device based on a reference point position, where the device includes:
the first acquisition unit is used for acquiring observation data of a reference station network;
the generating unit is used for generating a first auxiliary positioning model according to the observation data;
a second acquisition unit configured to acquire position information of a reference point;
the generating unit is further configured to match the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;
and the sending unit is used for sending the second auxiliary positioning model to the terminal equipment so that the terminal equipment can correct the positioning error according to the second auxiliary positioning model.
In a possible implementation manner, the generating unit is specifically configured to: dividing a network coverage area of a reference station network into a plurality of grid areas according to the observation data, and calculating auxiliary positioning information of the plurality of network areas; and generating a first auxiliary positioning model according to the auxiliary positioning information.
In one possible implementation, the first auxiliary positioning model comprises a mesh differential correction model; the generating unit is specifically configured to: and selecting at least one grid difference correction model adjacent to the reference point from the first auxiliary positioning model according to the position information to obtain a second auxiliary positioning model.
In a third aspect, an embodiment of the present invention provides an auxiliary positioning device based on a reference point position, where the device includes: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the reference point position-based assisted positioning method of the first aspect or any one of the possible implementations of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer storage medium, where computer program instructions are stored on the computer storage medium, and when the computer program instructions are executed by a processor, the method for assisting positioning based on a reference point position in the first aspect or any one of possible implementations of the first aspect is implemented.
The embodiment of the invention discloses an auxiliary positioning method, device and equipment based on a reference point position, wherein the method comprises the following steps: the method comprises the steps of acquiring observation data of a base station network, generating a first auxiliary positioning model according to the observation data, acquiring position information of a reference point, matching the position information of the reference point with the first auxiliary positioning model without uploading own position information by a user, and acquiring a second auxiliary positioning model. And sending the second auxiliary positioning model to the terminal equipment for the terminal equipment to correct the positioning error according to the second auxiliary positioning model, wherein a reference point communication unit and a satellite signal receiving and sending unit are not required to be deployed at the same time by the reference point, so that the electromagnetic interference between the communication signal and the satellite signal is avoided, the accuracy of the obtained auxiliary positioning model is ensured, and the positioning accuracy of the terminal equipment is improved.
In the embodiment of the invention, the reference point communication unit is arranged on the reference point with a known position to perform auxiliary positioning service for the terminal in the range of the reference point, and the reference point does not need to have satellite signal receiving capacity, so that the flexibility and the portability of the whole auxiliary positioning system are improved, and the complexity and the cost of equipment are reduced.
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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 flowchart of an auxiliary positioning method based on a reference point position according to an embodiment of the present invention;
fig. 2 is a schematic diagram of information interaction of an auxiliary positioning based on a reference point position according to an embodiment of the present invention;
fig. 3 is a schematic diagram of information interaction of an auxiliary positioning based on a reference point position according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an auxiliary positioning device based on a reference point position according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an auxiliary positioning device based on a reference point position 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.
In order to reduce the influence of factors such as an ionosphere, a troposphere and clock error on a positioning technology, different auxiliary positioning methods are adopted to improve the positioning accuracy of the terminal equipment. For example, a Real-time Kinematic (RTK) server retrieves an RTK physical base station near a communication base station according to the position information of the base station or an RTK virtual base station generated according to the position information, and broadcasts a differential correction number of the RTK base station to a user terminal; or the communication base station calculates the code phase according to the satellite signal information received by the communication base station, performs differential calculation with the code phase calculated by the positioning terminal according to the satellite observation information, and judges whether the terminal is near the communication base station, and correspondingly, the base station sends more accurate code phase information to the terminal according to the judgment result so as to improve the positioning accuracy. This requires that the base station not only have the satellite signal receiving capability and the differential resolving capability to calculate the actual location of its deployment and the satellite differential correction information at that location, but also have the unicast or broadcast communication capability to transmit these messages to the user terminal. However, in practical application, the device having the functions of navigation positioning, differential calculation and communication is not only heavy in size, but also high in manufacturing process requirement, and the manufacturing cost and operation and maintenance cost are high due to the high difficulty, so that the device is not suitable for popularization and use.
