CN114966776A - Positioning method, positioning device, electronic equipment and computer storage medium - Google Patents
Positioning method, positioning device, electronic equipment and computer storage medium Download PDFInfo
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- CN114966776A CN114966776A CN202110221079.0A CN202110221079A CN114966776A CN 114966776 A CN114966776 A CN 114966776A CN 202110221079 A CN202110221079 A CN 202110221079A CN 114966776 A CN114966776 A CN 114966776A
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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
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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
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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Abstract
The embodiment of the invention provides a positioning method, a positioning device, electronic equipment and a computer storage medium. The positioning method comprises the following steps: determining the height of a target object at a k time according to estimated position information of the target object at the k time and satellite position information of two positioning satellites of which the target object receives satellite signals at the k time; determining a pseudo-range residual error of the target road point and each positioning satellite and a difference value between the pseudo-range residual errors according to the longitude and the latitude of the target road point on the path of the target object, the altitude and the satellite position information of the two positioning satellites; and determining the longitude and the latitude of the target road point with the minimum difference as the positioning result of the target object at the kth moment. The positioning method can carry out accurate positioning under the condition of poor signals.
Description
Technical Field
The embodiment of the invention relates to the technical field of geographic information, in particular to a positioning method, a positioning device, electronic equipment and a computer storage medium.
Background
With the improvement of hardware capabilities of smart phones and vehicle-mounted terminals, more and more application software installed on these devices begin to provide corresponding services for users by means of positioning technology. In a conventional map navigation application, for example, a positioning technology is used to obtain a position of a navigated device, so as to provide a navigation guidance service for the device, and a weather application is also used to provide a weather condition of a current location of a user for the user.
In the prior art, a device usually adopts a satellite positioning technology for positioning, for example, the device determines the position of the device according to a received GPS satellite signal, and this method needs to receive at least 4 GPS signals of satellites to determine the position of the device, but if the device is located in an environment with poor satellite signals, the problem that the position of the device cannot be positioned often occurs.
Disclosure of Invention
Embodiments of the present invention provide a positioning solution to at least partially solve the above problems.
According to a first aspect of the embodiments of the present invention, there is provided a positioning method, including: determining the height of a target object at the kth moment according to estimated position information of the target object at the kth moment and satellite position information of two positioning satellites of the target object receiving satellite signals at the kth moment; determining a pseudo-range residual error of a target road point and each positioning satellite and a difference value between the pseudo-range residual errors according to the longitude and the latitude of the target road point on the path of the target object, the altitude and the satellite position information of the two positioning satellites; and determining the longitude and latitude of the target road point with the minimum difference value as a positioning result of the target object at the kth moment. .
According to a second aspect of embodiments of the present invention, there is provided a positioning apparatus including: the first determining module is used for determining the height of a target object at a k-th moment according to estimated position information of the target object at the k-th moment and satellite position information of two positioning satellites of satellite signals received by the target object at the k-th moment; the second determination module is used for determining a pseudo-range residual error of a target road point and each positioning satellite and a difference value between the pseudo-range residual errors according to the longitude and the latitude of the target road point on the path where the target object is located, the altitude and the satellite position information of the two positioning satellites; and the third determining module is used for determining the longitude and the latitude of the target road point with the minimum difference value as the positioning result of the target object at the kth moment.
According to a third aspect of embodiments of the present invention, there is provided an electronic apparatus, including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the positioning method according to the first aspect.
According to a fourth aspect of embodiments of the present invention, there is provided a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the positioning method according to the first aspect.
According to the positioning scheme provided by the embodiment of the invention, when the target object is in an environment with poor signals and cannot receive the transmission signals of a sufficient number (such as 4 or more than 4) of satellites, the altitude of the target object can be calculated only based on the obtained satellite position information of the two positioning satellites at the k-th time and the estimated position information of the target object at the k-th time, the target road point closest to the target object is determined from a plurality of target road points of the path where the target object is located according to the altitude and the satellite position information of the two positioning satellites, and the longitude and the latitude of the target road point are taken as the positioning result of the target object at the k-th time. Therefore, the accurate positioning of the target object is realized based on the satellite position information of the two positioning satellites and the target road point of the path where the two positioning satellites are located under the condition that the transmitting signals of enough positioning satellites cannot be received.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present invention, and it is also possible for a person skilled in the art to obtain other drawings based on the drawings.
Fig. 1A is a flowchart illustrating a positioning method according to a first embodiment of the present invention;
FIG. 1B is a schematic diagram of a planned path using a scenario;
FIG. 1C is a diagram illustrating an example of a scenario in the embodiment shown in FIG. 1A;
FIG. 2 is a flowchart illustrating a positioning method according to a second embodiment of the present invention;
fig. 3 is a flowchart illustrating steps of a positioning method according to a third embodiment of the present invention;
fig. 4 is a block diagram of a positioning apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention shall fall within the scope of the protection of the embodiments of the present invention.
The following further describes specific implementation of the embodiments of the present invention with reference to the drawings.
Example one
Referring to fig. 1A, a flowchart illustrating steps of a positioning method according to a first embodiment of the present invention is shown.
In this embodiment, the positioning method includes the following steps:
step S102: and determining the height of the target object at the kth moment according to the estimated position information of the target object at the kth moment and the satellite position information of two positioning satellites of the target object receiving satellite signals at the kth moment.
