CN114488229A - Positioning accuracy determination method, positioning device, positioning equipment and storage medium - Google Patents
Positioning accuracy determination method, positioning device, positioning equipment and storage medium Download PDFInfo
- Publication number
- CN114488229A CN114488229A CN202210108146.2A CN202210108146A CN114488229A CN 114488229 A CN114488229 A CN 114488229A CN 202210108146 A CN202210108146 A CN 202210108146A CN 114488229 A CN114488229 A CN 114488229A
- Authority
- CN
- China
- Prior art keywords
- satellite
- observation data
- data
- accuracy
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 74
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000005516 engineering process Methods 0.000 claims description 8
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 4
- 108091006503 SLC26A1 Proteins 0.000 description 32
- 101100422538 Escherichia coli sat-2 gene Proteins 0.000 description 18
- 230000008569 process Effects 0.000 description 14
- 230000006870 function Effects 0.000 description 11
- 239000011159 matrix material Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000005433 ionosphere Substances 0.000 description 5
- 239000005436 troposphere Substances 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011410 subtraction method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the application provides a positioning accuracy determination method, a positioning device and a storage medium, wherein the positioning accuracy determination method comprises the following steps: the mobile station acquires various positioning data, namely satellite observation data acquired by the mobile station and reference observation data acquired by the reference station, and determines the data precision of the satellite observation data according to the various positioning data. And then, the data accuracy of the satellite observation data is used as a parameter of an accuracy determination algorithm, so that the positioning accuracy of the terminal equipment is determined by using the accuracy algorithm parameter. Therefore, the positioning accuracy is determined by using the observation data in the observation domain, namely the satellite observation data and the reference observation data, so that the positioning accuracy is directly determined by directly using the data in the observation domain.
Description
Technical Field
The present application relates to the field of satellite positioning technologies, and in particular, to a positioning accuracy determining method, a positioning method, an apparatus, a device, and a storage medium.
Background
The satellite positioning system can provide timely position information for various industries such as transportation, agriculture, forestry and fishery, hydrological monitoring, meteorological observation and report, power dispatching, disaster relief and reduction and the like. The most common positioning scene is a daily trip scene, that is, positioning and navigation are performed on a vehicle or other terminal equipment used by a user.
In a common satellite Positioning technology based on a Global Positioning System (GPS), a phase-difference Real Time (RTK) technology has become a mainstream way for realizing satellite Positioning due to its characteristics of fast Positioning speed, high precision, and the like.
In the positioning process, the positioning accuracy is an important index for reflecting the positioning accuracy, so how to obtain the positioning accuracy becomes an urgent problem to be solved.
Disclosure of Invention
In view of this, embodiments of the present application provide a positioning accuracy determining method, a positioning method, an apparatus, a device, and a storage medium, so as to obtain positioning accuracy.
In a first aspect, an embodiment of the present application provides a method for determining positioning accuracy, including:
acquiring satellite observation data acquired by a mobile station and reference observation data acquired by a reference station;
determining an error of the satellite observation data according to the satellite observation data and the reference observation data;
determining the data precision of the satellite observation data according to the error of the satellite observation data;
and taking the data accuracy of the satellite observation data as a parameter of an accuracy determination algorithm so as to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.
In a second aspect, an embodiment of the present application provides a positioning accuracy determining apparatus, including:
the acquisition module is used for acquiring satellite observation data acquired by the mobile station and reference observation data acquired by the reference station;
an error determination module, configured to determine an error of the satellite observation data according to the satellite observation data and the reference observation data;
the observation data precision determining module is used for determining the data precision of the satellite observation data according to the error of the satellite observation data;
and determining the positioning accuracy, wherein the data accuracy of the satellite observation data is used as a parameter of an accuracy determination algorithm so as to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.
In a third aspect, an embodiment of the present application provides a positioning method, including:
obtaining an initial positioning position based on a carrier phase differential technology;
correcting the initial positioning position based on positioning accuracy to obtain a target positioning position, wherein the accuracy of the target positioning position is higher than that of the initial positioning position;
or,
displaying a functional information prompt related to the positioning accuracy of the initial positioning position based on positioning accuracy;
the positioning accuracy is determined based on the positioning accuracy determination method in the first aspect.
According to the positioning accuracy determining method provided by the embodiment of the application, the mobile station receives various positioning data, namely satellite observation data acquired by the mobile station and reference observation data acquired by the reference station, and determines the data accuracy of the satellite observation data according to the various positioning data. And then, the data accuracy of the satellite observation data is used as a parameter of a preset accuracy determination algorithm, so that the preset accuracy determination algorithm is used for determining the positioning accuracy of the terminal equipment. Therefore, the mobile station determines the data accuracy of the satellite observation data acquired by the mobile station according to the observation data acquired by different devices, and obtains the positioning accuracy of the mobile station according to the data accuracy of the satellite observation data. Namely, the positioning accuracy is determined by using the observation data in the observation domain, namely, the positioning accuracy is directly determined by directly using the observation data in the observation domain.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for determining positioning accuracy according to an embodiment of the present application;
fig. 2 is a flowchart of another positioning accuracy determining method according to an embodiment of the present application;
fig. 3 is a flowchart of another method for determining positioning accuracy according to an embodiment of the present application;
fig. 4 is a flowchart of a positioning method according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a positioning accuracy determining apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device corresponding to the positioning accuracy determining apparatus provided in the embodiment shown in fig. 5;
fig. 7 is a schematic structural diagram of a positioning accuracy determining apparatus according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device corresponding to the positioning accuracy determining apparatus provided in the embodiment shown in fig. 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a" and "an" typically include at least two, but do not exclude the presence of at least one.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The words "if," "if," as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a recognition," depending on the context. Similarly, the phrases "if determined" or "if identified (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when identified (a stated condition or event)" or "in response to an identification (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments. In addition, the sequence of steps in the embodiments of the methods described below is merely an example, and is not strictly limited.
Fig. 1 is a flowchart of a positioning accuracy determining method according to an embodiment of the present application, where the positioning accuracy determining method according to the embodiment of the present application may be executed by a positioning device. It will be appreciated that the positioning device may be implemented as software, or a combination of software and hardware.
