CN113126124A - Method, server and terminal for providing auxiliary positioning information - Google Patents
Method, server and terminal for providing auxiliary positioning information Download PDFInfo
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- CN113126124A CN113126124A CN202010047502.5A CN202010047502A CN113126124A CN 113126124 A CN113126124 A CN 113126124A CN 202010047502 A CN202010047502 A CN 202010047502A CN 113126124 A CN113126124 A CN 113126124A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The application relates to an auxiliary positioning technology, and discloses a method, a server and a terminal for providing auxiliary positioning information, which can reduce the request times of auxiliary positioning, reduce the data flow and the calculation amount of the terminal and reduce the power consumption of the terminal. In the technical scheme, a server side sends auxiliary positioning information to a terminal so that the terminal can perform auxiliary positioning, wherein the auxiliary positioning information at least comprises ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current time of sending the information to the end of the current ephemeris updating period.
Description
Technical Field
The present application relates to the field of satellite positioning technology.
Background
With the development of the internet of things technology and the popularization of mobile intelligent terminals, more and more application scenes of the mobile terminals provide requirements for accurate positions. GNSS (Global Navigation Satellite System) can provide all-weather, real-time, high-precision three-dimensional spatial information to users worldwide by using a set of observations such as pseudo-ranges of satellites and ephemeris and clock error data of the satellites. GNSS technology can meet the demand of most mobile terminals for accurate location, but there are some problems with this technology, such as: when a user is in a complex environment (such as a sheltering environment), the GNSS satellite signals received by the receiver from the GNSS satellites are weak, and the receiver needs a long time to receive and demodulate the satellite signals correctly, so that the positioning time is long or the positioning cannot be performed; in addition, the receiver has long positioning time when being cold started, the time, ephemeris and clock error information of the satellite is modulated in the navigation message, and the receiver needs a long time to track the satellite signal and correctly demodulate the navigation message to obtain the time, ephemeris and clock error information when being cold started, for example: the ephemeris data is repeatedly broadcast by the GPS and the GLONASS every 30s, and at least 30s is needed for receiving the complete broadcast ephemeris data. On one hand, the GNSS problems influence the terminal experience, and on the other hand, the GNSS problems also limit the expansion of the application scene of the intelligent terminal.
To solve the GNSS problem, a-GNSS (assisted-GNSS) technology has been developed. The A-GNSS provides satellite auxiliary data (satellite ephemeris, almanac, ionosphere parameters and the like) to the GNSS receiver through a mobile network or a wireless network, the GNSS receiver combines observed quantity and the satellite auxiliary data, the first positioning time of the GNSS receiver can be obviously shortened, the dependence of the receiver on satellite signals can be reduced by means of the auxiliary data in the shielded weak signal areas, meanwhile, the receiver reduces the signal capturing range, continuous operation is achieved without acquiring ephemeris data in real time, and the power consumption of the receiver is reduced.
Currently, a-GNSS generally employs the SUPL (secure user plane location) standard protocol from OMA (open mobile alliance). SUPL is applicable to mobile networks (GSM/GPRS, CDMA, TD-SCDMA, WCDMA, LTE, etc.) as well as wireless networks (WLAN) for transmitting these satellite assistance data to a positioning terminal via the standard protocols of LCS (LPP/RRLP/TIA-801, etc.).
Fig. 1 illustrates a message flow 100 for a terminal-initiated location/assisted location service in OMA SUPL. An application/APP running on the terminal 102 initiates a request for positioning/assisted positioning, and the terminal 102 performs a data connection establishment procedure to establish a secure IP connection with the positioning center 101 of the home network (step a). After the data connection is established, the terminal 102 sends a SUPL START message to initiate a positioning/assisted positioning session with the positioning center 101 (step B). The SUPL START message includes a session ID, a terminal capability, a location ID, and the like. The location center 101 may verify whether the terminal 102 is currently SUPL roaming (step C) and then send a SUPL RESPONSE message, which may include a session-id, a selected location method, etc., to the terminal 102 (step D). The terminal 102 then sends a SUPL POS INIT message, which may include the session-id and possibly other information, to the positioning center 101 (step E). The terminal 102 may then exchange messages with the positioning center 101 for the positioning session (step F). For the assisted positioning service, the messages exchanged in step F are the assistance data transmitted by the positioning center 101 to the terminal 102; for the positioning service, the message exchanged in step F is the terminal observed quantity or the location information of the terminal. Once the location/assistance location session is completed, the location center 101 transmits a SUPL END message to the terminal 110 to END the session and release resources related to the session (step G).
At present, the a-GNSS service provides the same assistance data to terminals in different states, and the difference of the terminal states is not considered, so that in some cases, the number of requests for assistance positioning is large, the data traffic is large, and the computation amount and power consumption of the terminal are also large.
Disclosure of Invention
The application aims to provide a method, a server and a terminal for providing auxiliary positioning information, which can reduce the number of times of auxiliary positioning requests, reduce the data flow and the calculation amount of the terminal and reduce the power consumption of the terminal.