The target object may be a user's terminal device, such as a mobile phone, PAD, car or other device, which is network-enabled and which carries a GNSS receiver.
Satellite position information of the positioning satellites may be obtained from satellite signals received by the target object. Satellite position information includes, but is not limited to, satellite coordinates and satellite signal broadcast time. The satellite coordinates are coordinates of the positioning satellite in the geocentric coordinate system, and the broadcast time is the time of transmitting the satellite signal (determined by a device clock mounted on the positioning satellite).
The estimated position information of the target object includes the longitude and latitude of the target object, which may be the longitude and latitude obtained based on satellite positioning calculation or the longitude and latitude obtained based on network positioning service.
The first coordinate of the target object in the geocentric coordinate system, which is denoted as (x, y, z), can be converted into each other with the longitude, latitude and altitude of the target object, based on which the first coordinate of the target object can be expressed as an expression related to the longitude, latitude and altitude.
Based on the principle that the clock error of the target device (i.e., the clock error of the device) is fixed at a certain time, an equation can be established based on the satellite coordinates and the satellite signal propagation time of the two positioning satellites in the geocentric coordinate system in combination with the first coordinate of the target object in the geocentric coordinate system, and since the only unknown number in the equation is the height of the target object, the height of the target object can be determined by solving the equation.
Step S104: and calculating a pseudo-range residual error of each road point and each positioning satellite and a difference value between the pseudo-range residual errors according to the longitude and the latitude of the target road point on the path of the target object, the altitude and the satellite position information of the two positioning satellites.
For different application scenarios, the path of the target object can be determined in different ways. For example, in a cruise scene, the path of the target object can be matched to the corresponding path according to the positioning result at the k-1 th time.
Alternatively, the method may also be applied to a navigation scenario, in a scenario such as navigation, a target object needs to first request a corresponding navigation planned path from a navigation service, where a road in the navigation path usually includes a plurality of road points, and is represented in a manner of a road point set, for example, a planned path including 5 road points is shown in fig. 1B, and the planned path may be considered as a path where the target object is located. The attributes of each road point include at least: road point location information, including longitude and latitude of the road point.
In the case of a target object traveling along the navigation plan path, the closest road point to the target object, i.e. the road point having the smallest difference between the pseudorange residuals of the two positioning satellites, may be determined from the road points of the navigation plan path. In one possible approach, for a road point on the navigation plan path, the following procedure is performed:
step A0: determining a second coordinate of the road point in the geocentric coordinate system according to the altitude calculated in the step S102 and the longitude and the latitude of the road point;
step B0: and determining a pseudo-range residual error of the road point and each positioning satellite and a difference value of the two pseudo-range residual errors according to the second coordinate and the satellite position information of the two positioning satellites.
The smaller the difference, the closer the distance between the road point and the satellite is to the observed pseudo-range, that is, the closer the road point is to the true position of the target object.
The aforementioned pseudorange refers to a logical distance between the target object and the positioning satellite, that is, a time difference between a broadcast time of a satellite signal (carried in the satellite signal, the time being determined according to a clock on the satellite) and a receiving time (the target device determines the time of receiving the satellite signal with its own device clock, and the receiving time is a time corresponding to the kth time in this embodiment) multiplied by the speed of light. Since there is a possibility that the clock on the satellite and the clock on the target object have errors, the distance calculated from these errors is a pseudo distance, that is, a distance including an error.
A pseudorange residual is an error between a pseudorange (which may also be understood as a range obtained by observation) and an actual range (which is estimated from coordinates), which should be a difference value excluding an error such as a clock error of the device.
Step S106: and determining the longitude and the latitude of the target road with the minimum difference as the positioning result of the target object at the kth moment.
Based on the foregoing principle, the target road point corresponding to the smallest difference value among the plurality of difference values is the target road point closest to the target object, and the longitude and the latitude of the target road point may be used as the positioning result of the target object at the kth time.
As described above in the background art, when positioning is performed by a satellite, generally, satellite signals of at least 4 satellites are required to calculate the position of a target object, and when there is a poor satellite signal due to occlusion, the target object often fails to receive signals of 4 satellites, and at this time, the target object (e.g., a terminal) cannot be positioned by the satellites. This approach is applicable to any path with longitude and latitude of road points, and is better suited and not necessarily restricted to a particular road.
Referring to fig. 1C, a schematic diagram of a usage scenario in which a target object is located according to a combination of a satellite signal of two stars and data of a path (e.g., path data in a road network) is shown.
In the usage scenario, taking the path where the target object is located as the planned path as an example, the target object may be a mobile phone carried by the user. At time t1, the first satellite G01 transmits satellite signal 1 and at time t2 the second satellite G02 transmits satellite signal 2. At the kth moment (because the clock errors of the satellite clock and the mobile phone are different, the time line of the clock on the satellite and the time line of the clock on the mobile phone do not have a strict precedence relationship, so that the time measured by the satellite clock (such as broadcasting time) and the time measured by the mobile phone clock (such as receiving time) in the use scene are represented in different ways so as to be distinguished), the mobile phone receives the satellite signal 1 and the satellite signal 2 respectively, decodes the satellite signals respectively to obtain satellite position information, the satellite position information comprises the broadcasting time t1 of the satellite signal 1, and determines the satellite coordinate P1 (represented as (x) of the first satellite G01 at the broadcasting time t1 according to the ephemeris of the first satellite G01 (1) ，y (1) ，z (1) )). Similarly, the satellite signal 2 is processed to obtain the satellite coordinates P2 (denoted as (x) of the second satellite G02 at the broadcast time t2 (2) ，y (2) ，z (2) ))。
Determining an expression of a first coordinate of the target object at the k-th time based on the longitude and latitude in the estimated position information of the target object at the k-th time, the expression being as follows:
x＝(N+h)cos(lat)cos(lon)
y＝(N+h)cos(lat)sin(lon)
z＝[N(1-e 2 )+h]sin (lat), where x, y, z are the positions of the target object in the geocentric coordinate system, N is the radius of curvature of the earth, e is the ellipsoid eccentricity, and lat and lon are the longitude and latitude in the estimated position information, from which it can be seen that the unknowns in the expression are the altitude.