A satellite positioning system based on the RTK technology may comprise a rover station, a reference station and a satellite cluster, and the positioning apparatus implementing the present embodiment and the embodiments described below may specifically be the rover station in the positioning system. The mobile station may specifically be any terminal device whose location can be changed, such as a mobile phone, an automobile, and the like. As shown in fig. 1, the method comprises the steps of:
s101, satellite observation data collected by the mobile station and reference observation data collected by the reference station are obtained.
The mobile station may acquire satellite observations. At the same time, the reference station may collect and transmit reference observation data to the mobile station so that the mobile station can receive the reference observation data.
Alternatively, for a cluster of satellites in a positioning system, the mobile station may acquire satellite observations from each satellite to obtain satellite observations corresponding to each of the different satellites. Similarly, the reference station may also acquire reference observation data from each satellite to obtain reference observation data corresponding to each of the different satellites. When the method provided by this embodiment is used to determine the positioning accuracy, the same satellite, that is, the satellite observation data and the reference observation data corresponding to the target satellite may be used, where the target satellite may be at least one satellite in the satellite cluster.
Alternatively, the satellite observations collected by the mobile station may include pseudorange data and/or carrier observations between the mobile station and the satellites. Optionally, the reference observation data may include differential data acquired by the reference station, and may also include positioning data acquired by the high-precision positioning device. The positioning data may include, among other things, pseudorange data and/or carrier observations between the mobile station and the satellite. It should be noted that the high-precision positioning device may be a positioning device with a centimeter-level positioning precision, which is higher than the positioning precision of the mobile station.
And S102, determining the error of the satellite observation data according to the satellite observation data and the reference observation data.
And S103, determining the data precision of the satellite observation data according to the error of the satellite observation data.
As will be readily appreciated, the satellite observations are typically error-containing, and the reference observations can be used to determine errors in the satellite observations.
In a simple manner, optionally, when the satellite observations and the reference observations are pseudorange data acquired by the mobile station and the high accuracy positioning device, respectively, the difference between the two can be determined directly as the error of the satellite observations. Similarly, optionally, when the satellite observations and the reference observations are carrier observations collected by the mobile station and the high-precision positioning device, respectively, the difference between the two may also be determined as an error in the satellite observations.
In practice, the error calculated in the above manner may be a positive value or a negative value, but the concept of "data accuracy" is often non-negative, so that the non-negative of the data accuracy can be ensured by processing the error of the satellite observation data to remove the positive and negative of the error.
Alternatively, the square value of the error of the satellite observation data can be used as the data precision of the satellite observation data, so that the non-negativity of the data precision is ensured. Alternatively, the absolute value of the error of the satellite observation data may be used as the data accuracy of the satellite observation data. Of course, the present embodiment does not limit the way of removing the non-negativity error, and any non-negativity way capable of ensuring the data accuracy may be used.
And S104, taking the data accuracy of the satellite observation data as a parameter in an accuracy determination algorithm to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.
Finally, the data accuracy of the satellite observation data can be used as a parameter of a preset accuracy determination algorithm, so that the positioning accuracy of the mobile station can be calculated by using the preset accuracy algorithm.
Alternatively, if the satellite observation data is specifically carrier observation data, the data accuracy of the carrier observation data can be calculated according to steps 101 to 103. At this time, the data accuracy of the carrier observation data may be used as a parameter in the RTK kalman filter algorithm, and the positioning accuracy of the mobile station is obtained by using the RTK kalman filter algorithm, that is, the following equation:
wherein D isposFor positioning accuracy, I is the identity matrix, HxFor a predetermined coefficient matrix, phik,k-1For a state transition matrix from time K-1 to time K, KkIn order to pre-set the gain matrix,
state matrix for time K-1
Variance value of (D)ddresAnd observing the data precision of the data for the carrier wave.
Wherein,
Lkin order to pre-set the observation matrix,
Xk-1,k-2is the state transition equation from time k-2 to time k-1.
In this embodiment, the mobile station receives satellite observation data acquired by itself and reference observation data acquired by the reference station, and determines the data accuracy of the satellite observation data according to a plurality of positioning data. And then taking the data precision of the satellite observation data as a parameter of a preset precision determination algorithm, and calculating according to the preset precision determination algorithm to obtain the positioning precision of the mobile station. Therefore, the mobile station can determine the data accuracy of the satellite observation data acquired by the mobile station according to the observation data acquired by different devices, and obtain the positioning accuracy of the mobile station according to the data accuracy of the satellite observation data. The positioning accuracy is determined by using the observation data in the observation domain, namely, the positioning accuracy is determined by directly using the data in the observation domain.
In addition, the satellite observation data acquired by the mobile station often contains errors, and for the error condition that the satellite observation data cannot be obtained, the position coordinates can be determined according to the satellite observation data, and then the positioning accuracy is determined according to the position coordinates and the reference position coordinates, namely the positioning accuracy is determined according to the data of the position domain. However, when this method is used, errors contained in the satellite observation data directly affect the accuracy of the position coordinates, and further affect the accuracy of the positioning accuracy.
In contrast, with the method provided in the above embodiment, the error of the satellite observation data can be directly calculated, and the positioning accuracy of the mobile station can be directly calculated according to the data accuracy of the satellite observation data, so that the accuracy of the positioning accuracy can be improved by using the positioning accuracy determining method provided in this embodiment, compared to the above-described method.
As can be seen from the above description, the satellite observation data acquired by the mobile station contains errors, and the errors contained in the satellite observation data are various errors due to different reasons. And different processing modes can be adopted for errors caused by different reasons. Fig. 2 is a flowchart of another method for determining positioning accuracy according to the embodiment of the present application. As shown in fig. 2, the method may include the steps of:
s201, satellite observation data collected by a mobile station and reference observation data collected by a reference station are obtained.
As with the embodiment shown in fig. 1, the mobile station is capable of acquiring satellite observations corresponding to each of the different satellites in the cluster of satellites and reference observations corresponding to each of the different satellites. The specific process of acquiring the observed data is similar to the corresponding steps in the foregoing embodiment, and reference may be made to the related description in the embodiment shown in fig. 1, which is not repeated herein.