The application discloses a method for providing auxiliary positioning information, which comprises the following steps:
and the server side sends the auxiliary positioning information to the terminal so that the terminal can perform auxiliary positioning, wherein the auxiliary positioning information at least comprises ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current time of sending the information to the end of the current ephemeris updating period.
In a preferred embodiment, before the server sends the auxiliary positioning information to the terminal, the method further includes:
acquiring an estimated motion range of the terminal;
the server side sends the auxiliary positioning information to the terminal, and the method further comprises the following steps:
and if the estimated motion range of the terminal is smaller than a preset first threshold value, sending ephemeris and visible time intervals of all visible satellites in the estimated motion range from the current time of sending the information to the end of the current ephemeris updating period to the terminal.
In a preferred embodiment, the server sends the auxiliary positioning information to the terminal, and further includes:
if the estimated movement range of the terminal is larger than the first threshold value, sending the auxiliary positioning information and monitoring the actual movement range and the actual movement speed of the terminal; and
and if the actual motion range of the terminal is larger than a preset second threshold value and the actual motion speed of the terminal is larger than a preset third threshold value, sending the full-constellation ephemeris to the terminal from the current time of sending the information to the end of the current ephemeris updating period.
In a preferred example, the actual movement speed is a current movement speed or an average speed of a preset time period.
In a preferred embodiment, the second threshold is smaller than the first threshold.
In a preferred embodiment, the estimated motion range is preset or determined according to the historical motion track of the terminal.
In a preferred embodiment, the server includes an assisted positioning server and a platform gateway.
The application also discloses a server for providing auxiliary positioning information, which is used for executing the method for providing auxiliary positioning information as described in any one of claims 1-7.
The application also discloses a terminal for receiving the auxiliary positioning information, which comprises a positioning unit and a communication unit, wherein the communication unit receives the auxiliary positioning information from the server, and the auxiliary positioning information comprises ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current moment when the server sends the information to the end of the current ephemeris update period;
and the positioning unit determines a visible satellite set at the positioning moment according to the auxiliary positioning information so as to assist positioning.
In a preferred example, the communication unit of the terminal sends the estimated motion range of the terminal to the server;
and when the estimated motion range is smaller than a preset first threshold value, the auxiliary positioning information comprises ephemeris and visible time intervals of all visible satellites in the estimated motion range from the current moment when the server sends the information to the end of the current ephemeris updating period.
In a preferred embodiment, the estimated motion range is preset or determined according to the historical motion track of the terminal.
In the embodiment of the application, different positioning auxiliary data are provided for the terminals in different states, so that the data flow of the terminals is reduced, the calculation amount of the terminal side is reduced, the power consumption is reduced, and the efficiency is improved.
The present specification describes a number of technical features distributed throughout the various technical aspects, and if all possible combinations of technical features (i.e. technical aspects) of the present specification are listed, the description is made excessively long. In order to avoid this problem, the respective technical features disclosed in the above summary of the invention of the present application, the respective technical features disclosed in the following embodiments and examples, and the respective technical features disclosed in the drawings may be freely combined with each other to constitute various new technical solutions (which should be regarded as having been described in the present specification) unless such a combination of the technical features is technically infeasible. For example, in one example, the feature a + B + C is disclosed, in another example, the feature a + B + D + E is disclosed, and the features C and D are equivalent technical means for the same purpose, and technically only one feature is used, but not simultaneously employed, and the feature E can be technically combined with the feature C, then the solution of a + B + C + D should not be considered as being described because the technology is not feasible, and the solution of a + B + C + E should be considered as being described.
Drawings
FIG. 1 is a message flow for a terminal initiated location/assisted location service in OMA SUPL of the prior art;
fig. 2 is a flowchart illustrating a method for providing assisted positioning information according to a first embodiment of the present application;
fig. 3 is a flowchart illustrating a method for providing assisted positioning information according to a second embodiment of the present application;
fig. 4 is a flowchart illustrating a method for providing assisted positioning information according to a third embodiment of the present application;
FIG. 5 is a schematic diagram of visible satellites of the current position of a terminal in the embodiment of the present application;
FIG. 6 is a schematic diagram of a visibility time interval of a satellite in an embodiment of the present application;
FIG. 7 is a schematic diagram of all visible satellites of the estimated range of motion of the terminal in the embodiment of the present application;
FIG. 8 is a schematic diagram of all visible satellites of the actual range of motion of the terminal in the embodiment of the present application;
FIG. 9 is a schematic diagram of a system architecture for assisting in positioning in accordance with an embodiment of the present application;
FIG. 10 is a block diagram of a terminal module according to one embodiment of the present application;
fig. 11 is a message flow diagram illustrating a terminal initiating an assisted location service in an embodiment of the present application;
FIG. 12 is a diagram illustrating an A-GNSS server providing assistance data to a terminal according to a state of the terminal in an embodiment of the present application.