Further equations can be constructed:
wherein the content of the first and second substances,
is the pseudorange between the first satellite G01 and the target object, which is the time difference between the kth time minus the time of flight t1 multiplied by the speed of light.
In the above equation, x, y and z can be replaced by the form expressed by the height, and the rest are known parameters, so that the height of the target object at the k-th time can be determined by solving the equation.
For a plurality of target road points on the planned path corresponding to the target object, the second coordinate corresponding to each target road point may be calculated based on the altitude and the longitude and latitude of the target road point.
For the road point M, a pseudorange residual between the first satellite and the road point M may be calculated based on the pseudorange of the first satellite G01, the satellite coordinate P1, and the second coordinate of the road point M. Similarly, from the pseudorange of the second satellite G02d, the satellite coordinate P2, and the second coordinate of the road point M, a pseudorange residual of the second satellite G02 from the road point M may be computed. And then taking an absolute value of the subtraction result of the two pseudo-range residuals as the difference value of the pseudo-range residuals of the road point M.
After the difference value of the corresponding pseudo-range residual error is calculated for each road point, the road point with the minimum difference value can be selected, and the longitude and the latitude of the road point are used as the positioning result of the target object, so that the target object is positioned.
With this embodiment, when the target object is in an environment with poor signals and the transmission signals of a sufficient number of satellites (for example, 4 or more) cannot be received, the altitude of the target object can be calculated based on only the obtained satellite position information of the two positioning satellites at the k-th time and the estimated position information of the target object at the k-th time, and further, the target road point closest to the target object is determined from a plurality of target road points on the path where the target object is located based on the altitude and the satellite position information of the two positioning satellites, and the longitude and latitude of the target road point are used as the positioning result of the target object at the k-th time. Therefore, the accurate positioning of the target object is realized based on the satellite position information of the two positioning satellites and the target road point of the path where the positioning satellites are located under the condition that enough transmitting signals of the positioning satellites cannot be received.
The positioning method of the present embodiment may be performed by any suitable electronic device with data processing capabilities, including but not limited to: servers, mobile terminals (such as tablet computers, mobile phones and the like), PCs and the like.
Example two
Referring to fig. 2, a flowchart illustrating the steps of the positioning method according to the second embodiment of the present application is shown.
In this embodiment, the positioning method includes the aforementioned steps S102 to S106. Wherein, step S102 includes the following substeps:
substep S1021: and determining the estimated position information of the target object at the kth moment according to the longitude and latitude indicated by the positioning result of the target object at the kth-1 moment or the longitude and latitude indicated by the network positioning information of the target object at the kth moment.
In one possible approach, if the time difference between the k-1 th time and the k-th time is less than or equal to a preset time interval (e.g., 1 second, 10 seconds, or 30 seconds), the longitude and latitude indicated by the positioning result at the k-1 th time are used as the estimated position information at the k-th time.
In another possible way, if the time difference between the k-1 th time and the k-th time is greater than the preset time interval, the longitude and the latitude indicated by the network positioning information at the k-th time are acquired as the estimated position information of the target object at the k-th time.
The network positioning information may be location information determined by a scanned base station, WIFI, or other network device. The obtaining method of the network positioning information may be implemented by any appropriate method as needed by those skilled in the art, and the embodiment does not limit this.
Substep S1022: and determining the height of the target object at the k moment according to the longitude and the latitude in the estimated position information and the satellite position information of the two positioning satellites at the k moment.
In a possible way, sub-step S1022 includes the following procedures:
procedure a 1: and determining an expression of a first coordinate of the target object in the geocentric coordinate system according to the curvature radius of the earth, the eccentricity of the ellipsoid and the longitude and the latitude in the estimated position information.
The first coordinate of the target object in the geocentric coordinate system (denoted as (x, y, z)) and the longitude, latitude, and height of the target object are interconverted by the following expression:
x＝(N+h)cos(lat)cos(lon)
y＝(N+h)cos(lat)sin(lon)
x＝[N(1-e 2 )+h]sin(lat)
where N is the curvature radius of the earth, e is the ellipsoidal eccentricity of the earth model in the geocentric coordinate system, h is the height of the target object, lat is the latitude of the target object, and lon is the longitude of the target object.
In the case where the longitude and latitude of the target object are included in the estimated position information, only the altitude is an unknown number, that is, the expression of the first coordinate includes the altitude, which is an expression having the altitude as the root of the unknown number.
Procedure a 2: and determining the estimated distances between the two positioning satellites and the target object, which are expressed by taking the height as an unknown number, according to the expressions of the satellite coordinates in the two pieces of satellite position information and the first coordinate of the target object at the kth moment.