And as with the embodiments described above, the satellite observations acquired by the mobile station may include pseudorange observations and/or carrier observations. Meanwhile, the reference observation data acquired by the mobile station can be specifically divided into first reference observation data, second reference observation data and third reference observation data according to different data meanings. The first reference observations may include, among other things, pseudorange data and/or carrier observations between a reference station and satellites in a satellite positioning system. The second reference observations may include the geometric distances between the rover and each of the satellites. The third reference observation may include a geometric distance between the reference station and each satellite.
S202, removing transmission delay errors generated by electromagnetic signal transmission in the satellite observation data to obtain first satellite observation data, wherein the electromagnetic signals bear the satellite observation data.
In practice, satellite observation data corresponding to each satellite may be carried in an electromagnetic signal transmitted by the satellite, and after the electromagnetic signal is transmitted in an ionosphere and a troposphere, a transmission delay error may be generated in the satellite observation data carried in the electromagnetic signal. And because the satellite observation data corresponding to different satellites respectively contain the error, the transmission delay error contained in the satellite observation data corresponding to each satellite can be optionally removed directly by means of data subtraction without specifically calculating the value of the error.
In addition, in the process of executing step 202 to step 205 described below, the satellite observation data and the first reference observation data need to be pseudo range observation data corresponding to the target satellite or carrier observation data corresponding to the target satellite at the same time. The target satellite is at least one satellite in the non-reference satellites in the satellite cluster. The reference satellite may be the most accurate clock satellite in the constellation of satellites. Based on the above description, when the satellite observation data acquired by the mobile station and the first reference observation data acquired by the reference station are both carrier observation data corresponding to the target satellite, optionally, a manner of removing a transmission delay error included in the satellite observation data corresponding to the target satellite may be understood by combining the following formula:
satellite observation data L acquired by mobile station and corresponding to target satelliterover，sat1Can be expressed as:
Lrover，sat1＝ρrover，sat1+c*(δtrover-δtsat1)-I+T+λNrover (1)
where ρ isrover，sat1Is the geometric distance between the mobile station and the target satellite, c is the speed of light, delta is a predetermined coefficient, troverIs the clock offset of the mobile station, tsat1For the clock bias of the target satellite, I is the transmission delay error of the electromagnetic signal through the ionosphere, T is the transmission delay error of the electromagnetic signal through the troposphere, λ is the wavelength, NroverIs the integer ambiguity value of the mobile station.
First reference observation data L acquired by a reference station and corresponding to a target satellitebase，sat1Can be expressed as:
Lbase，sat1＝ρbase，sat1+c*(δtbase-δtsat1)-I+T+λNbase (2)
where ρ isbase，sat1Geometric distance, t, between reference station and target satellite acquired for reference stationbaseFor the clock offset of the reference station, the rest of the parameter meanings can be referred to above.
Based on the satellite observation data and the reference observation data represented by the two formulas, the transmission delay error in the satellite observation data can be removed in a subtraction mode of the two formulas. First satellite observation data L corresponding to target satellite obtained by subtraction of two formulasrover，sat1' may be expressed as:
Lrover，sat1’＝ρrover，sat1-ρbase，sat1+c(*δtrover-δtbase)+λ(Nrover,sat1-Nbase,sat1) (3)
for satellite observation data corresponding to different satellites in the satellite cluster, transmission delay errors contained in the satellite observation data can be removed according to the methods shown in the formulas (1) to (3), so that first satellite observation data corresponding to different satellites are obtained.
S203, clock deviation errors generated by the clock deviation of the mobile station in the first observation data are removed to obtain second satellite observation data.
Then, based on the first satellite observation data corresponding to the target satellite obtained in step 202, optionally, a clock bias error included in the first satellite observation data corresponding to the target satellite may be removed by using satellite observation data corresponding to a reference satellite in the satellite cluster. By means of the accurate clock of the reference satellite, clock deviation errors in the first satellite observation data corresponding to the target satellite can be removed according to the first satellite observation data corresponding to the reference satellite and the target satellite respectively, so that second satellite observation data corresponding to the target satellite can be obtained.
Optionally, in order to ensure the accuracy of removing the clock bias error, a transmission delay error included in the first reference observation data corresponding to the reference satellite may be removed to obtain first satellite observation data corresponding to the reference satellite, and then a difference between the first satellite observation data corresponding to the target satellite and the first satellite observation data corresponding to the reference satellite is determined as second satellite observation data corresponding to the target satellite. The specific manner of removing the clock skew error can be understood in conjunction with the following equation:
Lrover，sat1”＝Lrover，sat1’-Lrover，sat2’＝ρrover，sat1-ρbase，sat1-ρrover，sat2+ρbase，sat2+λNddres (4)
wherein L isrover，sat1"second satellite observation data corresponding to target satellite, Lrover，sat1' first satellite observation data corresponding to target satellite, Lrover，sat2' is a first satellite observation corresponding to a reference satellite,
Lrover，sat2’＝ρrover，sat2-ρbase，sat2+c(*δtrover-δtbase)+λ(Nrover,sat2-Nbase,sat2)，ρrover，sat1is the geometric distance, p, between the mobile station and the target satellitebase，sat1Geometric distance, rho, between reference station and target satellite acquired for the reference stationrover，sat2Is the geometric distance, p, between the mobile station and the reference satellitebase，sat2Reference station and reference satellite for reference station acquisitionGeometric distance between, Nddres＝(Nrover,sat1-Nbase,sat1)-(Nrover,sat2-Nbase,sat2)。
According to the above manner, clock bias errors in the first satellite observation data corresponding to each satellite in the non-reference satellites in the satellite cluster can be practically removed, so as to obtain second satellite observation data corresponding to each non-reference satellite.
And S204, determining the error of the satellite observation data according to the second satellite observation data and the reference observation data.
After step 203, the second satellite observation data corresponding to the target satellite still contains residual errors. And compared with the transmission delay error and the clock bias error, the residual error can be regarded as an error true value of the target satellite and is used for reflecting the data accuracy of the satellite observation data acquired by the target satellite.