In addition, the auxiliary terminal can also report the mobile communication base station ID to the server through the terminal instead of reporting the location information data of the terminal, the server pre-establishes the corresponding relationship between the mobile communication base station ID and the mobile communication base station location and stores the corresponding relationship into the base station ID and location database, the server finds the mobile communication base station location according to the mobile communication base station ID reported by the terminal, the server matches the corresponding virtual reference station grid according to the mobile communication base station location, the server broadcasts the differential correction data corresponding to the virtual reference station grid to the terminal device according to the matched virtual reference station grid, and the risk of exposing the user location privacy exists because the communication base station ID needs to be reported.
The terminal equipment determines the visible satellite of the navigation satellite system by performing two-dimensional search on the pseudo-range code and the carrier phase of the navigation satellite system, acquires the position of the visible satellite based on ephemeris information in the satellite navigation signal and calculates the position of the terminal equipment. And observing the satellite navigation signal, receiving the position correction information of the area where the satellite navigation signal is located, and calculating high-precision position information of the satellite navigation signal. When the terminal device is powered on for the first time or has no valid duration, the terminal device needs to capture and receive all satellites, and the search space is large, so that the positioning time is long and the positioning speed is slow.
In order to solve the technical problem, embodiments of the present invention provide an auxiliary positioning method, apparatus and device based on a reference point position.
In the embodiment of the invention, the high-precision positioning platform generates a first auxiliary positioning model according to the observation data of the base station network, generates a second auxiliary positioning model of the reference point position according to the position information of the reference point acquired by the high-precision positioning platform, and transmits the second auxiliary positioning model to the communication unit distributed by the reference point, and the communication unit transmits the second auxiliary positioning model to the terminal equipment in a broadcasting manner. The terminal equipment searches satellites in a corresponding range according to the second auxiliary positioning model, calculates the approximate position of the terminal equipment after quickly capturing satellite navigation message information, and corrects the positioning result according to a difference correction model in the second auxiliary positioning model to obtain high-precision position information. The communication unit is arranged on the reference point with a known position, so that the auxiliary positioning service is carried out on the terminal in the coverage range of the communication unit, the reference point does not need to have satellite signal receiving and transmitting capacity, the electromagnetic interference between the communication signal and the satellite navigation signal is avoided, the accuracy of an auxiliary positioning model of the reference point position is ensured, the flexibility and the portability of the whole auxiliary system are improved, and the equipment complexity and the cost are reduced. Because the reference point closer to the terminal equipment is used as the anchor point of the auxiliary positioning model of the terminal equipment, the user does not need to upload the position information, and the position privacy of the user is protected while the effectiveness of the auxiliary positioning model of the user position is ensured.
First, an auxiliary positioning method based on a reference point position provided by an embodiment of the present invention is described below.
Fig. 1 is a schematic flowchart illustrating an auxiliary positioning method based on a reference point position according to an embodiment of the present invention. As shown in fig. 1, the method may include the steps of:
and S110, acquiring observation data of the reference station network.
The reference station network consists of a plurality of reference stations distributed in a positioning service area, and by deploying the navigation satellite signal receiver in a large range, the navigation satellite signals are observed and searched, and satellite navigation message information is received and returned to the high-precision positioning platform. In order to calculate the difference correction model, the high-precision positioning platform receives satellite navigation message information transmitted by the reference station network, acquires satellite observation data packets of all reference stations in the reference station network from the satellite navigation message information, and calculates observation data of all the reference stations.
And S120, generating a first auxiliary positioning model according to the observation data.
And the high-precision positioning platform calculates according to the observation data to obtain a first auxiliary positioning model, wherein the first auxiliary positioning model comprises auxiliary positioning information such as a differential correction model of the whole base station network, a regional visible satellite, reference time, a reference position, ephemeris and the like, and is used for matching with the position information of the reference point to obtain an auxiliary positioning model of the reference point position.