For the first satellite G01, the satellite coordinates P1, denoted as (x), are determined from the time of broadcast t1 and ephemeris in the satellite position information (1) ，y (1) ，z (1) ) Determining an estimated distance D1 between the first satellite G01 and the target object according to a distance calculation formula, wherein:
similarly, for the second satellite G02, from the time of flight t2 and the ephemeris in the satellite position information, the satellite coordinates P2 are determined, denoted as (x) (2) ，y (2) ，z (2) ) Based on the distance calculation formula, an estimated distance D2 between the second satellite G02 and the target object is determined, as:
procedure a 3: and respectively determining the pseudo ranges of the two positioning satellites and the target object according to the broadcasting time, the kth time and the luminosity of the signals in the two satellite position information.
For the first satellite G01, a time difference is determined according to the broadcasting time t1 of the first satellite G01 and the kth moment of the receiving time of the received satellite signal 1, the time difference is multiplied by the light speed to obtain a pseudo range between the target object and the first satellite G01, and the pseudo range is recorded as
It should be noted that the calculated pseudorange includes an error because the satellite signal 1 may be contaminated by noise (e.g., ionospheric error) during transmission and there is a device clock error in the reception time.
For the second satellite G02, a time difference is determined according to the broadcasting time t2 of the second satellite G02 and the kth moment of the receiving time of the satellite signal 2, and the time difference is multiplied by the light speed to be the targetThe pseudorange between the object and the second satellite G02 is denoted
Procedure a 4: and determining the height of the target object at the k-th time according to the two estimated distances and the two pseudo distances.
Based on the least square method, the following relationship exists between the estimated distance and the pseudo range: the sum of the estimated distance between the target object and the positioning satellite and the error caused by the device clock error is equal to the pseudo-range between the target object and the satellite. Taking the first satellite G01 as an example, it can be expressed as:
wherein x is (1) 、y (1) And z (1) Satellite coordinates P1 for the first satellite G01;
x, y and z are first coordinates of the target object in the geocentric coordinate system;
t u the device clock difference of the target object, namely the error of the device clock;
δt u is an error;
The clock offset of the target object at a certain moment should be a fixed value, i.e. the error deltat u Is a fixed value. Thus, the equation can be established for two satellites as follows:
in this equation, the two pseudo ranges are known values, the satellite coordinates of the first satellite G01 and the second satellite G02 are also known values, and the first coordinate of the target object is an expression in which the height is an unknown number, so that the only unknown number in the equation is the height of the target object, and the height of the target object can be found by solving the equation.
By the method, the height of the target object can be accurately and quickly determined, and only the satellite position information of 2 positioning satellites is needed, so that the height of the target object can be ensured to be obtained even in an environment with few satellite signals, and the target object can be accurately positioned subsequently.
With this embodiment, when the target object is in an environment with poor signals and the transmission signals of a sufficient number of satellites (for example, 4 or more) cannot be received, the altitude of the target object can be calculated based on only the obtained satellite position information of the two positioning satellites at the k-th time and the estimated position information of the target object at the k-th time, and further, the target road point closest to the target object is determined from a plurality of target road points on the path where the target object is located based on the altitude and the satellite position information of the two positioning satellites, and the longitude and latitude of the target road point are used as the positioning result of the target object at the k-th time. Therefore, the accurate positioning of the target object is realized based on the satellite position information of the two positioning satellites and the target road point of the path where the two positioning satellites are located under the condition that the transmitting signals of enough positioning satellites cannot be received.
The positioning method of the present embodiment may be performed by any suitable electronic device with data processing capabilities, including but not limited to: servers, mobile terminals (such as tablet computers, mobile phones and the like), PCs and the like.
EXAMPLE III
Referring to fig. 3, a schematic step flow diagram of a positioning method according to a third embodiment of the present application is shown.
In this embodiment, the positioning method includes the foregoing steps S102 to S106. Before the step S104, a step S102A and a step S102B may be further included to determine a target road point from a plurality of road points included in the path where the target object is located. For example, a plurality of road points are searched at least twice by rough search and fine search. The distribution of the road points on the path where the coarse search is performed is sparse, and the primarily screened road point closest to the target object is determined from the plurality of road points through the coarse search. And then, carrying out at least one fine search according to the initially screened road points to obtain the target road point closest to the target object.
In a specific implementation, step S102A and step S102B may be performed after step S102:
step S102A: and performing first granularity interpolation processing on the path corresponding to the target object to obtain a plurality of candidate road points, and determining the primary screening road points from the candidate roads.
In this step, the road points in the path can be roughly searched through the following process, and the preliminarily screened road points are obtained.
Procedure a 2: and carrying out interpolation processing on the path according to the distance between two adjacent candidate road points indicated by the first granularity to obtain a plurality of candidate road points.
In order to ensure that the road points are searched at equal intervals when being searched, so as to ensure the positioning accuracy, the path where the road points are located can be subjected to interpolation processing, namely, the road points are added on the path where the road points are located, so that the problem that the distances among the road points are different due to the fact that the lengths of different road sections on the path where the road points are located are different can be solved. For convenience of explanation, the road point obtained by interpolating the located path according to the first granularity is recorded as the candidate road point.