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application may be implemented without these technical details and with various changes and modifications based on the following embodiments.
Description of partial concepts:
satellite ephemeris: information about the orbit of the satellite is described.
An epoch: the time (observation moment) corresponding to the observation data is referred to as epoch in astronomy.
GNSS: abbreviation of Global Navigation Satellite System (gnss).
GPS: the Global Positioning System, abbreviated as Global Positioning System, is a medium-distance circular orbit satellite navigation System developed and maintained by the U.S. department of defense.
The server side: refers to a computer system in a network that can provide services to other devices. The object served by the server is generally called a terminal or a client, and the server and the terminal can be in communication connection in a wired or wireless mode. The implementation manner of the server is various, and may be a single computer device, or may be a combination of multiple computer devices (e.g., a cluster server, a cloud server, etc.). The server may also be referred to as a cloud, etc. in some application scenarios.
A terminal: a terminal device is a device located at the outermost periphery of a computer network or a communication network, and is mainly used for inputting user information and outputting a processing result. Besides the input and output functions, the terminal can also perform certain operations and processing to realize partial system functions. The terminal may be, for example, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart watch, a smart bracelet, a television, a projector with input function, a Personal Digital Assistant (PDA), and the like.
The technical problems of the prior art a-GNSS service are first further analyzed:
in the prior art, the a-GNSS service provides the same assistance data for terminals in different states, and does not consider the difference of the terminal states, such as a terminal with limited activity space, a terminal moving at a high speed, a terminal moving at a low speed, and the like.
The assistance data of the visible satellites provided to the terminal by the a-GNSS service is only for a certain time t0And the satellite is always in motion, the terminal capable of capturing the satellite needs to be within a certain spatial position range. At the current time t0A certain satellite is visible to the terminal (a terminal being able to acquire the satellite is said to be visible to the terminal), but at the next time t1The satellite may not be visible to the terminal. Since the visibility state of the satellite to the terminal may change over time, the terminal needs to determine the visibility state of the satellite in real time. Terminal at time t1If the assistance data is not requested from the server, the visible satellites need to be calculated on the terminal side, which may slow down the terminal satellite acquisition speed and increase the amount of extra calculation resulting in increased power consumption. Terminal at time t1If the auxiliary data is requested to the server, the time consumption of the interaction process is increased, and the data flow of the terminal is increased.
When the spatial location of the terminal changes faster, the set of visible satellites of the terminal may also change relatively faster. Also, the assistance data provided to the terminal by the a-GNSS service is only for a certain time t0For the next time t1If the visible satellite terminal does not request the service end for the assistance data, the navigation messages of the satellites not provided by the service end need to be acquired first so as to solve the satellite ephemeris, then the visible satellite set is calculated at the terminal side, the time for acquiring the broadcast ephemeris is long, and taking the GPS as an example, at least 30 seconds are needed for receiving the complete broadcast ephemeris data. This slows terminal satellite acquisition and increases the amount of additional computation resulting in increased power consumption. Terminal at time t1If the auxiliary data is requested from the server, the time consumption is increased and the data traffic of the terminal is increased.
In order to solve the technical problem, some of the innovation points of the embodiments of the present application are as follows:
in the prior art, only ephemeris of visible satellites at the current position and the current moment is usually sent to the terminal as auxiliary positioning information, but in the embodiment of the present application, ephemeris and visible time intervals of all visible satellites at the current position of the terminal in the current ephemeris update period are sent to the terminal, so that the calculation amount of positioning calculation of the terminal requesting the auxiliary positioning information can be effectively reduced, and the positioning speed is improved.
In addition, the prior art does not consider the movement range and the movement speed of the terminal when performing the auxiliary positioning. In some embodiments, different auxiliary positioning information is given according to the movement range and the selectable movement speed of the terminal, so that a better balance between the positioning speed of the terminal and the data traffic sent to the terminal can be achieved.
If the estimated motion range of the terminal is smaller than a preset first threshold, the current ephemeris update cycle ephemeris and the visible time interval of all visible satellites in the estimated motion range are sent to the terminal (optionally, the actual motion range may not be monitored at this time), so that the frequency of the terminal requesting the auxiliary positioning information is greatly reduced, and the positioning speed of the terminal is accelerated.