And S130, acquiring the position information of the reference point.
In order to calculate the auxiliary positioning model on the position of the reference point, the high-precision positioning platform acquires the position information of the reference point, the position information can be sent to the high-precision positioning platform by the communication unit, and the position information is measured after the communication unit is deployed by professional mapping satellite positioning equipment, or the position coordinates of the reference point are measured firstly and then the communication unit is deployed. In addition, the reference point number can be obtained first, and the reference position can be obtained by matching the reference point number according to the reference point number and the position corresponding table stored in the high-precision positioning platform in advance. The position information may also be obtained by other positioning technologies, and is not limited herein.
The arrangement mode of the reference points can select an environment with a wide view and no obstruction to deploy communication units according to the position service demand area of the user, and can also be communication units such as communication base stations or fixed radio stations which are deployed in advance, and the positions of the communication units are measured and recorded into a high-precision positioning platform. Meanwhile, the communication unit deployed by the reference point has higher flexibility, for example, the mobile station can change the position frequently along with the positioning service area, so the communication unit of the reference point can update the position of the communication unit to the high-precision positioning platform periodically or triggered by the position movement.
And S140, matching the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model.
The high-precision positioning platform matches the first auxiliary positioning model corresponding to the position according to the position information of the reference point to obtain a second auxiliary positioning model, the second auxiliary positioning model comprises auxiliary positioning information such as a difference correction model of the reference point position, a regional visible satellite, reference time, a reference position, ephemeris and the like, and the terminal equipment is facilitated to quickly lock a satellite searching range, so that the positioning speed of a user is improved.
And S150, sending the second auxiliary positioning model to the terminal equipment, so that the terminal equipment can correct the positioning error according to the second auxiliary positioning model.
The high-precision positioning platform sends auxiliary positioning information such as a difference correction model of a reference point position, a regional visible satellite, reference time, a reference position, ephemeris and the like to the terminal equipment, so that the terminal equipment can search satellites in a corresponding range according to the auxiliary positioning information, calculate the self approximate position after quickly capturing a satellite navigation message, and correct a positioning result according to positioning error correction information in the auxiliary positioning information to obtain high-precision position information. The terminal device includes mobile devices such as a mobile phone and an interphone, and also includes vehicles such as a truck and an excavator, but is not limited thereto.
In the embodiment of the invention, the observation data of the base station network is obtained, the first auxiliary positioning model is generated according to the observation data, the position information of the reference point is obtained, the position information of the reference point is matched with the first auxiliary positioning model to obtain the second auxiliary positioning model, the user does not need to upload the position information of the user, and the position privacy of the user is protected while the effectiveness of the auxiliary positioning model of the position of the user is ensured. And sending the second auxiliary positioning model to the terminal equipment for the terminal equipment to correct the positioning error according to the second auxiliary positioning model, without deploying a reference point communication unit and a satellite signal receiving and sending unit at the same time, thereby avoiding the occurrence of electromagnetic interference between communication signals and satellite signals, ensuring the accuracy of the obtained auxiliary positioning model and improving the positioning accuracy.
Further, the high-precision positioning platform divides an area covered by a reference station network into a plurality of grid areas, each grid area comprises at least one reference station, the calculation is carried out by combining the observation data of the reference station in each grid area and the real coordinates thereof, so as to obtain auxiliary positioning information such as a differential correction model of each grid area, the visible satellite condition of the grid area, ephemeris and the like, wherein the differential correction model comprises an ionosphere differential correction model, a troposphere differential correction model, a clock error differential correction model and the like, and a first auxiliary positioning model is generated according to the auxiliary positioning information. The area covered by the reference station is divided into a plurality of grid areas, and the first auxiliary positioning model of each grid area is calculated, so that the second auxiliary positioning model for more accurately matching the reference point position is facilitated.