In the present embodiment, the first granularity is used to indicate a distance between two adjacent candidate road points, and the distance may be a first set value. According to the difference of the calculated amount, the calculated time and the rough searching precision, different distances can be determined. For example, the first set point may be 100 meters, 50 meters, 30 meters, and so on.
Taking 50m as an example, for the located route, with the starting point thereof as the starting point (i.e. the first candidate road point), one candidate road point is interpolated every 50 m. If the distance between the candidate road point before the end point of the path and the end point of the path is less than 50m, the path is discarded.
Since the longitude and latitude of a plurality of road points on the route are known, the longitude and latitude of each candidate road point can also be determined after the interpolation processing.
Procedure B2: and determining a second coordinate of the candidate road point in the geocentric coordinate system according to the altitude and the longitude and the latitude of the candidate road point.
In the case where the altitude has been calculated, the second coordinate of each candidate road point may be calculated based on the foregoing conversion equation of the coordinates and the longitude and latitude. The conversion process is similar to the process of obtaining the first coordinate, and thus is not described again.
Procedure C2: and determining a candidate road point with the minimum difference value with the pseudo-range residuals of the two positioning satellites as the primary screening road point according to the satellite position information of the two positioning satellites and the plurality of second coordinates.
Since it is necessary to select a candidate road point closest to the target object among the plurality of candidate road points, it is necessary to calculate pseudo ranges of the two positioning satellites and the target object, respectively. For the first satellite G01, according to the broadcasting time t1 and the kth time, the time difference is determined, and the time difference is multiplied by the light speed to obtain the pseudo range of the target object and the first satellite G01
Similarly, for the second satellite G02, a time difference is determined from its time of flight t2 and the kth time, and this time difference is multiplied by the speed of light to obtain a pseudorange between the target object and the second satellite G02
For a current candidate road point of the plurality of candidate road points, calculating an estimated distance between the current candidate road point and the first satellite G01, and calculating an estimated distance between the current candidate road point and the second satellite G02, as follows:
for the first satellite G01, according to the satellite coordinates P1 in the satellite position information and the second coordinates P3 (expressed as (x) of the current candidate road point 3 ，y 3 ，z 3 ) Determine an estimated distance D3, expressed as:
for the second satellite G02, an estimated distance D4 is determined from the satellite coordinates P2 in the satellite position information and the second coordinates P3 of the current candidate road point, and is expressed as:
the pseudorange residuals for the current candidate road point and the first satellite G01 may be expressed as:
the pseudorange residuals for the current candidate road point and the second satellite G02 may be expressed as:
the difference in pseudorange residuals is denoted resp, which can be expressed as:
abs () is expressed as taking the absolute value, that is, the absolute value of the difference between two pseudorange residuals.
After determining the difference of the pseudo-range residuals of the current candidate road point, a new current candidate road point may be determined again from the plurality of candidate road points, and the above process may be repeated to calculate the difference of the pseudo-range residuals, and so on until the difference of the pseudo-range residuals of all candidate road points is obtained.
And determining the smallest candidate road point from the difference values of the pseudo-range residuals of all the candidate road points, and determining the candidate road point corresponding to the smallest candidate road point as the primary screening road point.
Step S102B: and intercepting the primary screened road corresponding to the primary screened road point from the path, and performing second granularity interpolation processing on the primary screened road to obtain a plurality of target road points.
In order to reduce the amount of calculation, increase the calculation speed and the positioning speed, and ensure the positioning accuracy, step S102B includes the following processes:
procedure a 3: and in the path, respectively expanding the set length forwards and backwards along the primary screening road point, and obtaining the expanded primary screening road.
Wherein the value of the set length is greater than or equal to the first set value. For example, if the interpolation processing is performed according to the first granularity and the first set value corresponding to the first granularity is 50m, the set length should be greater than or equal to 50 m.
Taking the set length equal to 50m as an example, along the path, the distance from the primary screening road point is extended by 50m forward, the starting point of the primary screening road is determined, the distance is extended by 50m backward, and the end point of the primary screening road is determined.
Procedure B3: and carrying out interpolation processing on the preliminarily screened road according to the distance between two adjacent target road points indicated by the second granularity, and obtaining a plurality of target road points.
And taking the starting point of the primary screened road as the starting point, and carrying out interpolation processing on the primary screened road according to the second granularity to obtain a plurality of target road points. Wherein the second granularity is used to indicate the distance between two adjacent target road points, and the distance may be equal to a second set value, and the second set value may be determined as required, such as 20m, 10m, 5m, 1m, and so on.
In order to ensure the positioning precision and realize the fine searching effect, the distance between two adjacent candidate road points is greater than the distance between two adjacent target road points.
For example, if the second set value corresponding to the second granularity is 10m, a target road point is inserted every 10m for the initially screened road, so as to obtain a plurality of target road points.
Under the condition that the longitude and the latitude of the preliminarily screened road point are known, the longitude and the latitude of a plurality of target road points obtained through interpolation processing can also be calculated.
Subsequently, in step S104, a difference between the pseudo-range residuals of each target road point and the two positioning satellites may be calculated according to the calculated altitude and the satellite position information of the two positioning satellites, so as to determine a target road point closest to the target object.
In this step, since the path of the target object includes a plurality of target road points, a pseudorange residual needs to be calculated for each target road point, and a difference between the pseudorange residuals is calculated, each target road point may calculate a difference between the pseudorange residuals and each target road point through the following process.