If the actual movement range of the terminal is larger than the preset second threshold and the actual movement speed is larger than the preset third threshold, the full-constellation ephemeris of the current ephemeris update period is sent to the terminal, so that the terminal moving at a high speed and in a large range can be positioned according to the auxiliary positioning information in time without continuously requesting and waiting for the auxiliary positioning information, and the auxiliary positioning information does not need to be requested from the server again within a period of time.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
A first embodiment of the present application relates to a method for providing auxiliary positioning information, a flow chart of which is shown in fig. 2, the method comprising the following steps:
in step 210, the server sends the assisted positioning information to the terminal for the terminal to perform assisted positioning, where the assisted positioning information at least includes ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current time of sending the information to the end of the current ephemeris update period. Wherein, the auxiliary positioning server (such as A-GNSS server) of the server side provides all the current positions of the terminalVisible satellites, being the time t at which positioning assistance data is requestedcThe terminal collects the visible satellites at various time points in the period of time until the current ephemeris update period is finished, and an example is shown in fig. 5. The terminal has 8 satellites in the sky above the current position, which are satellites G01 to G08. The satellites within the angle theta in fig. 5 are the satellites in view of the terminal at the current position. Since the satellite is always in motion, the satellite is not always visible to the terminal if the terminal is stationary or in a small spatial range, and the visibility of the terminal by the satellite is time-dependent. The terminal at the current position is at the time t of requesting positioning assistance datacThe corresponding visible satellites are represented by solid lines and include G04, G05, G06, G08, the terminal at the current position being at time tcAfter a time tkThe corresponding visible satellites are represented by dashed lines, including G02, G03, G04, G05, G06, G07. All visible satellites at the current position of the terminal are the terminal at the moment tcTo time tkI.e. all visible satellites of the current position of the terminal provided by the assisted positioning server include all satellites G02, G03, G04, G05, G06, G07, G08 in ellipse E1 of fig. 5.
Optionally, in an embodiment, the assisted positioning information only includes ephemeris and visibility time intervals of all visible satellites at the current position of the terminal from the current time when the information is transmitted to the end of the current ephemeris update period. The GPS ephemeris update period is 2 hours.
Optionally, in one embodiment, the assisted positioning information includes ephemeris and visibility time intervals for all visible satellites at the current position of the terminal during the entire current ephemeris update period.
In step 210, the assistance-localization server determines whether a satellite of the terminal is at a location assistance data request time tcVisible for a period of time to the next epoch, and visible time interval for visible satellites:
as shown in fig. 6, the satellites move along their orbits a-F, the satellites are visible to the terminal within its orbit BD, and the total satellite availability to the terminal isSee time period of [ t1，t2]At the time of the request for positioning assistance data tcTo the beginning time t of the next ephemeris update periodnTime period t ofc，tn]The intersection of (d) is the visible time interval [ t ] of the satellitebegin，tend]. If [ t ]1，t2]And [ tc，tn]If there is no intersection, it means that the satellite is at [ t ]c，tn]Not visible to the terminal for the time period. [ t ] of1，t2]And [ tc，tn]The intersection case of (a) includes 5 cases:
as shown in (1) in FIG. 6, t1<tcAnd t is2<tnTime interval of visibility of satellite [ t ]begin，tend]Is [ t ]c，t2]；
As shown in (2) of FIG. 6, t1<tcAnd t isn<t2Time interval of visibility of satellite [ t ]begin，tend]Is [ t ]c，tn]；
As shown in (3) in FIG. 6, tc<t1And t isn<t2Time interval of visibility of satellite [ t ]begin，tend]Is [ t ]1，tn]；
As shown in (4) in FIG. 6, tc<t1And t is2<tnTime interval of visibility of satellite [ t ]begin，tend]Is [ t ]1，t2]；
As shown in (5) in FIG. 6, t2<tc，[t1，t2]And [ tc，tn]Without intersection, the satellite is at [ t ]c，tn]The terminal is invisible in the time period, and the satellite is not contained in the visible star set.
Then, step 220 is entered, and the terminal receives and uses the auxiliary positioning information from the server for auxiliary positioning. Optionally, the terminal determines the ephemeris of all visible satellites at the current time and the current position according to the visible time interval and the ephemeris in the assisted positioning information, and performs assisted positioning according to the ephemeris of all visible satellites at the current time and the current position.
A second embodiment of the present application relates to a method for providing auxiliary positioning information, and the flow chart is shown in fig. 3. The second embodiment is improved from the first embodiment, and different auxiliary positioning information is sent according to the estimated motion range. The method comprises the following steps:
in step 302, an estimated motion range of the terminal is obtained. Optionally, the estimated motion range is preset or determined according to the historical motion track of the terminal.
Optionally, in one embodiment, the size of the predicted range of motion has a default value in the assisted positioning software, and the default predicted range of motion is greater than the first threshold. For a terminal with activity limitation, such as a special terminal of an airport, a railway station and a wharf, when auxiliary positioning software is pre-installed in the terminal, the size of the estimated motion range is rewritten according to the terminal characteristic, and the estimated motion range of the terminal with the characteristic is smaller than a first threshold value. In another embodiment, the historical movement range of the terminal may also be determined according to a past track of the terminal (for example, from the last times of terminal power-on to power-off), and if the historical movement range of the terminal is smaller than the estimated movement range stored in the terminal, the estimated movement range stored in the terminal is updated to the historical movement range of the terminal.
Optionally, in an embodiment, a historical movement range of the terminal may also be determined according to a past trajectory of the terminal over a period of time (for example, last times of powering on and powering off the terminal), and if the determined historical movement range of the terminal is smaller than an estimated movement range currently stored by the terminal, the estimated movement range currently stored by the terminal is updated to the historical movement range of the terminal.