Further, when the high-precision positioning platform receives the position information of the reference point, the position of the reference point is matched with all grid areas in the coverage area of the reference station network according to the position information of the reference point, the grid area adjacent to the position of the reference point is determined, and at least one difference correction model in the adjacent grid area is selected and used for calculating a second auxiliary positioning model on the position of the reference point. The difference correction model is selected in the grid area which is closer to the reference point position, so that the error of calculating the auxiliary positioning information can be reduced to the greatest extent, and the second auxiliary positioning model is more accurate.
And the high-precision positioning platform sends the second auxiliary positioning model to the reference point communication unit, and the reference point communication unit provides the second auxiliary positioning model for the terminal equipment in the coverage area of the reference point communication unit in unicast, multicast, broadcast and other broadcasting modes. The broadcasting mode may be that the terminal device actively initiates an auxiliary positioning request to the reference point communication unit, and the reference point communication unit broadcasts the second auxiliary positioning model to the user in response. Or the reference point communication unit actively broadcasts the second auxiliary positioning model of the reference point position at the current moment according to a fixed time interval, and the terminal equipment accesses a broadcast channel to acquire the second auxiliary positioning model when the auxiliary positioning service is needed.
In fact, the communication coverage of the communication unit is often limited, and the data of the differential correction model related to the observation position of the navigation satellite, the auxiliary positioning model such as ephemeris and the like in a larger range is not very different. For example, the coverage area of the 5G base station is 1-2 km, and the effective reference range of the differential correction model based on the position of the reference point is 10-20 km, so that the differential correction model based on the position of the reference point and the auxiliary information such as ephemeris have strong correlation and referenceability for the terminal equipment in the communication coverage area. According to the embodiment of the invention, the corresponding second auxiliary positioning model is matched according to the position of the reference point, the second auxiliary positioning model is broadcasted through the reference point communication unit, and the terminal in the communication coverage area can obtain the auxiliary positioning information with higher precision without reporting any information related to the position of the terminal, so that the confidentiality of the position information of the user is improved.
Because the embodiment of the invention is closer to the user on the networking structure, and a more flexible reference point is selected as an anchoring information source acquired by the auxiliary positioning model on the service deployment, the embodiment of the invention can meet the wide-area rapid and accurate positioning requirement and can also flexibly meet the local, closed and mobile rapid and accurate positioning requirements, such as mining areas and forest areas.
In an alternative embodiment, in the wide area fast positioning requirement, that is, there are 1 terminal receiving the auxiliary positioning information of multiple reference points. The terminal can select 1 reference point according to the approximate position information of the terminal and the distance of the reference point position or the strength of the reference point communication signal and other judgment methods, and then performs quick satellite search and auxiliary positioning according to the auxiliary positioning information of the reference point or selects the auxiliary positioning information of some reference points in a plurality of reference points to perform data comprehensive processing, and calculates the auxiliary positioning model required by quick and accurate positioning.
In an optional embodiment, under a local fast positioning requirement, that is, there are 1 terminal that only receives auxiliary positioning information of 1 reference point, the terminal directly performs corresponding satellite signal retrieval and positioning error correction according to the auxiliary information of the reference point.
The satellite searching retrieval range such as frequency and code phase is calculated by combining the visible satellite of the reference point position and auxiliary information such as ephemeris and reference time through the terminal equipment, satellite signal searching and capturing are carried out according to the satellite searching retrieval range, and the satellite navigation message is analyzed. And in combination with the difference correction model of the reference point position and the satellite navigation message received by the difference correction model, the terminal equipment calculates and corrects the self-positioning result, so that the self-position is quickly and accurately acquired.