Procedure a 4: and determining a third coordinate of the target road point in the geocentric coordinate system according to the longitude and the latitude of the target road point and the height.
The process of determining the third coordinate according to the longitude and latitude of a certain target road point and the calculated altitude is similar to the process of calculating the first coordinate, and therefore, the process is not repeated.
In the present embodiment, the third coordinate P5 of the target road point is represented as (x) 5 ，y 5 ，z 5 )
Procedure B4: and respectively determining pseudo ranges between the two positioning satellites and the target road point according to the kth moment, the light speed and the broadcasting time in the satellite position information of the two positioning satellites.
For purposes of illustration, the two positioning satellites will be referred to as the first satellite G01 and the second satellite G02, respectively.
The pseudorange between the target road point and the first satellite G01 is recorded as a first pseudorange, which is equal to the time difference between the time of flight t1 of the satellite signal of the first satellite and the kth time multiplied by the speed of light. Can be expressed as:
the first pseudorange is (time-propagation time t1 for the kth time) at the speed of light c.
Similarly, the pseudorange between the target road point and the second satellite G02 is recorded as a second pseudorange, which may be expressed as:
the second pseudorange is (time-broadcast time t2 for the kth instant) the speed of light c.
Procedure C4: and respectively determining the estimated distance between the target road point and the two positioning satellites according to the third coordinate and the satellite position information of the two positioning satellites.
For clarity of description, the calculation of the estimated distances of the two positioning satellites is described separately:
the estimated distance between the target waypoint and the first satellite G01 is denoted as a first estimated distance, and is expressed by the formula:
the estimated distance between the target waypoint and the second satellite G02 is denoted as a second estimated distance, and is expressed by the formula:
procedure D4: and determining a first pseudo-range residual error according to the pseudo-range and the estimated distance of the target road point and one of the positioning satellites, and determining a second pseudo-range residual error according to the pseudo-range and the estimated distance of the target road point and the other positioning satellite.
The first pseudorange residual is a difference between the first pseudorange and the first estimated distance, and it should be noted that the first pseudorange residual includes an error of an ionosphere error, a clock error of the device, and the like. Similarly, the second pseudorange residual is the difference between the second pseudorange and the second estimated range.
Procedure E4: determining an absolute value of a difference between the first pseudorange residual and the second pseudorange residual as a difference between the target road point and the pseudorange residual of each of the positioning satellites.
The device clock error and most of ionospheric errors and the like are offset by subtracting the first pseudo-range residual error from the second pseudo-range residual error and calculating the absolute value of the subtracted difference, so that the difference value of the pseudo-range residual error corresponding to the target road point closer to the target object is smaller, and the target road point closest to the target object can be determined according to the difference value of the pseudo-range residual error.
The difference in pseudorange residuals may be expressed as:
through the process, the pseudo-range residual error between one target road point and two positioning satellites and the difference value between the pseudo-range residual errors can be calculated, and the deviation between the target road point and the actual position of the target object can be represented through the difference value of the pseudo-range residual errors. The difference of the pseudo-range residuals corresponding to each target road point can be calculated in step S104. In this way, in the subsequent step S106, a target road point with the minimum difference of the pseudo-range residuals may be selected, and the longitude and latitude of the target road point with the minimum difference may be determined as the positioning result of the target object.
By the method, the path is acquired in the real-time navigation or cruising process, and then the calculation can be carried out by combining the satellite position information of two positioning satellites (such as gnss satellites), so that the target position information of the target object at the kth moment is determined. Therefore, the road network data is obtained for positioning, the method does not depend on a fixed route, and the last time or a network positioning point can be used as estimated position information (namely an initial value), and then the height is calculated first, and positioning is carried out according to the height. During positioning, the closest road point is searched from the road points of the path by using the difference between the residuals of the two satellites (namely, two positioning satellites) as a basis, so that the problem that a common positioning method needs the position information of at least 4 satellites to perform positioning and cannot perform positioning when a user is in a scene with poor satellite signals is solved.
And the mode does not depend on a fixed route, and the applicability is better. Because the height is considered, the satellite position information of any positioning satellite can be used for positioning, network positioning is used as estimated position information, positioning can be carried out without determining a motion model of a target object, and the positioning precision and the accuracy are higher.
The positioning method of the present embodiment may be performed by any suitable electronic device with data processing capabilities, including but not limited to: servers, mobile terminals (such as tablet computers, mobile phones and the like), PCs and the like.
Example four
Referring to fig. 4, a block diagram of a positioning apparatus according to a fourth embodiment of the present application is shown.
The positioning device of the embodiment comprises:
a first determining module 402, configured to determine an altitude of a target object at a kth time according to estimated position information of the target object at the kth time and satellite position information of two positioning satellites of which the target object receives satellite signals at the kth time;
a second determining module 404, configured to determine, according to the longitude and latitude of a target road point on a path where the target object is located, the altitude, and the satellite position information of the two positioning satellites, a pseudorange residual between the target road point and each positioning satellite, and a difference between the pseudorange residuals;
and a third determining module 406, configured to determine, as a positioning result of the target object at the kth time, the longitude and the latitude of the target road point with the smallest difference.
Optionally, the first determining module 402 includes:
a fourth determining module 4021, configured to determine estimated location information of the target object at the kth time according to a longitude and a latitude indicated by the positioning result of the target object at the kth-1 time or a longitude and a latitude indicated by the network positioning information of the target object at the kth time;
a fifth determining module 4022, configured to determine an altitude of the target object at a kth time according to the longitude and latitude in the estimated location information and satellite location information of the two positioning satellites at the kth time.
Optionally, the fifth determining module 4022 is configured to determine an expression of a first coordinate of the target object in the geocentric coordinate system according to a curvature radius of the earth, an eccentricity of an ellipsoid, and a longitude and a latitude in the estimated position information, where the expression includes an altitude of the target object; according to the expressions of the satellite coordinates in the two pieces of satellite position information and the first coordinate of the target object at the kth moment, respectively determining the estimated distances between the two positioning satellites and the target object, wherein the estimated distances are expressed by taking the height as an unknown number; determining pseudo ranges of the two positioning satellites and the target object respectively according to the broadcasting time, the kth time and the light speed of signals in the two satellite position information; and determining the height of the target object at the k time according to the two estimated distances and the two pseudo distances.
Optionally, the apparatus further comprises: the first interpolation module 402A is configured to perform first granularity interpolation processing on a path where the target object is located to obtain a plurality of candidate road points, and determine a preliminary screening road point from the plurality of candidate roads; the second interpolation module 402B intercepts the primary screened road corresponding to the primary screened road from the path where the primary screened road is located, and performs second granularity interpolation processing on the primary screened road to obtain a plurality of target road points, wherein a distance between two adjacent candidate road points is greater than a distance between two adjacent target road points.
Optionally, the first interpolation module 402A is configured to perform interpolation processing on the located path according to a distance between two adjacent candidate road points indicated by the first granularity, so as to obtain a plurality of candidate road points; determining a second coordinate of the candidate road point in the geocentric coordinate system according to the altitude and the longitude and latitude of the candidate road point; and determining a candidate road point with the minimum difference value of the pseudo-range residual errors of the two positioning satellites as the primary screening road point according to the satellite position information of the two positioning satellites and the plurality of second coordinates.
Optionally, the second interpolation module 402B is configured to expand a set length forward and backward along the preliminarily screened road point in the located path, respectively, and obtain the expanded preliminarily screened road, where a value of the set length is greater than or equal to a distance between two adjacent candidate road points indicated by the first granularity; and carrying out interpolation processing on the preliminarily screened road according to the distance between two adjacent target road points indicated by the second granularity, and obtaining a plurality of target road points.
Optionally, the second determining module 404 is configured to determine a third coordinate of the target road point in the geocentric coordinate system according to the longitude and latitude of the target road point and the altitude; determining pseudo ranges between the two positioning satellites and the target road point respectively according to the kth moment, the light speed and broadcasting time in satellite position information of the two positioning satellites; respectively determining the estimated distance between the target road point and the two positioning satellites according to the third coordinate and the satellite position information of the two positioning satellites; determining a first pseudo-range residual error according to the pseudo-range and the estimated distance of the target road point and one of the positioning satellites, and determining a second pseudo-range residual error according to the pseudo-range and the estimated distance of the target road point and the other positioning satellite; determining an absolute value of a difference between the first pseudorange residual and the second pseudorange residual as a difference between the target road point and the pseudorange residual of each of the positioning satellites. .
The positioning apparatus of this embodiment is used to implement the corresponding positioning method in the foregoing method embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described herein again. In addition, the functional implementation of each module in the positioning apparatus of this embodiment can refer to the description of the corresponding part in the foregoing method embodiments, and is not repeated herein.
EXAMPLE five
Referring to fig. 5, a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention is shown, and the specific embodiment of the present invention does not limit the specific implementation of the electronic device.
As shown in fig. 5, the electronic device may include: a processor (processor)502, a Communications Interface 504, a memory 506, and a communication bus 508.
Wherein:
the processor 502, communication interface 504, and memory 506 communicate with one another via a communication bus 508.
A communication interface 504 for communicating with other electronic devices or servers.
The processor 502 is configured to execute the program 510, and may specifically perform the relevant steps in the above positioning method embodiment.
In particular, program 510 may include program code that includes computer operating instructions.
The processor 52 may be a central processing unit CPU or an application Specific Integrated circuit asic or one or more Integrated circuits configured to implement embodiments of the present invention. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 506 for storing a program 510. The memory 506 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 510 may be specifically configured to enable the processor 502 to perform operations corresponding to any of the positioning methods described above.
For specific implementation of each step in the program 510, reference may be made to corresponding steps and corresponding descriptions in units in the foregoing embodiments of the positioning method, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
It should be noted that, according to the implementation requirement, each component/step described in the embodiment of the present invention may be divided into more components/steps, and two or more components/steps or partial operations of the components/steps may also be combined into a new component/step to achieve the purpose of the embodiment of the present invention.
The above-described method according to an embodiment of the present invention may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein may be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It will be appreciated that the computer, processor, microprocessor controller or programmable hardware includes memory components (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the positioning methods described herein. Furthermore, when a general-purpose computer accesses code for implementing the positioning method shown herein, execution of the code converts the general-purpose computer into a special-purpose computer for executing the positioning method shown herein.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The above embodiments are only for illustrating the embodiments of the present invention and not for limiting the embodiments of the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present invention, so that all equivalent technical solutions also belong to the scope of the embodiments of the present invention, and the scope of patent protection of the embodiments of the present invention should be defined by the claims.
Claims (10)
1. A method of positioning, comprising:
determining the height of a target object at the kth moment according to estimated position information of the target object at the kth moment and satellite position information of two positioning satellites of the target object receiving satellite signals at the kth moment;
determining a pseudo-range residual error of the target road point and each positioning satellite and a difference value between the pseudo-range residual errors according to the longitude and the latitude of the target road point on the path of the target object, the altitude and the satellite position information of the two positioning satellites;
and determining the longitude and the latitude of the target road point with the minimum difference as the positioning result of the target object at the kth moment.
2. The method of claim 1, wherein the determining the altitude of the target object at the kth time from the estimated position information of the target object at the kth time and the satellite position information of two positioning satellites at which satellite signals are received by the target object at the kth time comprises:
determining estimated position information of the target object at the kth moment according to the longitude and latitude indicated by the positioning result of the target object at the kth-1 moment or the longitude and latitude indicated by the network positioning information of the target object at the kth moment;
and determining the height of the target object at the k moment according to the longitude and the latitude in the estimated position information and the satellite position information of the two positioning satellites at the k moment.
3. The method of claim 2, wherein the determining the altitude of the target object at the kth time from the longitude and latitude of the estimated location information and satellite location information of two of the positioning satellites at the kth time comprises:
determining an expression of a first coordinate of the target object in a geocentric coordinate system according to the curvature radius of the earth, the eccentricity of the ellipsoid and the longitude and latitude in the estimated position information, wherein the expression comprises the height of the target object;
according to the expressions of the satellite coordinates in the two pieces of satellite position information and the first coordinate of the target object at the kth moment, respectively determining the estimated distances between the two positioning satellites and the target object, wherein the estimated distances are represented by the heights serving as unknowns;
determining pseudo ranges of the two positioning satellites and the target object respectively according to the broadcasting time, the kth time and the light speed of signals in the two satellite position information;
and determining the height of the target object at the k-th time according to the two estimated distances and the two pseudo distances.
4. The method of claim 1, wherein the method further comprises:
performing first granularity interpolation processing on a path where the target object is located to obtain a plurality of candidate road points, and determining a primary screening road point from the candidate roads;
and intercepting the primary screened road corresponding to the primary screened road from the path, and performing second granularity interpolation processing on the primary screened road to obtain a plurality of target road points, wherein the distance between two adjacent candidate road points is greater than the distance between two adjacent target road points.
5. The method of claim 4, wherein the performing a first-granularity interpolation process on the path of the target object to obtain a plurality of candidate road points and determining a prescreened road point from the plurality of candidate roads comprises:
performing interpolation processing on the path according to the distance between two adjacent candidate road points indicated by the first granularity to obtain a plurality of candidate road points;
determining a second coordinate of the candidate road point in the geocentric coordinate system according to the altitude and the longitude and the latitude of the candidate road point;
and determining a candidate road point with the minimum difference value of the pseudo-range residual errors of the two positioning satellites as the primary screening road point according to the satellite position information of the two positioning satellites and the plurality of second coordinates.
6. The method of claim 5, wherein the intercepting a primary screened road corresponding to the primary screened road point from the path and performing a second granularity interpolation on the primary screened road to obtain a plurality of target road points comprises:
respectively expanding a set length forwards and backwards along the primary screened road point in the path, and obtaining the expanded primary screened road, wherein the value of the set length is greater than or equal to the distance between two adjacent candidate road points indicated by the first granularity;
and carrying out interpolation processing on the preliminarily screened road according to the distance between two adjacent target road points indicated by the second granularity, and obtaining a plurality of target road points.
7. The method of claim 1, wherein said determining a pseudorange residual and a difference between a pseudorange residual for a target road point and each positioning satellite from a longitude and latitude of the target road point on a path along which the target object is located, the altitude, and the satellite position information for the two positioning satellites comprises:
determining a third coordinate of the target road point in a geocentric coordinate system according to the longitude and the latitude of the target road point and the height;
respectively determining pseudo ranges between the two positioning satellites and the target road point according to the kth moment, the light speed and broadcasting time in the satellite position information of the two positioning satellites;
respectively determining the estimated distance between the target road point and the two positioning satellites according to the third coordinate and the satellite position information of the two positioning satellites;
determining a first pseudo-range residual error according to the pseudo-range and the estimated distance of the target road point and one of the positioning satellites, and determining a second pseudo-range residual error according to the pseudo-range and the estimated distance of the target road point and the other positioning satellite;
and determining the absolute value of the difference value of the first pseudo-range residual error and the second pseudo-range residual error as the difference value between the target road point and the pseudo-range residual error of each positioning satellite.
8. A positioning device, comprising:
the first determining module is used for determining the height of a target object at a k-th moment according to estimated position information of the target object at the k-th moment and satellite position information of two positioning satellites of satellite signals received by the target object at the k-th moment;
the second determination module is used for determining a pseudo-range residual error of a target road point and each positioning satellite and a difference value between the pseudo-range residual errors according to the longitude and the latitude of the target road point on the path where the target object is located, the altitude and the satellite position information of the two positioning satellites;
and the third determining module is used for determining the longitude and the latitude of the target road point with the minimum difference value as the positioning result of the target object at the kth moment.
9. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the positioning method according to any one of claims 1-7.
10. A computer storage medium, on which a computer program is stored which, when being executed by a processor, carries out the positioning method according to any one of claims 1-7.
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