Alternatively, the residual error may be determined jointly from the second reference observation and the third observation included in the reference observation. The specific process can be understood in conjunction with the following formula:
errrover,sat1＝Lrover，sat1”-(ρhigh，sat1-ρbase，sat1-ρhigh，sat2+ρbase，sat2) (5)
wherein, errrover,sat1Residual error, rho, for the second satellite observation corresponding to the target satellitehigh，sat1Geometric distance, rho, between mobile station and target satellite acquired for measurement equipmenthigh，sat2For the geometrical distance between the rover and the reference satellite acquired by the measuring device, the remaining parameter meanings can be referred to above. Wherein the measuring device may be a high-precision positioning device in the embodiment shown in fig. 1, which may have a centimeter-level positioning accuracy, which is higher than the positioning accuracy of the mobile station.
Alternatively, in practice, if the error of the satellite observation data corresponding to the target satellite is greater than the preset threshold, the target satellite is marked, and the satellite observation data corresponding to the target satellite is not used for the calculation of the positioning accuracy.
And S205, determining the data precision of the satellite observation data according to the error of the satellite observation data.
The data accuracy D of the satellite observation data of the target satellite can be determined according to the error obtained in step 204ddresThe number of bits in the received signal, optionally,
and S206, taking the data accuracy of the satellite observation data as a parameter of an accuracy determination algorithm to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.
The execution process of step 206 is similar to the corresponding steps in the foregoing embodiments, and reference may be made to the relevant description in the embodiment shown in fig. 1, which is not repeated herein.
In this embodiment, when both the satellite observation data and the reference observation data acquired by the mobile station are embodied as carrier observation data, a manner of determining the data accuracy of the carrier observation data is provided, and based on this data accuracy, the positioning accuracy of the mobile station can be further obtained. In addition, in the process of determining the data accuracy of the carrier wave observation data, various errors caused by different reasons contained in the carrier wave observation data can be respectively determined, the reason of low positioning accuracy can be clearly understood through analysis of the various errors, and a clear direction can be provided for subsequent optimization of the positioning accuracy.
In the above embodiment, the positioning accuracy is determined by using the carrier observation data, and in practice, the positioning accuracy may also be determined by using the pseudo-range observation data, that is, the carrier observation data in the embodiment shown in fig. 2 may also be replaced by the pseudo-range observation data.
When the satellite observation data corresponding to the target satellite is pseudo-range observation data, the process of removing the transmission delay error in the data can be understood by combining the following formula:
satellite observation data P corresponding to target satellite acquired by mobile stationroverCan be expressed as:
Prover，sat1＝ρrover，sat1+c*(δtrover-δtsat1)-I+T (6)
where ρ isrover，sat1Is the geometric distance between the mobile station and the target satellite, c is the speed of light, delta is a predetermined coefficient, troverIs the clock offset of the mobile station, tsat1And I is a transmission delay error value generated when the electromagnetic signal passes through an ionosphere, and T is a transmission delay error value generated when the electromagnetic signal passes through a troposphere.
First reference observation data P corresponding to target satellite acquired by reference stationbaseSat1 may be expressed as:
Pbase，sat1＝ρbase，sat1+c*(δtbase-δtsat1)-I+T (7)
where ρ isbase，sat1Geometric distance, t, between reference station and target satellite acquired for the reference stationbaseFor the clock offset of the reference station, the rest of the parameter meanings can be referred to above.
The two subtraction methods can remove the transmission delay error in the satellite observation data corresponding to the target satellite to obtain the first satellite observation data P corresponding to the target satelliterover，sat1’：
Prover，sat1’＝ρrover，sat1-ρbase，sat1+c*(δtrover-δtbase) (8)
And further removing the clock deviation error in the data based on the first satellite observation data corresponding to the target satellite so as to obtain the first satellite observation data corresponding to the target satellite. The specific removal process can be understood in conjunction with the following formula:
Prover，sat1”＝Prover，sat1’-Prover，sat2’＝ρrover，sat1-ρbase，sat1-ρrover，sat2+ρbase，sat2(9)
wherein, Prover，sat1"second satellite observation data corresponding to target satellite, Prover，sat1' first satellite observation data, P, corresponding to a target satelliterover，sat2' is the first satellite observation corresponding to the reference satellite. Prover，sat2’＝ρrover，sat2-ρbase，sat2+c(*δtrover-δtbase)，ρrover，sat1Is the geometric distance, p, between the mobile station and the target satellitebase，sat1Geometric distance, rho, between reference station and target satellite acquired for the reference stationrover，sat2Is the geometric distance, p, between the mobile station and the reference satellitebase，sat2The geometric distance between the reference station and the reference satellite acquired for the reference station,
after the error is removed, the pseudo-range observation data also comprises a residual error errrover,sat1Then this residual error can be calculated as follows:
errrover,sat1＝Prover，sat1”-(ρhigh，sat1-ρbase，sat1-ρhigh，sat2+ρbase，sat2) (10)
where ρ ishigh，sat1Geometric distance, rho, between mobile station and target satellite acquired for measurement equipmenthigh，sat2The geometric distance between the rover station and the reference satellite acquired for the measuring device.
Finally, optionally, the data accuracy D of the satellite observations of the target satellitep-rangeCan be expressed as:
in addition, for the process of determining the data accuracy of the pseudo-range observation data, the related description of the embodiment shown in fig. 2 may be referred to for the parts not described in detail.
Similar to the embodiment shown in fig. 2, in this embodiment, when both the satellite observations acquired by the mobile station and the reference observations are embodied as pseudorange observations, a way is provided to determine the data accuracy of the pseudorange observations, and based on this data accuracy, the positioning accuracy of the mobile station can be further derived. In the process of determining the data accuracy of the pseudo-range observation data, various errors caused by different reasons contained in the pseudo-range observation data can be respectively determined, the reason of low positioning accuracy can be clearly known through analysis of the various errors, and a clear direction can be provided for subsequent optimization of the positioning accuracy.