In one embodiment, as shown in fig. 2, the network of reference stations 220 is composed of 4 reference stations 221, and each reference station 221 performs an observation search on a satellite navigation signal and transmits the received satellite navigation information back to the high-precision positioning platform 210. As shown in fig. 3, the high-precision positioning platform 210 includes a satellite navigation information receiving module 211, an assisted positioning information calculating module 212, a service area matching model 213, and an assisted positioning model broadcasting module 214. After receiving the satellite navigation information, the satellite navigation information receiving module 211 collects satellite observation data packets in the satellite navigation information of each reference station 221 in the reference station network 220, and decodes the observation data of each reference station 221 and transmits the observation data to the auxiliary positioning information calculating module 212. The assisted positioning information calculation module 212 divides the coverage area of the reference station network 220 into a plurality of grid areas according to grids, calculates the coverage area by combining the observation data of the reference station 221 in each grid area and the real coordinates thereof, generates assisted positioning information such as a differential correction model of each grid, the visible satellite condition and ephemeris of the grid area, and transmits the assisted positioning information to the service area matching module 213. When the service area matching module 213 receives the location information of the reference point 230 sent by the communication unit 240, it selects 1 or more differential correction models of grid areas adjacent to the reference point 230 to calculate an auxiliary positioning model at the position of the reference point 230, and completes the matching between the position of the reference point 230 and the grid areas, where the auxiliary positioning model includes the differential correction model of the reference point 230, the visible satellite condition and ephemeris, reference time, and other auxiliary positioning information. The assisted positioning model is provided to the terminals 250 in its coverage area by the assisted positioning model dissemination module 214 in unicast, multicast, broadcast, etc. transmission. The communication unit 240 may be a communication base station, or a radio station or other communication devices, and is configured according to the user's requirement, which is not limited herein. The terminal 250 includes a communication module 251, a satellite navigation information receiving module 252, and a satellite positioning calculation module 253, the communication module 251 receives an auxiliary positioning model transmitted by the communication unit 240, the satellite navigation information receiving module 252 calculates a satellite search retrieval range according to the auxiliary positioning model, searches and captures satellite signals according to the satellite search retrieval range, and analyzes satellite navigation information of the terminal 250, and the satellite positioning calculation module 253 performs calculation and error correction by combining a difference correction model in the auxiliary positioning model and the received satellite navigation information, thereby rapidly and accurately acquiring a self position, and ensuring privacy of the self position. The terminal 250 may be a mobile terminal device such as a mobile phone or an intercom, calculates the geographical position of the user according to the auxiliary positioning model, and provides more accurate navigation service for the travel of the user, or may be an excavator, an earth mover or a truck in a construction site, and performs accurate positioning by receiving the auxiliary positioning model, thereby safely and efficiently completing construction operation. The terminal 250 may also be any positioning-enabled device in the coverage area of the communication unit 240, which is disposed with reference to the reference point 230, and is not limited herein.
In the embodiment of the invention, the satellite navigation signals are continuously observed by the reference station network and the observation data are transmitted back to the high-precision positioning platform, the high-precision positioning platform calculates the auxiliary positioning model of the reference point based on the observation data and the position information of the reference point sent by the communication unit, and the auxiliary positioning model is provided for the terminal equipment through the communication unit arranged on the reference point. The method simplifies the function requirement of the reference point deployment equipment, so that the reference point can assist the terminal equipment to carry out quick and accurate positioning only by needing a communication function, the manufacturing, operation and maintenance cost is reduced, and the problem of interference between signals does not exist because the reference point is far away from the reference station. The corresponding auxiliary positioning model can be matched according to the position information of the reference point, and the terminal equipment in the coverage area of the communication unit arranged on the reference point can obtain the auxiliary positioning information with higher precision without reporting any information related to the position of the terminal equipment, so that the confidentiality of the position information of the user is improved; meanwhile, the terminal equipment carries out positioning calculation according to the matched auxiliary positioning model, so that the full-band large-range search of satellite signals is avoided, the convergence rate of satellite search and positioning is improved, and the positioning time of the terminal is obviously shortened.
Fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present invention. As shown in fig. 4, the apparatus may include a first acquiring unit 410, a generating unit 420, a second acquiring unit 430, and a transmitting unit 440.
A first obtaining unit 410, configured to obtain observation data of a reference station network;
a generating unit 420, configured to generate a first auxiliary positioning model according to the observation data;
a second obtaining unit 430 for obtaining position information of the reference point;
the generating unit 420 is further configured to match the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;
a sending unit 440, configured to send the second auxiliary positioning model to the terminal device, so that the terminal device performs positioning error correction according to the second auxiliary positioning model.