Then, step 304 is performed to determine whether the estimated movement range of the terminal is smaller than a preset first threshold, if so, step 306 is performed, otherwise, step 308 is performed. Alternatively, step 304 may be handled in whole or in part by the terminal, in whole or in part by the assisting positioning server, and in whole or in part by the platform gateway. There are various implementations of the first threshold, optionally the first threshold is a radius value, optionally the first threshold is a region.
In step 306, the server sends the ephemeris and visible time intervals of all visible satellites in the estimated motion range from the current time of sending the information to the end of the current ephemeris update period to the terminal. Optionally, in one embodiment, no more aiding location information is sent to the terminal until the end of the current ephemeris update period unless the terminal moves outside of the estimated range of motion.
The estimated range of motion encompasses the current position of the terminal, and thus there are generally more than all visible satellites of the estimated range of motion of the terminal than there are visible satellites of the current position of the terminal, as illustrated in fig. 7. All visible satellites of the terminal at the current position are G04, G05, G06 and G07, visible satellites at the edge B of the estimated motion range C1 of the terminal also include G02 and G03, visible satellites at the edge C of the estimated motion range C1 of the terminal also include G08 and G09, and therefore, the A-GNSS server provides that all visible satellites in the estimated motion range of the terminal include G02, G03, G04, G05, G06, G07, G08 and G09.
In step 308, the server sends the ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current time of sending the information to the end of the current ephemeris update period to the terminal.
In step 310, the terminal receives the assistant positioning information from the server and performs assistant positioning.
For the terminal in the estimated motion range, the server only needs to provide the ephemeris and the visible time interval of the current ephemeris update period of all visible satellites in the estimated motion range once in the current ephemeris update period, and the server does not need to provide positioning assistance data for the terminal for multiple times, so that the data traffic of the terminal is saved.
A third embodiment of the present application relates to a method for providing auxiliary positioning information, and the flow chart is shown in fig. 4. The third embodiment is an improvement on the second embodiment, and further sends different auxiliary positioning information according to the judgment of the actual movement range and the actual movement speed. The method comprises the following steps:
in step 402, an estimated range of motion of the terminal is obtained.
Then, step 404 is entered to determine whether the estimated movement range of the terminal is smaller than a preset first threshold, if so, step 406 is entered, otherwise, step 408 is entered.
In step 406, the server sends the ephemeris and visible time intervals of all visible satellites in the estimated motion range from the current time of sending the information to the end of the current ephemeris update period to the terminal. Optionally, in one embodiment, after step 406, it is not necessary to monitor whether the real-time range of motion of the terminal exceeds a predetermined threshold for a predetermined period of time.
In step 408, the server sends the ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current time of sending the information to the end of the current ephemeris update period to the terminal. Step 410 is thereafter entered.
In step 410, the actual movement range and the actual movement speed of the terminal are monitored. Alternatively, the actual moving speed may be the current moving speed or an average speed of a preset time period. Step 412 is then entered.
In step 412, it is determined whether the actual movement range of the terminal is greater than a second preset threshold and the actual movement speed of the terminal is greater than a third preset threshold, if so, step 414 is entered, otherwise, the monitoring may be continued by returning to step 410. Optionally, in one embodiment, the second threshold and the current location of the terminal characterize a spatial region in which all visible satellites of all terminals are the same. Optionally, the second threshold is less than the first threshold.
Optionally, in an embodiment, each time the actual movement range of the terminal is found to be greater than the preset second threshold but the actual movement speed is found to be less than the preset third threshold, the ephemeris and the visibility time interval of all visible satellites at the current position of the terminal from the current time of sending the information to the end of the current ephemeris update period may be sent to the terminal. The center of the actual range of motion is then updated to the current position of the terminal at the time the latest assistance-localization information was sent.
As shown in fig. 8, C2 represents a spatial area consisting of the second threshold and the current position a of the terminal at which the terminal requests positioning assistance data, and the a-GNSS server provides the terminal with all visible satellites G02, G03, G04, G05, G06, G07, G08 for the current position, contained in an ellipse E1, consistent with all visible satellites providing the terminal with the current position in fig. 5. The curve AB represents the actual movement trajectory of the terminal. When the terminal moves from the position A to the position B and exceeds the range of C2, all visible satellites of the terminal become G04, G05, G06, G07, G08, G09 and G10, the satellites are contained in an ellipse E2, G09 and G10 are added, and an A-GNSS server needs to provide ephemeris of the G09 and G10 satellites to the terminal.