In practice, when the satellite observation data collected by the mobile station and the reference station is embodied as pseudo-range observation data, the data accuracy of the pseudo-range observation data may be determined in combination with the manners described in the above equations (6) to (10), and at the same time, the data accuracy of the ephemeris data may be further determined, and the positioning accuracy of the mobile station may be determined according to the respective data accuracies of the pseudo-range observation data and the ephemeris data.
Fig. 3 is a flowchart of another method for determining positioning accuracy according to the embodiment of the present application. As shown in fig. 3, the method may include the steps of:
s301, satellite observation data and reference observation data received by the mobile station are obtained.
S302, removing transmission delay errors generated by electromagnetic signal transmission in the satellite observation data to obtain first satellite observation data, wherein the electromagnetic signals bear the satellite observation data.
S303, clock deviation errors generated by clock deviation of the mobile station in the first observation data are removed to obtain second satellite observation data.
And S304, determining the error of the satellite observation data according to the second satellite observation data and the reference observation data.
The execution process of steps 301 to 304 is similar to the corresponding steps of the foregoing embodiment, and reference may be made to expressions (6) to (10) and the related description in the embodiment shown in fig. 2, which are not repeated herein.
S305, determining the data accuracy of the ephemeris data according to the ephemeris data and the reference observation data.
Optionally, the predicted observation data may be calculated according to ephemeris data corresponding to the target satellite, and then a difference between the reference observation data acquired by the reference station and the predicted observation data is determined as an error of the ephemeris data. This error can likewise be positive or negative. Finally, the error of the ephemeris data can be processed to obtain the data precision of the ephemeris data, so that the non-negativity of the data precision is ensured. The ephemeris data includes broadcast ephemeris data and ephemeris data.
When the ephemeris data is broadcast ephemeris data, the predicted observation data P may be calculated by using the following formulabase-c：
Pbase-c＝ρrover，brcm+c*(δtbase,brdm-δtsat,brdm)+Ibrdm+Tbrdm (11)
Wherein, Pbase-cMeans pseudorange data between the mobile station and the target satellite obtained from the broadcast ephemeris data, which is a calculated value, ρrover，brcmFor the geometric distance between the mobile station and the target satellite from the broadcast ephemeris data, c is the speed of light, δ is a predetermined coefficient, tbase,brdmFor the clock bias of the mobile station derived from the broadcast ephemeris data, tsat,brdmFor the clock bias of the target satellite from the broadcast ephemeris data, IbrdmPropagation delay errors, T, generated for electromagnetic signals obtained from broadcast ephemeris data to pass through the ionospherebrdmA propagation delay error value generated for electromagnetic signals derived from the broadcast ephemeris data to pass through the troposphere.
The error of the broadcast ephemeris data corresponding to the target satellite may be expressed as: err (r)brdm,sat1＝Pbase-c-Pbase,sat1. Wherein, Pbase,sat1Pseudo-range data between the reference station and the target satellite is acquired for the reference station.
Optionally, the error err of the broadcast ephemeris data corresponding to the target satellite may be obtainedbrdm,sat1Directly determines the data accuracy D of the broadcast ephemeris data corresponding to the target satellitebrdm,sat1I.e. by
Similarly, when the ephemeris data is a ephemeris dataAccordingly, the predicted observed data P can be calculated using the following formulabase-c：
Pbase-c＝ρrover，prec+c*(δtbase,prec-δtsat,prec)+Iprec+Tprec (12)
Wherein, Pbase-cMeans pseudorange data between the mobile station and the target satellite obtained from the ephemeris data, which is a calculated value, ρrover，precFor the geometric distance between the mobile station and the target satellite obtained from the ephemeris data, c is the speed of light, δ is a predetermined coefficient, tbase,precFor the clock bias of the mobile station, t, derived from the ephemeris datasat，precFor the clock bias of the target satellite from the ephemeris data, IprecPropagation delay error, T, generated by the passing of an electromagnetic signal through the ionosphere, derived from ephemeris dataprecAnd generating a transmission delay error value for the electromagnetic signal obtained according to the precise ephemeris data after passing through the troposphere.
The error of the ephemeris data corresponding to the target satellite can be expressed as: err (r)prec,sat1＝Pbase-c-Pbase,sat1. Wherein, Pbase,sat1Pseudo-range data between the reference station and the target satellite is acquired for the reference station.
Optionally, the error err of the ephemeris data corresponding to the target satellite may be obtainedprec,sat1Directly determining the square value of the target satellite as the data precision D of the precise ephemeris data corresponding to the target satelliteprec,sat1I.e. by
S306, the data accuracy of the satellite observation data and the ephemeris data is used as a parameter of an accuracy determination algorithm, so that the positioning accuracy of the mobile station is determined according to the accuracy determination algorithm.
In the steps above, the data accuracy of the satellite observation data (i.e. pseudo-range observation data) corresponding to the target satellite acquired by the mobile station and the data accuracy of the ephemeris data are obtained, and the two data are used as parameters of the accuracy determination algorithm, so as to calculate the positioning accuracy of the mobile station by the accuracy determination algorithm. Alternatively, the accuracy determination algorithm may include a pseudorange kalman filter algorithm or a least squares algorithm.
Then optionally, for data accuracy of satellite observations and data accuracy of broadcast ephemeris data, a pseudorange kalman filtering algorithm may be used to derive a position fix accuracy D for the mobile stationpos，brdm：
The specific meanings of the parameters in the above formula can be referred to the description in the embodiment shown in fig. 1, and are not described herein again.
Similarly, optionally, the pseudorange Kalman filtering algorithm may be used to obtain the position fix accuracy D of the mobile station for the data accuracy of the satellite observations and the data accuracy of the ephemeris datapos，prec：
Alternatively to the above, the accuracy of the position fix of the mobile station may be determined by means of a least squares algorithm.
Optionally, the respective data accuracy of the broadcast ephemeris data and the satellite observation data may be used as a parameter of a least square algorithm, so as to obtain the positioning accuracy of the mobile station by using the least square algorithm, which may be specifically referred to as the following formula:
Dpos，brdm＝(HTPH)-1HTP(Dp-range+Dbrdm)PH(HTPH)-1 (15)
where H is the design matrix and P is the weight matrix.