In an optional embodiment, the generating unit 420 is specifically configured to: dividing a network coverage area of a reference station network into a plurality of grid areas according to the observation data, and calculating auxiliary positioning information of the plurality of network areas; and generating a first auxiliary positioning model according to the auxiliary positioning information.
In an alternative embodiment, the first auxiliary positioning model comprises a mesh differential correction model; the generating unit 420 is specifically configured to: selecting at least one grid difference correction model corresponding to a grid area adjacent to the position of the reference point from the first auxiliary positioning model according to the position information to obtain a second auxiliary positioning model
In an optional embodiment, the second obtaining unit 430 is further configured to obtain the number of the reference point, and obtain the location information by matching the number and the number of the pre-stored reference point with the location information comparison table.
In an optional embodiment, the sending unit 440 is specifically configured to: and transmitting the second auxiliary positioning model to the terminal equipment through the reference point communication unit.
The units in the apparatus shown in fig. 4 have functions of implementing the steps in fig. 1, and can achieve the corresponding technical effects, and are not described herein again for brevity.
Fig. 5 is a schematic diagram illustrating a hardware structure of an auxiliary positioning device based on a reference point position according to an embodiment of the present invention.
An auxiliary positioning device based on reference point positions may comprise a processor 501 and a memory 502 storing computer program instructions.
Specifically, the processor 501 may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement the embodiments of the present invention.
In one example, the Memory 502 may be a Read Only Memory (ROM). In one example, the ROM may be mask programmed ROM, programmable ROM (prom), erasable prom (eprom), electrically erasable prom (eeprom), electrically rewritable ROM (earom), or flash memory, or a combination of two or more of these.
The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement the methods/steps S110 to S150 in the embodiment shown in fig. 1, and achieve the corresponding technical effects achieved by the embodiment shown in fig. 1 executing the methods/steps thereof, which are not described herein again for brevity.
In one example, the reference point location-based auxiliary positioning device may also include a communication interface 503 and a bus 510. As shown in fig. 5, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 510 to complete communication therebetween.
The communication interface 503 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.
The auxiliary positioning device based on the reference point position can execute the auxiliary positioning method based on the reference point position in the embodiment of the invention based on the position information of the reference point and the second auxiliary positioning model sent by the high-precision positioning platform, thereby realizing the auxiliary positioning method and device based on the reference point position described in connection with fig. 1.
In addition, in combination with the auxiliary positioning method based on the reference point position in the above embodiments, the embodiments of the present invention may provide a computer storage medium to implement. The computer storage medium having computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement any one of the above-described embodiments of a method for assisted positioning based on reference point locations.
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, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic 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. An auxiliary positioning method based on reference point positions is characterized by comprising the following steps:
acquiring observation data of a reference station network;
generating a first auxiliary positioning model according to the observation data;
acquiring position information of a reference point;
matching the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;
sending the second auxiliary positioning model to the terminal equipment located in the communication coverage range of the reference point, so that the terminal equipment can correct the positioning error according to the second auxiliary positioning model;
the second assisted positioning model comprises a differential correction model of the position of the reference point, regional visible satellites, a reference time, a reference position and ephemeris.
2. The method of claim 1, wherein generating a first assisted positioning model from the observation data comprises:
dividing the network coverage area of the reference station network into a plurality of grid areas according to the observation data, and calculating auxiliary positioning information of the grid areas;
and generating the first auxiliary positioning model according to the auxiliary positioning information.
3. The method according to claim 1 or 2, characterized in that the first aided location model comprises a plurality of mesh differential correction models; the matching the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model includes:
and selecting at least one grid difference correction model corresponding to a grid area adjacent to the position of the reference point from the first auxiliary positioning model according to the position information to obtain the second auxiliary positioning model.
4. The method of claim 1, further comprising:
acquiring the number of a reference point;
and matching the serial number and the serial number of the pre-stored reference point with a position information comparison table to obtain the position information.
5. The method of claim 1, wherein the sending the second assisted positioning model to a terminal device comprises:
and sending the second auxiliary positioning model to the terminal equipment through the reference point communication unit.
6. An auxiliary positioning device based on reference point position, comprising:
the first acquisition unit is used for acquiring observation data of a reference station network;
the generating unit is used for generating a first auxiliary positioning model according to the observation data;
a second acquisition unit configured to acquire position information of a reference point;
the generating unit is further configured to match the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;
a sending unit, configured to send the second auxiliary positioning model to a terminal device located within a communication coverage of the reference point, so that the terminal device performs positioning error correction according to the second auxiliary positioning model;
the second assisted positioning model comprises a differential correction model of the position of the reference point, regional visible satellites, a reference time, a reference position and ephemeris.
7. The apparatus according to claim 6, wherein the generating unit is specifically configured to: dividing the network coverage area of the reference station network into a plurality of grid areas according to the observation data, and calculating auxiliary positioning information of the plurality of network areas; and generating the first auxiliary positioning model according to the auxiliary positioning information.
8. The apparatus of claim 6, wherein the first aided location model comprises a mesh differential correction model; the generating unit is specifically configured to: and selecting at least one grid differential correction model corresponding to a grid area adjacent to the position of the reference point from the first auxiliary positioning model according to the position information to obtain the second auxiliary positioning model.
9. An auxiliary positioning apparatus based on a reference point position, wherein the auxiliary positioning based on the reference point position comprises: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the reference point position-based assisted positioning method according to any one of claims 1 to 5.
10. A computer storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of assisted positioning based on reference point positions according to any of claims 1-5.
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| CN202011267808.8A CN113075714B (en) | 2020-11-13 | 2020-11-13 | Auxiliary positioning method, device and equipment based on reference point position |
| PCT/CN2021/124975 WO2022100388A1 (en) | 2020-11-13 | 2021-10-20 | Assisted positioning method, apparatus and device based on reference point location |
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| CN202011267808.8A CN113075714B (en) | 2020-11-13 | 2020-11-13 | Auxiliary positioning method, device and equipment based on reference point position |
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| CN113075714B (en) * | 2020-11-13 | 2021-12-21 | 中移(上海)信息通信科技有限公司 | Auxiliary positioning method, device and equipment based on reference point position |
| CN113687399B (en) * | 2021-10-26 | 2022-02-18 | 中移(上海)信息通信科技有限公司 | Positioning method, system, terminal equipment and satellite |
| CN116346258A (en) * | 2021-12-22 | 2023-06-27 | 华为技术有限公司 | Communication method and communication device |
| CN116699661A (en) * | 2022-02-24 | 2023-09-05 | 腾讯科技（深圳）有限公司 | Data processing method, device, equipment and storage medium |
| CN114980142B (en) * | 2022-06-10 | 2023-05-12 | 未岚大陆(北京)科技有限公司 | Recommendation method and device for base station installation position, storage medium and mower |
| CN115175095B (en) * | 2022-07-20 | 2024-05-07 | Oppo广东移动通信有限公司 | Indoor positioning method, device, storage medium and terminal |
| CN114966775A (en) * | 2022-07-22 | 2022-08-30 | 福建鼎旸信息科技股份有限公司 | China Beidou satellite positioning data based differential correction method and system |
| CN115575991B (en) * | 2022-11-11 | 2023-03-21 | 北京航天长城卫星导航科技有限公司 | Satellite navigation trusted location service method |
| CN116208933B (en) * | 2022-12-16 | 2024-03-19 | 中国铁建电气化局集团有限公司 | Differential information transmission, apparatus, device and storage medium |
| CN117098116B (en) * | 2023-10-18 | 2023-12-26 | 湖北省国土测绘院 | GNSS user terminal position privacy protection method based on CORS |
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| WO2022100388A1 (en) | 2022-05-19 |
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