On the premise that the actual motion range of the terminal is larger than the second threshold, if the actual running speed of the terminal is smaller than the third threshold, it is indicated that the running speed of the terminal is slow, the time of the terminal in the space region formed by the second threshold is long, the server only needs to provide ephemeris and a visible time interval of the terminal to the current ephemeris update cycles of all visible satellites at the second position (i.e., position B in fig. 8) when the actual motion range of the terminal exceeds the second threshold, and in the visible time interval calculation, t iscThe ephemeris of the visible satellites is obtained for the terminal at the moment of the second position, so that the capturing speed is improved, the positioning is accelerated, and the data traffic is saved. If the terminal moves to the position B, that is, the actual movement range of the terminal exceeds the second threshold, the spatial area of the terminal is updated to C3 in fig. 8, the center of C3 is updated from the position a to the second position (position B), and the terminal requests the auxiliary positioning information based on the position B from the server. Thereafter, monitoring continues for a period of time if the actual range of motion of the terminal (centered about the second position) is greater than a second threshold. And if the actual movement range of the terminal is larger than the second threshold value again, recording the position of the terminal when the actual movement range of the terminal is larger than the second threshold value again as a third position, and so on.
In step 414, the server sends the full ephemeris to the terminal from the current time of sending the information to the end of the current ephemeris update period. And no longer transmits assisted positioning information like the terminal until the end of the current ephemeris update period.
If the actual range of motion of the terminal is greater than the second threshold and the actual speed of operation is greater than the third threshold, indicating that the terminal is not only changing rapidly in the actual range of motion but also is operating rapidly, the terminal will change relatively rapidly in the set of all visible satellites of the current ephemeris update period, and the actual range of motion of the terminal may cross the spatial region of C2, C3, C4 in fig. 7 for a short period of time. If the terminal in high-speed motion state is also provided with all the sets of visible satellites for the current ephemeris update period at the current position every time the terminal is out of the range of C2, C3, and C4, the server needs to provide the terminal with positioning assistance data every short period of time (e.g., 30 minutes), which results in an increase in the number of interactions between the terminal and the server, an increase in the data traffic of the terminal, and an increase in the power consumption due to the extra message processing of the terminal. The solution is to provide the terminal with full ephemeris at a second location (e.g., location B) from the current time of sending the information to the end of the current ephemeris update period, so that the terminal can calculate the set of visible satellites at each time according to the full ephemeris of the current ephemeris update period in a later period of time to speed up the positioning. The server side does not need to provide auxiliary positioning information for the high-speed terminal for multiple times.
Alternatively, the above steps 402, 404, 410, 412 may be performed by one of the terminal, the platform gateway, the assisted positioning server, or any combination thereof.
Optionally, in an embodiment, step 402 and 406 may be omitted.
Optionally, before step 402, further comprising: the terminal requests the positioning assistance data from the server and provides the current position of the terminal, where the current position may be obtained by various methods, may be accurate or approximate, and may be, for example, an approximate position of the terminal obtained according to a cell connected to the terminal or WIFI related information, and the terminal provides the actual position of the terminal, or the cell connected to the terminal or WIFI related information to the auxiliary positioning server. The request of the terminal to the server can be provided to the auxiliary positioning server or the platform gateway. The server side can comprise an auxiliary positioning server and a platform gateway.
A fourth embodiment of the present application relates to a server for providing auxiliary positioning information, configured to perform the method in the first or second or third embodiment.
A fifth embodiment of the present application relates to a terminal for receiving assisted positioning information, which includes a positioning unit and a communication unit, wherein the communication unit receives assisted positioning information from a server, and the assisted positioning information includes ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current time when the server sends information to the end of the current ephemeris update period; and the positioning unit determines a visible satellite set at the positioning moment according to the auxiliary positioning information so as to assist positioning.
Optionally, the communication unit of the terminal sends the estimated motion range of the terminal to the server; when the estimated motion range is smaller than a preset first threshold value, the auxiliary positioning information comprises ephemeris and visible time intervals of all visible satellites in the estimated motion range from the current moment when the server side sends the information to the end of the current ephemeris updating period. Optionally, the estimated motion range is preset or determined according to the historical motion track of the terminal.
In order to better understand the technical solution of the present application, the following description is given with reference to a specific example, in which the listed details are mainly for the sake of understanding and are not intended to limit the scope of the present application.
One embodiment of the system for assisting positioning is shown in fig. 9. The system for assisting positioning comprises an A-GNSS server, a GNSS auxiliary data database, a CELL ID/WIFI MAC database, a platform gateway and a terminal.
The terminal 102 may be a mobile phone, a wearable device (smart watch, smart bracelet, etc.), an onboard navigation, a bicycle, a robot, an unmanned aerial vehicle, etc. The terminal 102 may receive signals from one or more GNSS satellites 201, such as the united states GPS system, the russian GLONASS system, the chinese beidou system, the european Galileo (Galileo) system, and the japanese QZSS system.
The module structure of the terminal 102 is shown in fig. 10, and the GNSS positioning module may be single mode, dual mode or multi mode. The terminal 102 integrates an auxiliary positioning module, and establishes an account for the auxiliary positioning service for the terminal through the mobile network or the wireless network access platform gateway 203, based on the account for the auxiliary positioning service of the terminal. The terminal state checking module of the terminal 102 is configured to monitor whether an actual movement range of the terminal is greater than a second threshold, and if the actual movement range is greater than the second threshold, notify the auxiliary positioning module to notify the platform gateway of a position change of the terminal through the embedded communication unit and provide speed information of the terminal.
The platform gateway 203, the a-GNSS server 204, the database of assistance data 205 and the CELL ID/WIFI database 206 are all deployed at the server. The data source of the assistance data database 205 is derived from a-GNSS reference stations 202 deployed around the world, and the assistance data database 205 contains real-time assistance data of all operating satellites in the constellation of GPS, GLONASS, BDS, GALILEO, QZSS, and the like. The global a-GNSS reference station 202 and the database of assistance data 205 enable assisted positioning requests for global terminals to be served by the same a-GNSS server 204.
The platform gateway 203 performs a number of functions, including establishing an account for the assisted location service for the terminal 102, authenticating when the terminal 102 requests the assisted location service, and providing the assisted location service for the terminal 102. The platform gateway 203 invokes the a-GNSS server 204 to provide assistance data to the terminal. The a-GNSS server 204 and the platform gateway 203 may be separate or part of the platform gateway 203.
The platform gateway 203 divides the state of the terminal into four cases according to the relationship between the estimated motion range of the terminal and the first threshold, the relationship between the actual motion range of the terminal and the second threshold, and the relationship between the actual motion speed of the terminal and the third threshold, which are respectively:
a first terminal state: the estimated motion range is smaller than a first threshold value;
and a second terminal state: estimating that the motion range is larger than a first threshold value;
the terminal state three: the actual movement range of the terminal is larger than a second threshold value, and the actual movement speed of the terminal is smaller than a third threshold value;
and the terminal state is four: the actual range of motion of the terminal is greater than the second threshold and the actual speed of motion of the terminal is greater than the third threshold.
Fig. 11 shows a message flow of a terminal initiating an assisted location service in an embodiment of the present application. The terminal determines that an account number for the auxiliary positioning service is established before initiating the auxiliary positioning service. The terminal provides the estimated motion range of the terminal for the platform gateway in the process of establishing the account aiming at the auxiliary positioning service, and the platform gateway stores the estimated motion range of the terminal. If the terminal does not provide the estimated movement range when requesting the positioning auxiliary data, the platform gateway uses the stored estimated movement range to judge so as to simplify the signaling requested by the terminal and save the data traffic of the terminal.
Step A: when an application program running on the terminal initiates a positioning request, the terminal establishes data connection with the platform gateway based on an account aiming at the auxiliary positioning service.
And B: the terminal sends an assisted location request message to the platform gateway to initiate an assisted location session. After the terminal is started, the request comprises a CELL ID/WIFI address/terminal position, and the CELL ID and the WIFI address are used for determining the approximate position of the terminal. If the estimated motion range of the terminal changes, a new estimated motion range is included in the assisted positioning request.
And C: and the platform gateway authenticates the terminal. And if the auxiliary positioning request of the terminal contains the new estimated motion range, updating the stored estimated motion range into the new estimated motion range. Judging whether the estimated motion range of the terminal is larger than a first threshold value or not; if the estimated motion range is smaller than the first threshold value, the terminal state is a first state; and if the estimated motion range is larger than the first threshold value, the terminal state is a second state.
Step D: and the platform gateway calls an auxiliary positioning service deployed on the A-GNSS server and provides the terminal state to the A-GNSS server. If the terminal state is state one, the platform gateway also provides the estimated motion range to the A-GNSS server.
Step E: the a-GNSS server provides the terminal with the assistance data according to the state of the terminal, as shown in fig. 12. The A-GNSS server further judges the state of the terminal after receiving the service positioning request of the terminal; if the terminal state is a state one, providing ephemeris and visible time intervals of current ephemeris update periods of all satellites in the estimated motion range by the terminal; if the terminal state is the second state, providing ephemeris and visible time intervals of the current ephemeris update period of all satellites at the current position by the terminal; if the terminal state is the third state, ephemeris and visible time intervals of the current ephemeris update period of all satellites at the second position are provided for the terminal; and if the terminal state is the state four, providing a full constellation ephemeris of the terminal and marking the visible satellite at the second position.
Step F: the platform gateway judges the state of the terminal; and if the terminal state is the second state, the platform gateway informs the terminal of monitoring the actual motion range of the terminal. And the platform gateway sends the positioning auxiliary data to the terminal. And if the terminal state is the state one, the steps G to L are not performed.
Step G: the terminal monitors whether the actual movement range of the terminal is larger than a second threshold value or not; if the current value is not greater than the second threshold value, continuing monitoring; and if the threshold value is larger than the second threshold value, the step H is carried out.
Step H: the terminal informs the platform gateway that its actual range of motion exceeds the second threshold and provides the platform gateway with the actual speed of motion of the terminal.
Step I: the platform gateway judges whether the actual movement speed of the terminal is greater than a third threshold value; if the actual movement speed is smaller than a third threshold value, updating the terminal state to be a third state; and if the actual movement speed is greater than the third threshold value, updating the terminal state to be the fourth state.
Step J: and the platform gateway calls an auxiliary positioning service deployed on the A-GNSS server and provides the terminal state to the A-GNSS server.
Step K: the a-GNSS server provides the terminal with the assistance data according to the state of the terminal, as shown in fig. 12.
Step L: and the platform gateway sends the positioning auxiliary data to the terminal. And D, the terminal continuously monitors whether the actual motion range is larger than a second threshold value or not, and if the actual motion range is larger than the second threshold value, the steps G to L are repeated. When the step G is repeated, the terminal further judges whether the actual movement speed of the terminal is greater than a third threshold value when the terminal judges that the actual movement range of the terminal is greater than the second threshold value, and if the actual movement speed is less than the third threshold value, the step H is carried out; if the actual movement speed is larger than the third threshold value, further judging the terminal state, and if the terminal state is the third state, turning to the step H; and if the terminal state is the state four, continuously monitoring the actual motion range of the terminal.
In the embodiments of the present invention, if the criterion is that a certain index is greater than or less than a certain threshold, and the index is equal to the threshold, the processing may be performed according to the branch greater than the threshold, or according to the branch less than the threshold.
It should be noted that, as will be understood by those skilled in the art, the implementation functions of the modules shown in the embodiment of the system for assisting positioning may be understood by referring to the related description of the method for providing the assisted positioning information. The functions of the modules shown in the embodiments of the positioning assistance system described above may be implemented by a program (executable instructions) running on a processor, or may be implemented by specific logic circuits. The positioning assistance system according to the embodiment of the present invention may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
It is noted that, in the present patent application, relational terms such as first and second, and the like are 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, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element. In the present patent application, if it is mentioned that a certain action is executed according to a certain element, it means that the action is executed according to at least the element, and two cases are included: performing the action based only on the element, and performing the action based on the element and other elements. The expression of a plurality of, a plurality of and the like includes 2, 2 and more than 2, more than 2 and more than 2.
All documents mentioned in this specification are to be considered as being incorporated in their entirety into the disclosure of the present application so as to be subject to modification as necessary. It should be understood that the above description is only a preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of the present disclosure should be included in the scope of protection of one or more embodiments of the present disclosure.
In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Claims (11)
1. A method for providing assisted positioning information, comprising:
and the server side sends the auxiliary positioning information to the terminal so that the terminal can perform auxiliary positioning, wherein the auxiliary positioning information at least comprises ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current time of sending the information to the end of the current ephemeris updating period.
2. The method of claim 1, wherein before the server sends the assisted positioning information to the terminal, the method further comprises:
acquiring an estimated motion range of the terminal;
the server side sends the auxiliary positioning information to the terminal, and the method further comprises the following steps:
and if the estimated motion range of the terminal is smaller than a preset first threshold value, sending ephemeris and visible time intervals of all visible satellites in the estimated motion range from the current time of sending the information to the end of the current ephemeris updating period to the terminal.
3. The method for providing assisted positioning information according to claim 2, wherein the server sends assisted positioning information to the terminal, further comprising:
if the estimated movement range of the terminal is larger than the first threshold value, sending the auxiliary positioning information and monitoring the actual movement range and the actual movement speed of the terminal; and
and if the actual motion range of the terminal is larger than a preset second threshold value and the actual motion speed of the terminal is larger than a preset third threshold value, sending the full-constellation ephemeris to the terminal from the current time of sending the information to the end of the current ephemeris updating period.
4. A method for providing assistance location information according to claim 3 wherein said actual movement velocity is a current movement velocity or an average velocity of a preset duration.
5. A method for providing assisted positioning information as defined in claim 3, wherein the second threshold is less than the first threshold.
6. The method of claim 2, wherein the estimated motion range is predetermined or determined according to a historical motion trajectory of the terminal.
7. The method of providing assisted positioning information of claim 1, wherein the server comprises an assisted positioning server and a platform gateway.
8. A server for providing assisted positioning information, characterized by being configured to perform the method for providing assisted positioning information according to any of claims 1-7.
9. A terminal for receiving auxiliary positioning information comprises a positioning unit and a communication unit, and is characterized in that the communication unit receives the auxiliary positioning information from a server, wherein the auxiliary positioning information comprises ephemeris and visible time intervals of all visible satellites at the current position of the terminal from the current time when the server sends the information to the end of the current ephemeris update period;
and the positioning unit determines a visible satellite set at the positioning moment according to the auxiliary positioning information so as to assist positioning.
10. The terminal of claim 9, wherein the communication unit of the terminal transmits the estimated range of motion of the terminal to the server;
and when the estimated motion range is smaller than a preset first threshold value, the auxiliary positioning information comprises ephemeris and visible time intervals of all visible satellites in the estimated motion range from the current moment when the server sends the information to the end of the current ephemeris updating period.
11. The terminal of claim 10, wherein the estimated range of motion is predetermined or determined based on a historical motion profile of the terminal.
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