Optionally, the respective data accuracies of the ephemeris data and the satellite observation data may also be used as parameters of a least square algorithm, so as to obtain the positioning accuracy of the mobile station by using the least square algorithm, which may be specifically referred to as the following formula:
Dpos，prec＝(HTPH)-1HTP(Dp-range+Dprec)PH(HTPH)-1 (16)
in this embodiment, a method for determining data accuracy of broadcast ephemeris data and ephemeris data is provided. On the basis of the data accuracy of the broadcast ephemeris data and the satellite observation data, the positioning accuracy of the mobile station can be directly determined by means of the data accuracy of the broadcast ephemeris data and the satellite observation data. The technical effects achieved by the present embodiment can also be referred to the related descriptions in the above embodiments, and are not described herein again.
In summary, the method provided by each of the above embodiments can directly determine the positioning accuracy by directly using the data in the observation domain. In the embodiments described above, various errors included in the satellite observation data can be eliminated or directly calculated, and the positioning accuracy of the mobile station can be further calculated based on the data accuracy of the satellite observation data, thereby improving the accuracy of the positioning accuracy. Meanwhile, various errors caused by different reasons contained in the satellite observation data can be obtained respectively, so that the reason of low positioning accuracy can be clearly known through analysis of the various errors, and a clear direction can be provided for subsequent optimization of the positioning accuracy.
On the basis of the above positioning accuracy determination methods, fig. 4 is a flowchart of a positioning method provided in the embodiment of the present application. As shown in fig. 4, the method may include the steps of:
s401, acquiring an initial positioning position based on a carrier phase differential technology.
S402, correcting the initial positioning position based on the positioning precision to obtain a target positioning position, wherein the precision of the target positioning position is higher than that of the initial positioning position.
The reference station collects reference observation data and sends the reference observation data to the mobile station, and the mobile station realizes positioning according to the reference observation data sent by the reference station and the satellite observation data collected by the mobile station so as to obtain an initial positioning position. The satellite observation data may be pseudo-range data or carrier observation data, among others.
Then, the mobile station may also determine the positioning accuracy of the mobile station according to the method provided in the embodiments shown in fig. 1 to fig. 3, and use the positioning accuracy to correct the initial positioning position, for example, perform a summation calculation on the positioning accuracy and the initial positioning position to obtain a target positioning position, thereby implementing positioning. And the accuracy of the target location position is high compared to the initial location position.
In practice, the mobile station mentioned in the foregoing embodiments may specifically be a vehicle, and then the positioning method may further include the following steps:
and S403, displaying function prompt information related to the positioning precision of the initial positioning position based on the positioning precision.
In the process of positioning the vehicle, function prompt information related to the positioning accuracy can be displayed, and the function prompt information is used for reflecting that the positioning accuracy meets or does not meet the conditions of driving assistance or starting of an automatic driving function. The user can know the current positioning state according to the function prompt information.
Meanwhile, for the display timing of the function prompt message, optionally, the function prompt message may be displayed before the user starts the automatic driving mode or the auxiliary driving mode provided by the vehicle, so as to remind the user whether to select to start the automatic driving mode or the auxiliary driving mode. Optionally, the function prompt message may also be presented after the user selects to start the automatic driving mode or the assistant driving mode, so as to inform the user whether the automatic driving mode or the assistant driving mode can be started.
In this embodiment, the accurate positioning accuracy can be obtained by using the positioning accuracy determining method provided in each embodiment, so as to further ensure the accuracy of the initial positioning position correction, thereby obtaining an accurate positioning result. With the aid of the common reminder information, it is also possible for the user to know whether an automatic driving mode or an auxiliary driving mode of the vehicle is currently required or has been successfully started.
In addition, the positioning accuracy determination apparatus of one or more embodiments of the present application will be described in detail below. Those skilled in the art will appreciate that these positioning accuracy determining means can be constructed by configuring the steps taught in the present embodiment using commercially available hardware components.
Fig. 5 is a schematic structural diagram of a positioning accuracy determining apparatus according to an embodiment of the present application, and as shown in fig. 5, the apparatus includes:
and an obtaining module 11, configured to obtain satellite observation data collected by the mobile station and reference observation data collected by the reference station.
An error determination module 12, configured to determine an error of the satellite observation data according to the satellite observation data and the reference observation data.
And the observation data precision determining module 13 is configured to determine the data precision of the satellite observation data according to the error of the satellite observation data.
A positioning accuracy determining module 14, configured to use the data accuracy of the satellite observation data as a parameter of an accuracy determining algorithm, so as to determine the positioning accuracy of the mobile station according to the accuracy determining algorithm.
Optionally, the error determination module 12 includes:
a first removing unit 121, configured to remove a transmission delay error generated due to transmission of an electromagnetic signal from the satellite observation data to obtain first satellite observation data, where the electromagnetic signal carries the satellite observation data.
A second removing unit 122, configured to remove a clock bias error in the first observation data, which is generated due to a clock bias of the mobile station, so as to obtain a second satellite observation data.
A determining unit 123 for determining an error of the satellite observations based on the second satellite observations and the reference observations.
Optionally, the reference observation data comprises first reference observation data acquired by the reference station.
The first removing unit 121 is configured to subtract the satellite observation data corresponding to the target satellite from the first reference observation data to obtain first satellite observation data corresponding to the target satellite, where the target satellite is at least one satellite in non-reference satellites in the satellite positioning system.
Optionally, the second removing unit 122 is configured to determine first satellite observation data corresponding to a reference satellite, where the reference satellite is a satellite with the highest clock accuracy in the satellite positioning system; and subtracting the first satellite observation data corresponding to the target satellite and the reference satellite respectively to obtain second satellite observation data corresponding to the target satellite.
Optionally, the reference observation data further includes second reference observation data acquired by a measurement device and third reference observation data acquired by the reference station.
The determining unit 123 is configured to determine an error of the satellite observation data corresponding to the target satellite according to the second satellite observation data corresponding to the target satellite, the second reference observation data corresponding to each of the target satellite and the reference satellite, and the third reference observation data.
Wherein the satellite observations and the first reference observations comprise pseudorange observations and/or carrier observations, wherein the satellite observations and the first reference observations are of the same kind of data; the second reference observations comprise geometrical distances between the rover stations and the target satellite and the reference satellite, respectively, and the third reference observations comprise geometrical distances between the reference station and the target satellite and the reference satellite, respectively.
Optionally, the ephemeris data accuracy determining module 15 is configured to determine the data accuracy of the ephemeris data according to the ephemeris data and the reference observation data.
The positioning accuracy determining module 14 is configured to use the respective data accuracies of the satellite observation data and the ephemeris data as parameters of the accuracy determining algorithm, so as to determine the positioning accuracy of the mobile station according to the accuracy determining algorithm.
Optionally, the ephemeris data accuracy determining module 15 is specifically configured to: determining predicted observation data according to the ephemeris data; determining a difference between the predicted observation data and the reference observation data as an error of the ephemeris data; and determining the data accuracy of the ephemeris data according to the error of the ephemeris data.
The apparatus shown in fig. 5 can perform the method of the embodiment shown in fig. 1 to 3, and reference may be made to the related description of the embodiment shown in fig. 1 to 3 for a part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.
Having described the internal functions and structure of the positioning accuracy determining apparatus, in one possible design, the structure of the positioning accuracy determining apparatus may be implemented as an electronic device, as shown in fig. 6, which may include: a processor 21 and a memory 22. Wherein the memory 22 is configured to store a program for supporting the electronic device to execute the positioning accuracy determining method provided in the embodiment shown in fig. 1 to fig. 3, and the processor 21 is configured to execute the program stored in the memory 22.
The program comprises one or more computer instructions which, when executed by the processor 21, are capable of performing the steps of:
acquiring satellite observation data acquired by a mobile station and reference observation data acquired by a reference station;
determining an error of the satellite observation data according to the satellite observation data and the reference observation data;
determining the data precision of the satellite observation data according to the error of the satellite observation data;
and taking the data accuracy of the satellite observation data as a parameter of an accuracy determination algorithm so as to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.
Optionally, the processor 21 is further configured to perform all or part of the steps in the foregoing embodiments shown in fig. 1 to 3.
The electronic device may further include a communication interface 23 for communicating with other devices or a communication network.
In addition, an embodiment of the present application provides a computer storage medium for storing computer software instructions for the electronic device, which includes a program for executing the positioning accuracy determining method in the method embodiments shown in fig. 1 to 3.
Fig. 7 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present application, and as shown in fig. 7, the apparatus includes:
the obtaining module 31 is configured to obtain an initial positioning position based on a carrier phase differential technique.
And the correcting module 32 is configured to correct the initial positioning position based on the positioning accuracy to obtain a target positioning position, where the accuracy of the target positioning position is higher than that of the initial positioning position.
Or,
a display module 33, configured to display, based on the positioning accuracy, a function information prompt related to the positioning accuracy of the initial positioning position; the positioning accuracy is determined based on the positioning accuracy determination method provided by the embodiments shown in fig. 1 to fig. 3.
The apparatus shown in fig. 7 can perform the method of the embodiment shown in fig. 4, and reference may be made to the related description of the embodiment shown in fig. 4 for a part of this embodiment that is not described in detail. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.
The internal functions and structure of the positioning apparatus are described above, and in one possible design, the structure of the positioning accuracy determining apparatus may be implemented as an electronic device, as shown in fig. 8, which may include: a processor 41 and a memory 42. Wherein the memory 42 is used for storing a program for supporting the electronic device to execute the positioning accuracy determination method provided in the embodiment shown in fig. 4, and the processor 41 is configured to execute the program stored in the memory 42.
The program comprises one or more computer instructions which, when executed by the processor 41, are capable of performing the steps of:
acquiring an initial positioning position based on a carrier phase differential technology;
correcting the initial positioning position based on positioning accuracy to obtain a target positioning position, wherein the accuracy of the target positioning position is higher than that of the initial positioning position;
or,
displaying a functional information prompt related to the positioning accuracy of the initial positioning position based on the positioning accuracy;
the positioning accuracy is determined based on the positioning accuracy determination method provided by the embodiments shown in fig. 1 to 3.
Optionally, the processor 41 is further configured to perform all or part of the steps in the embodiment shown in fig. 4.
The electronic device may further include a communication interface 43 for communicating with other devices or a communication network.
In addition, the present application provides a computer storage medium for storing computer software instructions for the electronic device, which includes a program for executing the positioning method in the method embodiment shown in fig. 4.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method for determining positioning accuracy comprises the following steps:
acquiring satellite observation data acquired by a mobile station and reference observation data acquired by a reference station;
determining an error of the satellite observation data according to the satellite observation data and the reference observation data;
determining the data precision of the satellite observation data according to the error of the satellite observation data;
and taking the data accuracy of the satellite observation data as a parameter of an accuracy determination algorithm so as to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.
2. The method of claim 1, wherein said determining an error for the satellite observations from the satellite observations and the reference observations comprises:
removing a transmission delay error generated by electromagnetic signal transmission in the satellite observation data to obtain first satellite observation data, wherein the electromagnetic signal bears the satellite observation data;
removing a clock bias error in the first observation data, which is generated due to the clock bias of the mobile station, to obtain second satellite observation data;
and determining the error of the satellite observation data according to the second satellite observation data and the reference observation data.
3. The method of claim 2, wherein the reference observation data comprises first reference observation data acquired by the reference station;
the removing transmission delay errors generated by electromagnetic signal transmission in the satellite observation data to obtain first satellite observation data comprises:
and subtracting the satellite observation data corresponding to the target satellite from the first reference observation data to obtain first satellite observation data corresponding to the target satellite, wherein the target satellite is at least one satellite in non-reference satellites in a satellite positioning system.
4. The method of claim 3, wherein said removing clock bias errors in said first observations due to clock bias of said mobile station to obtain second satellite observations comprises:
determining first satellite observation data corresponding to a reference satellite, wherein the reference satellite is a satellite with the highest clock accuracy in the satellite positioning system;
and subtracting the first satellite observation data corresponding to the target satellite and the reference satellite respectively to obtain second satellite observation data corresponding to the target satellite.
5. The method of claim 4, wherein the reference observation data further comprises second reference observation data acquired by a measurement device and third reference observation data acquired by the reference station;
the determining an error of the satellite observations from the second satellite observations and the reference observations comprises:
and determining the error of the satellite observation data corresponding to the target satellite according to the second satellite observation data corresponding to the target satellite, the second reference observation data corresponding to the target satellite and the reference satellite respectively and the third reference observation data.
6. The method of claim 5, wherein the satellite observations and the first reference observations comprise pseudo-range observations and/or carrier observations, the satellite observations and the first reference observations being of the same kind of data;
the second reference observation comprises a geometric distance between the rover station and the target satellite and the reference satellite, respectively;
the third reference observation includes a geometric distance between the reference station and the target satellite and the reference satellite, respectively.
7. The method of claim 2, wherein the method further comprises:
determining the data accuracy of the ephemeris data according to the ephemeris data and the reference observation data;
the determining the positioning accuracy of the mobile station according to the data accuracy of the satellite observation data comprises:
and taking the data accuracy of the satellite observation data and the ephemeris data as the parameters of the accuracy determination algorithm so as to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.
8. The method of claim 7, wherein the determining the data accuracy of the ephemeris data from the ephemeris data and the reference observation data comprises:
determining predicted observation data according to the ephemeris data;
determining a difference between the predicted observation data and the reference observation data as an error of the ephemeris data;
and determining the data accuracy of the ephemeris data according to the error of the ephemeris data.
9. A positioning accuracy determination apparatus, comprising:
the acquisition module is used for acquiring satellite observation data acquired by the mobile station and reference observation data acquired by the reference station;
an error determination module, configured to determine an error of the satellite observation data according to the satellite observation data and the reference observation data;
the observation data precision determining module is used for determining the data precision of the satellite observation data according to the error of the satellite observation data;
and the positioning precision determining module is used for taking the data precision of the satellite observation data as a parameter of the precision determining algorithm so as to determine the positioning precision of the mobile station according to the precision determining algorithm.
10. A method of positioning, comprising:
acquiring an initial positioning position based on a carrier phase differential technology;
correcting the initial positioning position based on positioning accuracy to obtain a target positioning position, wherein the accuracy of the target positioning position is higher than that of the initial positioning position;
or,
displaying a functional information prompt related to the positioning accuracy of the initial positioning position based on the positioning accuracy;
the positioning accuracy is determined based on the positioning accuracy determination method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108146.2A CN114488229A (en) | 2022-01-28 | 2022-01-28 | Positioning accuracy determination method, positioning device, positioning equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108146.2A CN114488229A (en) | 2022-01-28 | 2022-01-28 | Positioning accuracy determination method, positioning device, positioning equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114488229A true CN114488229A (en) | 2022-05-13 |
Family
ID=81476507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210108146.2A Pending CN114488229A (en) | 2022-01-28 | 2022-01-28 | Positioning accuracy determination method, positioning device, positioning equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114488229A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117270004A (en) * | 2023-11-22 | 2023-12-22 | 中交路桥科技有限公司 | Engineering mapping method, equipment, system and medium based on satellite positioning |
-
2022
- 2022-01-28 CN CN202210108146.2A patent/CN114488229A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117270004A (en) * | 2023-11-22 | 2023-12-22 | 中交路桥科技有限公司 | Engineering mapping method, equipment, system and medium based on satellite positioning |
| CN117270004B (en) * | 2023-11-22 | 2024-01-26 | 中交路桥科技有限公司 | Engineering mapping method, equipment, system and medium based on satellite positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110058287B (en) | Low-orbit satellite orbit determination method, device and system | |
| CN114174850A (en) | System and method for high integrity satellite positioning | |
| CN109313272B (en) | Improved GNSS receiver using velocity integration | |
| CN101395443B (en) | Hybrid positioning method and device | |
| CN109085619B (en) | Positioning method and device of multimode GNSS system, storage medium and receiver | |
| CN112327340B (en) | Terminal positioning accuracy evaluation method, device, equipment and medium | |
| JP6593879B2 (en) | Satellite positioning system, positioning terminal, positioning method, and program | |
| US11733397B2 (en) | System and method for computing positioning protection levels | |
| CN114488230B (en) | Doppler positioning method and device, electronic equipment and storage medium | |
| JP2006258461A (en) | Positioning device, positioning method and positioning program | |
| CN113050142A (en) | Positioning method and device of terminal equipment, electronic equipment and readable storage medium | |
| CN110926498B (en) | Vehicle mileage compensation method and device and computer equipment | |
| CN115079225A (en) | Navigation positioning method and device of marine receiver | |
| CN114488229A (en) | Positioning accuracy determination method, positioning device, positioning equipment and storage medium | |
| CN113917509B (en) | Double-difference ambiguity fixing method, device and readable storage medium | |
| JP2022097435A (en) | Time-free position determination of roving receiver using reference receiver | |
| JP2023548513A (en) | Method for evaluating at least one GNSS satellite signal by ambiguity resolution | |
| JP3571305B2 (en) | GPS receiver that outputs 2DRMS considering Kalman filter error estimate | |
| CN114296108A (en) | Method and device for evaluating real-time satellite clock error product and electronic equipment | |
| CN111610543A (en) | Low-power-consumption processing method and device, positioning system and storage medium | |
| FR3106665A1 (en) | Method and device for locating a vehicle | |
| CN116413756B (en) | Method, device and storage medium for improving positioning accuracy of target mobile terminal | |
| US20240159910A1 (en) | Method and Apparatus for Localizing Road Users | |
| US20230154043A1 (en) | Vehicle position information acquisition device, vehicle position information acquisition system, and vehicle position information acquisition method | |
| CN115877414B (en) | Fixed solution coordinate checking method and device, storage medium and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |